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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;
}