create premake/cmake file for Bullet/Extras/obj2sdf

add missing 1.sdf for Bullet/data/kitchens/1.sdf
add support for getting keyboard events (pybullet.getKeyboardEvents and b3RobotSimulatorClientAPI::getKeyboardEvents)

Extras/CMakeLists.txt

@@ -1,4 +1,4 @@
-SUBDIRS( Serialize ConvexDecomposition HACD GIMPACTUtils )
+SUBDIRS( obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils )
 
 IF(BUILD_BULLET3)
 	SUBDIRS( InverseDynamics)

Extras/obj2sdf/CMakeLists.txt

@@ -0,0 +1,20 @@
+
+SET(includes
+  .
+	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+	${BULLET_PHYSICS_SOURCE_DIR}/src
+)
+
+LINK_LIBRARIES(
+	 Bullet3Common
+)
+
+INCLUDE_DIRECTORIES(${includes})
+
+ADD_EXECUTABLE(App_obj2sdf 
+		obj2sdf.cpp
+		../../examples/Utils/b3ResourcePath.cpp
+		../../examples/Utils/b3ResourcePath.h
+		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
+)
+

Extras/obj2sdf/obj2sdf.cpp

@@ -8,19 +8,29 @@
 #include <stdio.h>
 #include <assert.h>
 #define ASSERT_EQ(a,b) assert((a)==(b));
-#include "MinitaurSetup.h"
-#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
+#include"Wavefront/tiny_obj_loader.h"
 #include <vector>
 #include "Bullet3Common/b3FileUtils.h"
 #include "../Utils/b3ResourcePath.h"
+#include "Bullet3Common/b3CommandLineArgs.h"
+
 #define MAX_PATH_LEN 1024
 
 int main(int argc, char* argv[])
 {
-	const char* fileName = "kitchens/kitchen.obj";
-	
+
+	b3CommandLineArgs args(argc,argv);
+	char* fileName;
+	args.GetCmdLineArgument("fileName",fileName);
+
+	printf("fileName = %s\n", fileName);
+	if (fileName==0)
+	{
+		printf("Please use --fileName=\"pathToObj\".");
+		exit(0);
+	}
 	char fileNameWithPath[MAX_PATH_LEN];
-  bool fileFound = (b3ResourcePath::findResourcePath(fileName,fileNameWithPath,MAX_PATH_LEN))>0;
+	bool fileFound = (b3ResourcePath::findResourcePath(fileName,fileNameWithPath,MAX_PATH_LEN))>0;
 	char materialPrefixPath[MAX_PATH_LEN];
 	b3FileUtils::extractPath(fileNameWithPath,materialPrefixPath,MAX_PATH_LEN);
 
@@ -32,7 +42,7 @@ int main(int argc, char* argv[])
 	FILE* sdfFile = fopen(sdfFileName,"w");
 	if (sdfFile==0)
 	{
-		printf("Fatal: cannot create sdf file %s\n",sdfFileName);
+		printf("Fatal error: cannot create sdf file %s\n",sdfFileName);
 		exit(0);
 	}
 
@@ -52,7 +62,7 @@ int main(int argc, char* argv[])
 		FILE* f = fopen(objFileName,"w");
 		if (f==0)
 		{
-			printf("Fatal: cannot create part obj file %s\n",objFileName);
+			printf("Fatal error: cannot create part obj file %s\n",objFileName);
 			exit(0);
 		}
 		fprintf(f,"# Exported using automatic converter by Erwin Coumans\n");
@@ -81,13 +91,16 @@ int main(int argc, char* argv[])
 		}
 
 		fprintf(f,"\n");
-		for (int vn = 0;vn<shape.mesh.normals.size()/3;vn++)
+		int numNormals = int(shape.mesh.normals.size());
+
+		for (int vn = 0;vn<numNormals/3;vn++)
 		{
 			fprintf(f,"vn %f %f %f\n",shape.mesh.normals[vn*3+0],shape.mesh.normals[vn*3+1],shape.mesh.normals[vn*3+2]);
 		}
 
 		fprintf(f,"\n");
-		for (int vt = 0;vt<shape.mesh.texcoords.size()/2;vt++)
+		int numTexCoords = int(shape.mesh.texcoords.size());
+		for (int vt = 0;vt<numTexCoords/2;vt++)
 		{
 			fprintf(f,"vt %f %f\n",shape.mesh.texcoords[vt*2+0],shape.mesh.texcoords[vt*2+1]);
 		}

Extras/obj2sdf/premake4.lua

@@ -0,0 +1,18 @@
+project ("App_obj2sdf")
+
+		language "C++"
+		kind "ConsoleApp"
+
+		includedirs {"../../src",
+		"../../examples/ThirdPartyLibs"}
+	
+	
+	links{"Bullet3Common"}
+
+
+		files {
+		"obj2sdf.cpp",
+			"../../examples/Utils/b3ResourcePath.cpp",
+			"../../examples/Utils/b3ResourcePath.h",
+			"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
+	}

Extras/premake4.lua

@@ -6,4 +6,4 @@ include "InverseDynamics"
 include "Serialize/BulletFileLoader"
 include "Serialize/BulletWorldImporter"
 include "Serialize/BulletXmlWorldImporter"
-
+include "obj2sdf"