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update obj loader

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This commit is contained in:
Chuyuan Fu
2019-08-13 16:53:51 -07:00
parent 1981493a65
commit 10108cd3ea
12 changed files with 503 additions and 393 deletions
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26
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -2265,7 +2265,7 @@ int BulletMJCFImporter::getBodyUniqueId() const
return m_data->m_activeBodyUniqueId;
}
static btCollisionShape* MjcfCreateConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale, btScalar collisionMargin)
static btCollisionShape* MjcfCreateConvexHullFromShapes(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale, btScalar collisionMargin)
{
btCompoundShape* compound = new btCompoundShape();
compound->setMargin(collisionMargin);
@@ -2278,25 +2278,26 @@ static btCollisionShape* MjcfCreateConvexHullFromShapes(std::vector<tinyobj::sha
btConvexHullShape* convexHull = new btConvexHullShape();
convexHull->setMargin(collisionMargin);
tinyobj::shape_t& shape = shapes[s];
int faceCount = shape.mesh.indices.size();
for (int f = 0; f < faceCount; f += 3)
{
btVector3 pt;
pt.setValue(shape.mesh.positions[shape.mesh.indices[f] * 3 + 0],
shape.mesh.positions[shape.mesh.indices[f] * 3 + 1],
shape.mesh.positions[shape.mesh.indices[f] * 3 + 2]);
pt.setValue(attribute.vertices[3 * shape.mesh.indices[f].vertex_index + 0],
attribute.vertices[3 * shape.mesh.indices[f].vertex_index + 1],
attribute.vertices[3 * shape.mesh.indices[f].vertex_index + 2]);
convexHull->addPoint(pt * geomScale, false);
pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0],
shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1],
shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]);
pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 0],
attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 1],
attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 2]);
convexHull->addPoint(pt * geomScale, false);
pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0],
shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1],
shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]);
pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 0],
attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 1],
attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 2]);
convexHull->addPoint(pt * geomScale, false);
}
@@ -2391,10 +2392,11 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
else
{
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, col->m_geometry.m_meshFileName.c_str(),"",m_data->m_fileIO);
tinyobj::attrib_t attribute;
std::string err = tinyobj::LoadObj(attribute, shapes, col->m_geometry.m_meshFileName.c_str(), "", m_data->m_fileIO);
//create a convex hull for each shape, and store it in a btCompoundShape
childShape = MjcfCreateConvexHullFromShapes(shapes, col->m_geometry.m_meshScale, m_data->m_globalDefaults.m_defaultCollisionMargin);
childShape = MjcfCreateConvexHullFromShapes(attribute, shapes, col->m_geometry.m_meshScale, m_data->m_globalDefaults.m_defaultCollisionMargin);
}
break;
}

7
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
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@@ -65,13 +65,14 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
btVector3 shift(0, 0, 0);
std::vector<tinyobj::shape_t> shapes;
tinyobj::attrib_t attribute;
{
B3_PROFILE("tinyobj::LoadObj");
std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, pathPrefix,fileIO);
std::string err = LoadFromCachedOrFromObj(attribute, shapes, relativeFileName, pathPrefix, fileIO);
//std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
}
GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(attribute, shapes);
{
B3_PROFILE("Load Texture");
//int textureIndex = -1;
@@ -84,7 +85,7 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
meshData.m_rgbaColor[2] = shape.material.diffuse[2];
meshData.m_rgbaColor[3] = shape.material.transparency;
meshData.m_flags |= B3_IMPORT_MESH_HAS_RGBA_COLOR;
meshData.m_specularColor[0] = shape.material.specular[0];
meshData.m_specularColor[1] = shape.material.specular[1];
meshData.m_specularColor[2] = shape.material.specular[2];

14
examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
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@@ -12,6 +12,7 @@ struct CachedObjResult
{
std::string m_msg;
std::vector<tinyobj::shape_t> m_shapes;
tinyobj::attrib_t m_attribute;
};
static b3HashMap<b3HashString, CachedObjResult> gCachedObjResults;
@@ -31,24 +32,26 @@ void b3EnableFileCaching(int enable)
}
std::string LoadFromCachedOrFromObj(
tinyobj::attrib_t& attribute,
std::vector<tinyobj::shape_t>& shapes, // [output]
const char* filename,
const char* mtl_basepath,
struct CommonFileIOInterface* fileIO
)
struct CommonFileIOInterface* fileIO)
{
CachedObjResult* resultPtr = gCachedObjResults[filename];
if (resultPtr)
{
const CachedObjResult& result = *resultPtr;
shapes = result.m_shapes;
attribute = result.m_attribute;
return result.m_msg;
}
std::string err = tinyobj::LoadObj(shapes, filename, mtl_basepath,fileIO);
std::string err = tinyobj::LoadObj(attribute, shapes, filename, mtl_basepath, fileIO);
CachedObjResult result;
result.m_msg = err;
result.m_shapes = shapes;
result.m_attribute = attribute;
if (gEnableFileCaching)
{
gCachedObjResults.insert(filename, result);
@@ -60,14 +63,15 @@ GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const cha
{
B3_PROFILE("LoadMeshFromObj");
std::vector<tinyobj::shape_t> shapes;
tinyobj::attrib_t attribute;
{
B3_PROFILE("tinyobj::LoadObj2");
std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, materialPrefixPath,fileIO);
std::string err = LoadFromCachedOrFromObj(attribute, shapes, relativeFileName, materialPrefixPath, fileIO);
}
{
B3_PROFILE("btgCreateGraphicsShapeFromWavefrontObj");
GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(attribute, shapes);
return gfxShape;
}
}

2
examples/Importers/ImportObjDemo/LoadMeshFromObj.h
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@@ -8,8 +8,8 @@ struct GLInstanceGraphicsShape;
int b3IsFileCachingEnabled();
void b3EnableFileCaching(int enable);
std::string LoadFromCachedOrFromObj(
tinyobj::attrib_t& attribute,
std::vector<tinyobj::shape_t>& shapes, // [output]
const char* filename,
const char* mtl_basepath,

103
examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
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@@ -9,7 +9,7 @@
#include "../../OpenGLWindow/GLInstancingRenderer.h"
#include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tinyobj::shape_t>& shapes, bool flatShading)
GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, bool flatShading)
{
b3AlignedObjectArray<GLInstanceVertex>* vertices = new b3AlignedObjectArray<GLInstanceVertex>;
{
@@ -36,19 +36,20 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
}
GLInstanceVertex vtx0;
vtx0.xyzw[0] = shape.mesh.positions[shape.mesh.indices[f] * 3 + 0];
vtx0.xyzw[1] = shape.mesh.positions[shape.mesh.indices[f] * 3 + 1];
vtx0.xyzw[2] = shape.mesh.positions[shape.mesh.indices[f] * 3 + 2];
tinyobj::index_t v_0 = shape.mesh.indices[f];
vtx0.xyzw[0] = attribute.vertices[3 * v_0.vertex_index];
vtx0.xyzw[1] = attribute.vertices[3 * v_0.vertex_index + 1];
vtx0.xyzw[2] = attribute.vertices[3 * v_0.vertex_index + 2];
vtx0.xyzw[3] = 0.f;
if (shape.mesh.texcoords.size())
if (attribute.texcoords.size())
{
int uv0Index = shape.mesh.indices[f] * 2 + 0;
int uv1Index = shape.mesh.indices[f] * 2 + 1;
if (uv0Index >= 0 && uv1Index >= 0 && (uv0Index < int(shape.mesh.texcoords.size()) && (uv1Index < shape.mesh.texcoords.size())))
int uv0Index = 2 * v_0.texcoord_index;
int uv1Index = 2 * v_0.texcoord_index + 1;
if (uv0Index >= 0 && uv1Index >= 0 && (uv0Index < int(attribute.texcoords.size()) && (uv1Index < attribute.texcoords.size())))
{
vtx0.uv[0] = shape.mesh.texcoords[uv0Index];
vtx0.uv[1] = shape.mesh.texcoords[uv1Index];
vtx0.uv[0] = attribute.texcoords[uv0Index];
vtx0.uv[1] = attribute.texcoords[uv1Index];
}
else
{
@@ -64,19 +65,20 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
}
GLInstanceVertex vtx1;
vtx1.xyzw[0] = shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0];
vtx1.xyzw[1] = shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1];
vtx1.xyzw[2] = shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2];
tinyobj::index_t v_1 = shape.mesh.indices[f + 1];
vtx1.xyzw[0] = attribute.vertices[3 * v_1.vertex_index];
vtx1.xyzw[1] = attribute.vertices[3 * v_1.vertex_index + 1];
vtx1.xyzw[2] = attribute.vertices[3 * v_1.vertex_index + 2];
vtx1.xyzw[3] = 0.f;
if (shape.mesh.texcoords.size())
if (attribute.texcoords.size())
{
int uv0Index = shape.mesh.indices[f + 1] * 2 + 0;
int uv1Index = shape.mesh.indices[f + 1] * 2 + 1;
if (uv0Index >= 0 && uv1Index >= 0 && (uv0Index < shape.mesh.texcoords.size()) && (uv1Index < shape.mesh.texcoords.size()))
int uv0Index = 2 * v_1.texcoord_index;
int uv1Index = 2 * v_1.texcoord_index + 1;
if (uv0Index >= 0 && uv1Index >= 0 && (uv0Index < attribute.texcoords.size()) && (uv1Index < attribute.texcoords.size()))
{
vtx1.uv[0] = shape.mesh.texcoords[uv0Index];
vtx1.uv[1] = shape.mesh.texcoords[uv1Index];
vtx1.uv[0] = attribute.texcoords[uv0Index];
vtx1.uv[1] = attribute.texcoords[uv1Index];
}
else
{
@@ -92,18 +94,20 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
}
GLInstanceVertex vtx2;
vtx2.xyzw[0] = shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0];
vtx2.xyzw[1] = shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1];
vtx2.xyzw[2] = shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2];
tinyobj::index_t v_2 = shape.mesh.indices[f + 2];
vtx2.xyzw[0] = attribute.vertices[3 * v_2.vertex_index];
vtx2.xyzw[1] = attribute.vertices[3 * v_2.vertex_index + 1];
vtx2.xyzw[2] = attribute.vertices[3 * v_2.vertex_index + 2];
vtx2.xyzw[3] = 0.f;
if (shape.mesh.texcoords.size())
if (attribute.texcoords.size())
{
int uv0Index = shape.mesh.indices[f + 2] * 2 + 0;
int uv1Index = shape.mesh.indices[f + 2] * 2 + 1;
if (uv0Index >= 0 && uv1Index >= 0 && (uv0Index < shape.mesh.texcoords.size()) && (uv1Index < shape.mesh.texcoords.size()))
int uv0Index = 2 * v_2.texcoord_index;
int uv1Index = 2 * v_2.texcoord_index + 1;
if (uv0Index >= 0 && uv1Index >= 0 && (uv0Index < attribute.texcoords.size()) && (uv1Index < attribute.texcoords.size()))
{
vtx2.uv[0] = shape.mesh.texcoords[uv0Index];
vtx2.uv[1] = shape.mesh.texcoords[uv1Index];
vtx2.uv[0] = attribute.texcoords[uv0Index];
vtx2.uv[1] = attribute.texcoords[uv1Index];
}
else
{
@@ -123,16 +127,21 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
btVector3 v2(vtx2.xyzw[0], vtx2.xyzw[1], vtx2.xyzw[2]);
unsigned int maxIndex = 0;
maxIndex = b3Max(maxIndex, shape.mesh.indices[f] * 3 + 0);
maxIndex = b3Max(maxIndex, shape.mesh.indices[f] * 3 + 1);
maxIndex = b3Max(maxIndex, shape.mesh.indices[f] * 3 + 2);
maxIndex = b3Max(maxIndex, shape.mesh.indices[f + 1] * 3 + 0);
maxIndex = b3Max(maxIndex, shape.mesh.indices[f + 1] * 3 + 1);
maxIndex = b3Max(maxIndex, shape.mesh.indices[f + 1] * 3 + 2);
maxIndex = b3Max(maxIndex, shape.mesh.indices[f + 2] * 3 + 0);
maxIndex = b3Max(maxIndex, shape.mesh.indices[f + 2] * 3 + 1);
maxIndex = b3Max(maxIndex, shape.mesh.indices[f + 2] * 3 + 2);
bool hasNormals = (shape.mesh.normals.size() && maxIndex < shape.mesh.normals.size());
unsigned n0Index = shape.mesh.indices[f].normal_index;
unsigned n1Index = shape.mesh.indices[f + 1].normal_index;
unsigned n2Index = shape.mesh.indices[f + 2].normal_index;
maxIndex = b3Max(maxIndex, 3 * n0Index + 0);
maxIndex = b3Max(maxIndex, 3 * n0Index + 1);
maxIndex = b3Max(maxIndex, 3 * n0Index + 2);
maxIndex = b3Max(maxIndex, 3 * n1Index + 0);
maxIndex = b3Max(maxIndex, 3 * n1Index + 1);
maxIndex = b3Max(maxIndex, 3 * n1Index + 2);
maxIndex = b3Max(maxIndex, 3 * n2Index + 0);
maxIndex = b3Max(maxIndex, 3 * n2Index + 1);
maxIndex = b3Max(maxIndex, 3 * n2Index + 2);
bool hasNormals = (attribute.normals.size() && maxIndex < attribute.normals.size());
if (flatShading || !hasNormals)
{
@@ -159,15 +168,15 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
}
else
{
vtx0.normal[0] = shape.mesh.normals[shape.mesh.indices[f] * 3 + 0];
vtx0.normal[1] = shape.mesh.normals[shape.mesh.indices[f] * 3 + 1];
vtx0.normal[2] = shape.mesh.normals[shape.mesh.indices[f] * 3 + 2]; //shape.mesh.indices[f+1]*3+0
vtx1.normal[0] = shape.mesh.normals[shape.mesh.indices[f + 1] * 3 + 0];
vtx1.normal[1] = shape.mesh.normals[shape.mesh.indices[f + 1] * 3 + 1];
vtx1.normal[2] = shape.mesh.normals[shape.mesh.indices[f + 1] * 3 + 2];
vtx2.normal[0] = shape.mesh.normals[shape.mesh.indices[f + 2] * 3 + 0];
vtx2.normal[1] = shape.mesh.normals[shape.mesh.indices[f + 2] * 3 + 1];
vtx2.normal[2] = shape.mesh.normals[shape.mesh.indices[f + 2] * 3 + 2];
vtx0.normal[0] = attribute.normals[3 * n0Index+ 0];
vtx0.normal[1] = attribute.normals[3 * n0Index+ 1];
vtx0.normal[2] = attribute.normals[3 * n0Index+ 2];
vtx1.normal[0] = attribute.normals[3 * n1Index+ 0];
vtx1.normal[1] = attribute.normals[3 * n1Index+ 1];
vtx1.normal[2] = attribute.normals[3 * n1Index+ 2];
vtx2.normal[0] = attribute.normals[3 * n2Index+ 0];
vtx2.normal[1] = attribute.normals[3 * n2Index+ 1];
vtx2.normal[2] = attribute.normals[3 * n2Index+ 2];
}
vertices->push_back(vtx0);
vertices->push_back(vtx1);

2
examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h
View File

@@ -4,6 +4,6 @@
#include "../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
#include <vector>
struct GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tinyobj::shape_t>& shapes, bool flatShading = false);
struct GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, bool flatShading = false);
#endif //WAVEFRONT2GRAPHICS_H

28
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -509,7 +509,7 @@ bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWor
return true;
}
static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale, int flags)
static btCollisionShape* createConvexHullFromShapes(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale, int flags)
{
B3_PROFILE("createConvexHullFromShapes");
btCompoundShape* compound = new btCompoundShape();
@@ -528,20 +528,20 @@ static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t
for (int f = 0; f < faceCount; f += 3)
{
btVector3 pt;
pt.setValue(shape.mesh.positions[shape.mesh.indices[f] * 3 + 0],
shape.mesh.positions[shape.mesh.indices[f] * 3 + 1],
shape.mesh.positions[shape.mesh.indices[f] * 3 + 2]);
pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 0],
attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 1],
attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 2]);
convexHull->addPoint(pt * geomScale, false);
pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0],
shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1],
shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]);
pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 0],
attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 1],
attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 2]);
convexHull->addPoint(pt * geomScale, false);
pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0],
shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1],
shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]);
pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 0],
attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 1],
attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 2]);
convexHull->addPoint(pt * geomScale, false);
}
@@ -558,8 +558,6 @@ static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t
return compound;
}
int BulletURDFImporter::getUrdfFromCollisionShape(const btCollisionShape* collisionShape, UrdfCollision& collision) const
{
UrdfCollision* col = m_data->m_bulletCollisionShape2UrdfCollision.find(collisionShape);
@@ -718,10 +716,10 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
else
{
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, collision->m_geometry.m_meshFileName.c_str(),"",m_data->m_fileIO);
tinyobj::attrib_t attribute;
std::string err = tinyobj::LoadObj(attribute, shapes, collision->m_geometry.m_meshFileName.c_str(), "", m_data->m_fileIO);
//create a convex hull for each shape, and store it in a btCompoundShape
shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale, m_data->m_flags);
shape = createConvexHullFromShapes(attribute, shapes, collision->m_geometry.m_meshScale, m_data->m_flags);
m_data->m_bulletCollisionShape2UrdfCollision.insert(shape, *collision);
return shape;
}