Fix test asset path + other minor fixes.

data/test_assets/urdf/skinned_prism.ao_config.json

@@ -1,3 +1,4 @@
 {
-    "render_asset": "data/test_assets/objects/skinned_prism.glb"
+    "render_asset": "../objects/skinned_prism.glb",
+    "debug_render_primitives": false
 }

src/esp/assets/ResourceManager.cpp

@@ -1798,8 +1798,7 @@ bool ResourceManager::loadRenderAssetGeneral(const AssetInfo& info) {
        scene->parentsAsArray()) {
     nodes[parent.first()].emplace();
     nodes[parent.first()]->componentID = parent.first();
-    nodes[parent.first()]->name =
-        fileImporter_->objectName(nodes[parent.first()]->componentID);
+    nodes[parent.first()]->name = fileImporter_->objectName(parent.first());
   }
 
   // Set transformations. Objects that are not part of the hierarchy are
@@ -1888,24 +1887,24 @@ scene::SceneNode* ResourceManager::createRenderAssetInstanceGeneralPrimitive(
   // If the object has a skin and a rig (articulated object), link them together
   // such as the model bones are driven by the articulated object links.
   std::shared_ptr<gfx::InstanceSkinData> instanceSkinData = nullptr;
-  if (creation.rig &&
-      loadedAssetData.meshMetaData.skinIndex.first != ID_UNDEFINED) {
+  const auto& meshMetaData = loadedAssetData.meshMetaData;
+  if (creation.rig && meshMetaData.skinIndex.first != ID_UNDEFINED) {
     ESP_CHECK(
         !skins_.empty(),
         "Cannot instantiate skinned model because no skin data is imported.");
-    const auto& skinData = skins_[loadedAssetData.meshMetaData.skinIndex.first];
+    const auto& skinData = skins_[meshMetaData.skinIndex.first];
     instanceSkinData = std::make_shared<gfx::InstanceSkinData>(skinData);
-    mapSkinnedModelToArticulatedObject(loadedAssetData.meshMetaData.root,
-                                       creation.rig, instanceSkinData);
+    mapSkinnedModelToArticulatedObject(meshMetaData.root, creation.rig,
+                                       instanceSkinData);
     ESP_CHECK(instanceSkinData->rootJointId != ID_UNDEFINED,
               "Could not map skinned model to articulated object.");
   }
 
-  addComponent(loadedAssetData.meshMetaData,       // mesh metadata
-               newNode,                            // parent scene node
-               creation.lightSetupKey,             // lightSetup key
-               drawables,                          // drawable group
-               loadedAssetData.meshMetaData.root,  // mesh transform node
+  addComponent(meshMetaData,            // mesh metadata
+               newNode,                 // parent scene node
+               creation.lightSetupKey,  // lightSetup key
+               drawables,               // drawable group
+               meshMetaData.root,       // mesh transform node
                visNodeCache,  // a vector of scene nodes, the visNodeCache
                computeAbsoluteAABBs,  // compute absolute AABBs
                staticDrawableInfo,    // a vector of static drawable info
@@ -2472,8 +2471,8 @@ void ResourceManager::loadSkins(Importer& importer,
   if (importer.skin3DCount() == 0)
     return;
 
-  int skinStart = nextSkinID_;
-  int skinEnd = skinStart + importer.skin3DCount() - 1;
+  const int skinStart = nextSkinID_;
+  const int skinEnd = skinStart + importer.skin3DCount() - 1;
   nextSkinID_ = skinEnd + 1;
   loadedAssetData.meshMetaData.setSkinIndices(skinStart, skinEnd);
 
@@ -2914,15 +2913,15 @@ void ResourceManager::mapSkinnedModelToArticulatedObject(
   // Find skin joint ID that matches the node
   const auto& gfxBoneName = meshTransformNode.name;
   const auto& boneNameJointIdMap = skinData->skinData->boneNameJointIdMap;
-  auto jointIt = boneNameJointIdMap.find(gfxBoneName);
+  const auto jointIt = boneNameJointIdMap.find(gfxBoneName);
   if (jointIt != boneNameJointIdMap.end()) {
     int jointId = jointIt->second;
 
     // Find articulated object link ID that matches the node
     const auto& linkIds = rig->getLinkIdsWithBase();
-    auto linkId = std::find_if(linkIds.begin(), linkIds.end(), [&](int i) {
-      return gfxBoneName == rig->getLinkName(i);
-    });
+    const auto linkId =
+        std::find_if(linkIds.begin(), linkIds.end(),
+                     [&](int i) { return gfxBoneName == rig->getLinkName(i); });
 
     // Map the articulated object link associated with the skin joint
     if (linkId != linkIds.end()) {

src/esp/assets/ResourceManager.h

@@ -856,7 +856,7 @@ class ResourceManager {
       const std::shared_ptr<gfx::InstanceSkinData>& skinData = nullptr);
 
   /**
-   * @brief Recursive construction of instance skin and rig data.
+   * @brief Recursive construction of instance skinning data.
    *
    * Fills the fields of a @ref InstanceSkinData to enable skinned mesh rendering
    * by associating each bone to a corresponding articulated object link.
@@ -865,7 +865,7 @@ class ResourceManager {
    * @param creationInfo Creation information for the instance which contains
    * the rig.
    * @param skinData Structure holding the skin and rig configuration for the
-   * instance
+   * instance.
    */
   void mapSkinnedModelToArticulatedObject(
       const MeshTransformNode& meshTransformNode,

src/esp/gfx/GenericDrawable.cpp

@@ -191,24 +191,24 @@ void GenericDrawable::draw(const Mn::Matrix4& transformationMatrix,
 
   if (skinData_) {
     // Gather joint transformations
-    auto& skin = skinData_->skinData->skin;
+    const auto& skin = skinData_->skinData->skin;
+    const auto& transformNodes = skinData_->jointIdToTransformNode;
     auto& jointIdToArticulatedObjectNodes =
         skinData_->jointIdToArticulatedObjectNode;
-    auto& transformNodes = skinData_->jointIdToTransformNode;
 
     ESP_CHECK(jointTransformations_.size() == skin->joints().size(),
               "Joint transformation count doesn't match bone count.");
 
     // Undo root node transform so that the model origin matches the root
     // articulated object link.
-    auto invRootTransform =
+    const auto invRootTransform =
         jointIdToArticulatedObjectNodes[skinData_->rootJointId]
             ->absoluteTransformationMatrix()
             .inverted();
 
-    Mn::Matrix4 lastTransform = Mn::Matrix4{Magnum::Math::IdentityInit};
+    auto lastTransform = Mn::Matrix4{Magnum::Math::IdentityInit};
     for (std::size_t i = 0; i != jointTransformations_.size(); ++i) {
-      auto jointNodeIt = transformNodes.find(skin->joints()[i]);
+      const auto jointNodeIt = transformNodes.find(skin->joints()[i]);
       if (jointNodeIt != transformNodes.end()) {
         jointTransformations_[i] =
             invRootTransform *
@@ -233,10 +233,10 @@ void GenericDrawable::draw(const Mn::Matrix4& transformationMatrix,
 }
 
 void GenericDrawable::updateShader() {
-  Mn::UnsignedInt lightCount = lightSetup_->size();
-  Mn::UnsignedInt jointCount =
+  const Mn::UnsignedInt lightCount = lightSetup_->size();
+  const Mn::UnsignedInt jointCount =
       skinData_ ? skinData_->skinData->skin->joints().size() : 0;
-  Mn::UnsignedInt perVertexJointCount =
+  const Mn::UnsignedInt perVertexJointCount =
       skinData_ ? skinData_->skinData->perVertexJointCount : 0;
 
   if (skinData_) {

src/esp/physics/bullet/BulletPhysicsManager.cpp

@@ -188,6 +188,8 @@ int BulletPhysicsManager::addArticulatedObjectFromURDF(
         articulatedObject->btMultiBody_->getLinkCollider(linkIx), linkObjectId);
   }
 
+  // render visual shapes if either no skinned mesh is present or if the debug
+  // flag is enabled
   bool renderVisualShapes =
       !renderAssetPath || model->getDebugRenderPrimitives();
   if (renderVisualShapes) {

src/tests/SimTest.cpp

@@ -1078,7 +1078,8 @@ void SimTest::getRuntimePerfStats() {
 void SimTest::testArticulatedObjectSkinned() {
   ESP_DEBUG() << "Starting Test : testArticulatedObjectSkinned";
 
-  const std::string urdfFile = "data/test_assets/urdf/skinned_prism.urdf";
+  const std::string urdfFile =
+      Cr::Utility::Path::join(TEST_ASSETS, "urdf/skinned_prism.urdf");
 
   // create a simulator
   SimulatorConfiguration simConfig{};