diff --git a/data/sphere2.urdf b/data/sphere2.urdf index 891e018cb..fb0108b3d 100644 --- a/data/sphere2.urdf +++ b/data/sphere2.urdf @@ -9,7 +9,7 @@ - + diff --git a/data/two_cubes.sdf b/data/two_cubes.sdf index 10dce545e..e19b73b43 100644 --- a/data/two_cubes.sdf +++ b/data/two_cubes.sdf @@ -122,11 +122,13 @@ - - 1 1 1 - - + + 1 1 1 + cube.obj + + + 1 1 1 1 + 1 1 1 1 0 diff --git a/examples/ExtendedTutorials/premake4.lua b/examples/ExtendedTutorials/premake4.lua index ea1fc507e..92ac12d45 100644 --- a/examples/ExtendedTutorials/premake4.lua +++ b/examples/ExtendedTutorials/premake4.lua @@ -38,7 +38,8 @@ files { "../Importers/ImportURDFDemo/URDF2Bullet.cpp", "../Importers/ImportURDFDemo/UrdfParser.cpp", "../Importers/ImportURDFDemo/urdfStringSplit.cpp", - + "../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", + "../ThirdPartyLibs/stb_image/stb_image.cpp", } @@ -89,7 +90,8 @@ files { "../Importers/ImportURDFDemo/URDF2Bullet.cpp", "../Importers/ImportURDFDemo/UrdfParser.cpp", "../Importers/ImportURDFDemo/urdfStringSplit.cpp", - + "../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", + "../ThirdPartyLibs/stb_image/stb_image.cpp", } if os.is("Linux") then initX11() end @@ -153,7 +155,8 @@ files { "../Importers/ImportURDFDemo/URDF2Bullet.cpp", "../Importers/ImportURDFDemo/UrdfParser.cpp", "../Importers/ImportURDFDemo/urdfStringSplit.cpp", - + "../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", + "../ThirdPartyLibs/stb_image/stb_image.cpp", } if os.is("Linux") then initX11() end @@ -213,6 +216,7 @@ files { "../Importers/ImportURDFDemo/URDF2Bullet.cpp", "../Importers/ImportURDFDemo/UrdfParser.cpp", "../Importers/ImportURDFDemo/urdfStringSplit.cpp", - + "../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", + "../ThirdPartyLibs/stb_image/stb_image.cpp", } diff --git a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp index 3f6553b81..67b64fd26 100644 --- a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp +++ b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp @@ -1,15 +1,12 @@ #include "b3ImportMeshUtility.h" #include -#include "../../OpenGLWindow/GLInstancingRenderer.h" -#include"Wavefront/tiny_obj_loader.h" -#include "../../OpenGLWindow/GLInstanceGraphicsShape.h" -#include "btBulletDynamicsCommon.h" -#include "../../OpenGLWindow/SimpleOpenGL3App.h" +#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h" +#include "LinearMath/btVector3.h" #include "../ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h" #include "../../Utils/b3ResourcePath.h" #include "Bullet3Common/b3FileUtils.h" -#include "stb_image/stb_image.h" +#include "../../ThirdPartyLibs/stb_image/stb_image.h" bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData) @@ -88,28 +85,4 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& return false; } -int b3ImportMeshUtility::loadAndRegisterMeshFromFile(const std::string& fileName, CommonRenderInterface* renderer) -{ - int shapeId = -1; - b3ImportMeshData meshData; - if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData)) - { - int textureIndex = -1; - - if (meshData.m_textureImage) - { - textureIndex = renderer->registerTexture(meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight); - } - - shapeId = renderer->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0], - meshData.m_gfxShape->m_numvertices, - &meshData.m_gfxShape->m_indices->at(0), - meshData.m_gfxShape->m_numIndices, - B3_GL_TRIANGLES, - textureIndex); - delete meshData.m_gfxShape; - delete meshData.m_textureImage; - } - return shapeId; -} diff --git a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h index 96c061eaf..7bf6af841 100644 --- a/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h +++ b/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h @@ -15,7 +15,6 @@ struct b3ImportMeshData class b3ImportMeshUtility { public: -static int loadAndRegisterMeshFromFile(const std::string& fileName, class CommonRenderInterface* renderer); static bool loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData); diff --git a/examples/Importers/ImportObjDemo/ImportObjExample.cpp b/examples/Importers/ImportObjDemo/ImportObjExample.cpp index a8995c148..2fc11afa3 100644 --- a/examples/Importers/ImportObjDemo/ImportObjExample.cpp +++ b/examples/Importers/ImportObjDemo/ImportObjExample.cpp @@ -56,7 +56,31 @@ ImportObjSetup::~ImportObjSetup() - +int loadAndRegisterMeshFromFile2(const std::string& fileName, CommonRenderInterface* renderer) +{ + int shapeId = -1; + + b3ImportMeshData meshData; + if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData)) + { + int textureIndex = -1; + + if (meshData.m_textureImage) + { + textureIndex = renderer->registerTexture(meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight); + } + + shapeId = renderer->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0], + meshData.m_gfxShape->m_numvertices, + &meshData.m_gfxShape->m_indices->at(0), + meshData.m_gfxShape->m_numIndices, + B3_GL_TRIANGLES, + textureIndex); + delete meshData.m_gfxShape; + delete meshData.m_textureImage; + } + return shapeId; +} @@ -77,7 +101,7 @@ void ImportObjSetup::initPhysics() btVector3 scaling(1,1,1); btVector3 color(1,1,1); - int shapeId = b3ImportMeshUtility::loadAndRegisterMeshFromFile(m_fileName, m_guiHelper->getRenderInterface()); + int shapeId = loadAndRegisterMeshFromFile2(m_fileName, m_guiHelper->getRenderInterface()); if (shapeId>=0) { //int id = diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp index 4838079a0..9b6eb8ae1 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp @@ -13,7 +13,7 @@ subject to the following restrictions: #include "BulletUrdfImporter.h" - +#include "../../CommonInterfaces/CommonRenderInterface.h" #include "URDFImporterInterface.h" #include "btBulletCollisionCommon.h" @@ -26,12 +26,20 @@ subject to the following restrictions: #include #include "../../Utils/b3ResourcePath.h" +#include "../ImportMeshUtility/b3ImportMeshUtility.h" #include #include #include "UrdfParser.h" +struct MyTexture +{ + int m_width; + int m_height; + unsigned char* textureData; +}; + struct BulletURDFInternalData { UrdfParser m_urdfParser; @@ -589,7 +597,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co } -static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray& verticesOut, btAlignedObjectArray& indicesOut) +static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray& verticesOut, btAlignedObjectArray& indicesOut, btAlignedObjectArray& texturesOut) { @@ -693,7 +701,23 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha { case FILE_OBJ: { - glmesh = LoadMeshFromObj(fullPath,visualPathPrefix); +// glmesh = LoadMeshFromObj(fullPath,visualPathPrefix); + + b3ImportMeshData meshData; + if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fullPath, meshData)) + { + + if (meshData.m_textureImage) + { + MyTexture texData; + texData.m_width = meshData.m_textureWidth; + texData.m_height = meshData.m_textureHeight; + texData.textureData = meshData.m_textureImage; + texturesOut.push_back(texData); + } + glmesh = meshData.m_gfxShape; + } + break; } @@ -914,7 +938,8 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP btAlignedObjectArray vertices; btAlignedObjectArray indices; btTransform startTrans; startTrans.setIdentity(); - + btAlignedObjectArray textures; + const UrdfModel& model = m_data->m_urdfParser.getModel(); UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex); if (linkPtr) @@ -934,14 +959,34 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP //printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]); m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor); } - convertURDFToVisualShapeInternal(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices); + convertURDFToVisualShapeInternal(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices,textures); } } if (vertices.size() && indices.size()) { - graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size()); +// graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size()); + //graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size()); + + CommonRenderInterface* renderer = m_data->m_guiHelper->getRenderInterface(); + + if (renderer) + { + int textureIndex = -1; + if (textures.size()) + { + textureIndex = renderer->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height); + } + graphicsIndex = renderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES,textureIndex); + + } + } + + //delete textures + for (int i=0;i #include #include "../Importers/ImportURDFDemo/UrdfParser.h" @@ -41,6 +41,13 @@ enum MyFileType MY_FILE_OBJ=3, }; +struct MyTexture2 +{ + unsigned char* textureData; + int m_width; + int m_height; +}; + struct TinyRendererObjectArray { btAlignedObjectArray< TinyRenderObjectData*> m_renderObjects; @@ -95,7 +102,7 @@ TinyRendererVisualShapeConverter::~TinyRendererVisualShapeConverter() -void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray& verticesOut, btAlignedObjectArray& indicesOut) +void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray& verticesOut, btAlignedObjectArray& indicesOut, btAlignedObjectArray& texturesOut) { @@ -201,7 +208,23 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref { case MY_FILE_OBJ: { - glmesh = LoadMeshFromObj(fullPath,visualPathPrefix); + //glmesh = LoadMeshFromObj(fullPath,visualPathPrefix); + b3ImportMeshData meshData; + if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fullPath, meshData)) + { + + if (meshData.m_textureImage) + { + MyTexture2 texData; + texData.m_width = meshData.m_textureWidth; + texData.m_height = meshData.m_textureHeight; + texData.textureData = meshData.m_textureImage; + texturesOut.push_back(texData); + } + glmesh = meshData.m_gfxShape; + } + + break; } @@ -420,11 +443,7 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionObject* colObj) { - btAlignedObjectArray vertices; - btAlignedObjectArray indices; - btTransform startTrans; startTrans.setIdentity(); - int graphicsIndex = -1; - + UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex); if (linkPtr) { @@ -433,6 +452,12 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const for (int v = 0; v < link->m_visualArray.size();v++) { + btAlignedObjectArray textures; + btAlignedObjectArray vertices; + btAlignedObjectArray indices; + btTransform startTrans; startTrans.setIdentity(); + int graphicsIndex = -1; + const UrdfVisual& vis = link->m_visualArray[v]; btTransform childTrans = vis.m_linkLocalFrame; btHashString matName(vis.m_materialName.c_str()); @@ -458,14 +483,29 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const btAssert(visualsPtr); TinyRendererObjectArray* visuals = *visualsPtr; - convertURDFToVisualShape(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices); + convertURDFToVisualShape(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices,textures); if (vertices.size() && indices.size()) { TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer); - tinyObj->registerMeshShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size(),rgbaColor); + unsigned char* textureImage=0; + int textureWidth=0; + int textureHeight=0; + if (textures.size()) + { + textureImage = textures[0].textureData; + textureWidth = textures[0].m_width; + textureHeight = textures[0].m_height; + } + + tinyObj->registerMeshShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size(),rgbaColor, + textureImage,textureWidth,textureHeight); visuals->m_renderObjects.push_back(tinyObj); } + for (int i=0;i