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URDF loader: resources path, "package://" removal, error messages, zero material path in .obj loader

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This commit is contained in:
Oleg Klimov
2017-03-08 14:49:39 +03:00
parent 7ffbd35d42
commit 5b2a9d1a01
4 changed files with 389 additions and 422 deletions
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768
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -32,6 +32,7 @@ static btScalar gUrdfDefaultCollisionMargin = 0.001;
#include <iostream>
#include <fstream>
#include <list>
#include "UrdfParser.h"
struct MyTexture
@@ -47,14 +48,27 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
UrdfParser m_urdfParser;
struct GUIHelperInterface* m_guiHelper;
std::string m_sourceFile;
char m_pathPrefix[1024];
int m_bodyId;
btHashMap<btHashInt,btVector4> m_linkColors;
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
LinkVisualShapesConverter* m_customVisualShapesConverter;
};
void setSourceFile(const std::string& relativeFileName, const std::string& prefix)
{
m_sourceFile = relativeFileName;
m_urdfParser.setSourceFile(relativeFileName);
strncpy(m_pathPrefix, prefix.c_str(), sizeof(m_pathPrefix));
m_pathPrefix[sizeof(m_pathPrefix)-1] = 0; // required, strncpy doesn't write zero on overflow
}
BulletURDFInternalData()
{
m_pathPrefix[0] = 0;
}
};
void BulletURDFImporter::printTree()
{
@@ -76,7 +90,6 @@ BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVi
m_data = new BulletURDFInternalData;
m_data->m_guiHelper = helper;
m_data->m_pathPrefix[0]=0;
m_data->m_customVisualShapesConverter = customConverter;
@@ -111,7 +124,6 @@ struct BulletErrorLogger : public ErrorLogger
bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
{
if (strlen(fileName)==0)
return false;
@@ -124,17 +136,16 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
bool fileFound = (b3ResourcePath::findResourcePath(fileName,relativeFileName,1024))>0;
std::string xml_string;
m_data->m_pathPrefix[0] = 0;
if (!fileFound){
std::cerr << "URDF file not found" << std::endl;
if (!fileFound){
b3Warning("URDF file '%s' not found\n", fileName);
return false;
} else
{
int maxPathLen = 1024;
fu.extractPath(relativeFileName,m_data->m_pathPrefix,maxPathLen);
} else
{
char path[1024];
fu.extractPath(relativeFileName, path, sizeof(path));
m_data->setSourceFile(relativeFileName, path);
std::fstream xml_file(relativeFileName, std::fstream::in);
while ( xml_file.good())
@@ -176,17 +187,16 @@ bool BulletURDFImporter::loadSDF(const char* fileName, bool forceFixedBase)
bool fileFound = (b3ResourcePath::findResourcePath(fileName,relativeFileName,1024))>0;
std::string xml_string;
m_data->m_pathPrefix[0] = 0;
if (!fileFound){
std::cerr << "SDF file not found" << std::endl;
b3Warning("SDF file '%s' not found\n", fileName);
return false;
} else
{
int maxPathLen = 1024;
fu.extractPath(relativeFileName,m_data->m_pathPrefix,maxPathLen);
char path[1024];
fu.extractPath(relativeFileName, path, sizeof(path));
m_data->setSourceFile(relativeFileName, path);
std::fstream xml_file(relativeFileName, std::fstream::in);
while ( xml_file.good() )
@@ -447,6 +457,69 @@ static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t
return compound;
}
static
bool findExistingMeshFile(
const std::string& path_or_shorter, std::string fn,
const std::string& error_message_prefix,
std::string* out_found_filename, int* out_type)
{
if (fn.size() <= 4)
{
b3Warning("%s: invalid mesh filename '%s'\n", error_message_prefix.c_str(), fn.c_str());
return false;
}
std::string ext;
std::string ext_ = fn.substr(fn.size()-4);
for (std::string::iterator i=ext_.begin(); i!=ext_.end(); ++i)
ext += char(tolower(*i));
if (ext==".dae") *out_type = FILE_COLLADA;
else if (ext==".stl") *out_type = FILE_STL;
else if (ext==".obj") *out_type = FILE_OBJ;
else
{
b3Warning("%s: invalid mesh filename extension '%s'\n", error_message_prefix.c_str(), ext.c_str());
return false;
}
std::string drop_it = "package://";
if (fn.substr(0, drop_it.length())==drop_it)
fn = fn.substr(drop_it.length());
std::list<std::string> shorter;
int cnt = path_or_shorter.size();
for (int i=0; i<cnt; ++i) {
if (path_or_shorter[i]=='/' || path_or_shorter[i]=='\\')
shorter.push_back(path_or_shorter.substr(0, i));
else if (i==cnt-1)
shorter.push_back(path_or_shorter.substr(0, cnt));
}
shorter.reverse();
std::string existing_file;
for (std::list<std::string>::iterator x=shorter.begin(); x!=shorter.end(); ++x)
{
std::string attempt = *x + "/" + fn;
FILE* f = fopen(attempt.c_str(), "rb");
if (!f) {
//b3Printf("%s: tried '%s'", error_message_prefix.c_str(), attempt.c_str());
continue;
}
fclose(f);
existing_file = attempt;
//b3Printf("%s: found '%s'", error_message_prefix.c_str(), attempt.c_str());
break;
}
if (existing_file.empty())
{
b3Warning("%s: cannot find '%s' in any directory in urdf path\n", error_message_prefix.c_str(), fn.c_str());
return false;
} else {
*out_found_filename = existing_file;
return true;
}
}
btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, const char* urdfPathPrefix)
{
BT_PROFILE("convertURDFToCollisionShape");
@@ -507,239 +580,168 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
}
case URDF_GEOM_SPHERE:
{
btScalar radius = collision->m_geometry.m_sphereRadius;
btSphereShape* sphereShape = new btSphereShape(radius);
shape = sphereShape;
shape ->setMargin(gUrdfDefaultCollisionMargin);
break;
}
break;
}
case URDF_GEOM_MESH:
{
if (collision->m_name.length())
case URDF_GEOM_MESH:
{
std::string existing_file;
int fileType;
bool success = findExistingMeshFile(urdfPathPrefix, collision->m_geometry.m_meshFileName, collision->m_sourceFileLocation, &existing_file, &fileType);
if (!success) break; // error message already printed
GLInstanceGraphicsShape* glmesh = 0;
switch (fileType) {
case FILE_OBJ:
if (collision->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
{
//b3Printf("collision->name=%s\n",collision->m_name.c_str());
glmesh = LoadMeshFromObj(existing_file.c_str(), 0);
}
if (1)
else
{
if (collision->m_geometry.m_meshFileName.length())
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, existing_file.c_str());
//create a convex hull for each shape, and store it in a btCompoundShape
shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale);
return shape;
}
break;
case FILE_STL:
glmesh = LoadMeshFromSTL(existing_file.c_str());
break;
case FILE_COLLADA:
{
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
btTransform upAxisTrans;upAxisTrans.setIdentity();
float unitMeterScaling = 1;
LoadMeshFromCollada(existing_file.c_str(), visualShapes, visualShapeInstances, upAxisTrans, unitMeterScaling, 2);
glmesh = new GLInstanceGraphicsShape;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i=0;i<visualShapeInstances.size();i++)
{
const char* filename = collision->m_geometry.m_meshFileName.c_str();
//b3Printf("mesh->filename=%s\n",filename);
char fullPath[1024];
int fileType = 0;
sprintf(fullPath,"%s%s",urdfPathPrefix,filename);
b3FileUtils::toLower(fullPath);
char tmpPathPrefix[1024];
int maxPathLen = 1024;
b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
ColladaGraphicsInstance* instance = &visualShapeInstances[i];
GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
char collisionPathPrefix[1024];
sprintf(collisionPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
b3AlignedObjectArray<GLInstanceVertex> verts;
verts.resize(gfxShape->m_vertices->size());
int baseIndex = glmesh->m_vertices->size();
if (strstr(fullPath,".dae"))
for (int i=0;i<gfxShape->m_vertices->size();i++)
{
fileType = FILE_COLLADA;
}
if (strstr(fullPath,".stl"))
{
fileType = FILE_STL;
}
if (strstr(fullPath,".obj"))
{
fileType = FILE_OBJ;
}
verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
sprintf(fullPath,"%s%s",urdfPathPrefix,filename);
FILE* f = fopen(fullPath,"rb");
if (f)
{
fclose(f);
GLInstanceGraphicsShape* glmesh = 0;
switch (fileType)
{
case FILE_OBJ:
{
if (collision->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
{
glmesh = LoadMeshFromObj(fullPath, collisionPathPrefix);
}
else
{
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, fullPath, collisionPathPrefix);
//create a convex hull for each shape, and store it in a btCompoundShape
shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale);
return shape;
}
break;
}
case FILE_STL:
{
glmesh = LoadMeshFromSTL(fullPath);
break;
}
case FILE_COLLADA:
{
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
btTransform upAxisTrans;upAxisTrans.setIdentity();
float unitMeterScaling=1;
int upAxis = 2;
LoadMeshFromCollada(fullPath,
visualShapes,
visualShapeInstances,
upAxisTrans,
unitMeterScaling,
upAxis );
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i=0;i<visualShapeInstances.size();i++)
{
ColladaGraphicsInstance* instance = &visualShapeInstances[i];
GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
b3AlignedObjectArray<GLInstanceVertex> verts;
verts.resize(gfxShape->m_vertices->size());
int baseIndex = glmesh->m_vertices->size();
for (int i=0;i<gfxShape->m_vertices->size();i++)
{
verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
}
int curNumIndices = glmesh->m_indices->size();
int additionalIndices = gfxShape->m_indices->size();
glmesh->m_indices->resize(curNumIndices+additionalIndices);
for (int k=0;k<additionalIndices;k++)
{
glmesh->m_indices->at(curNumIndices+k)=gfxShape->m_indices->at(k)+baseIndex;
}
//compensate upAxisTrans and unitMeterScaling here
btMatrix4x4 upAxisMat;
upAxisMat.setIdentity();
//upAxisMat.setPureRotation(upAxisTrans.getRotation());
btMatrix4x4 unitMeterScalingMat;
unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling,unitMeterScaling,unitMeterScaling));
btMatrix4x4 worldMat = unitMeterScalingMat*instance->m_worldTransform*upAxisMat;
//btMatrix4x4 worldMat = instance->m_worldTransform;
int curNumVertices = glmesh->m_vertices->size();
int additionalVertices = verts.size();
glmesh->m_vertices->reserve(curNumVertices+additionalVertices);
for(int v=0;v<verts.size();v++)
{
btVector3 pos(verts[v].xyzw[0],verts[v].xyzw[1],verts[v].xyzw[2]);
pos = worldMat*pos;
verts[v].xyzw[0] = float(pos[0]);
verts[v].xyzw[1] = float(pos[1]);
verts[v].xyzw[2] = float(pos[2]);
glmesh->m_vertices->push_back(verts[v]);
}
}
glmesh->m_numIndices = glmesh->m_indices->size();
glmesh->m_numvertices = glmesh->m_vertices->size();
//glmesh = LoadMeshFromCollada(fullPath);
break;
}
default:
{
b3Warning("Unsupported file type in Collision: %s\n",fullPath);
btAssert(0);
}
}
if (glmesh && (glmesh->m_numvertices>0))
{
//b3Printf("extracted %d verticed from STL file %s\n", glmesh->m_numvertices,fullPath);
//int shapeId = m_glApp->m_instancingRenderer->registerShape(&gvertices[0].pos[0],gvertices.size(),&indices[0],indices.size());
//convex->setUserIndex(shapeId);
btAlignedObjectArray<btVector3> convertedVerts;
convertedVerts.reserve(glmesh->m_numvertices);
for (int i=0;i<glmesh->m_numvertices;i++)
{
convertedVerts.push_back(btVector3(
glmesh->m_vertices->at(i).xyzw[0]*collision->m_geometry.m_meshScale[0],
glmesh->m_vertices->at(i).xyzw[1]*collision->m_geometry.m_meshScale[1],
glmesh->m_vertices->at(i).xyzw[2]*collision->m_geometry.m_meshScale[2]));
}
if (collision->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
{
BT_PROFILE("convert trimesh");
btTriangleMesh* meshInterface = new btTriangleMesh();
for (int i=0;i<glmesh->m_numIndices/3;i++)
{
float* v0 = glmesh->m_vertices->at(glmesh->m_indices->at(i*3)).xyzw;
float* v1 = glmesh->m_vertices->at(glmesh->m_indices->at(i*3+1)).xyzw;
float* v2 = glmesh->m_vertices->at(glmesh->m_indices->at(i*3+2)).xyzw;
meshInterface->addTriangle(btVector3(v0[0],v0[1],v0[2]),
btVector3(v1[0],v1[1],v1[2]),
btVector3(v2[0],v2[1],v2[2]));
}
btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
shape = trimesh;
} else
{
BT_PROFILE("convert btConvexHullShape");
btConvexHullShape* convexHull = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));
convexHull->optimizeConvexHull();
//convexHull->initializePolyhedralFeatures();
convexHull->setMargin(gUrdfDefaultCollisionMargin);
convexHull->setLocalScaling(collision->m_geometry.m_meshScale);
shape = convexHull;
}
} else
{
b3Warning("issue extracting mesh from STL file %s\n", fullPath);
}
delete glmesh;
} else
{
b3Warning("mesh geometry not found %s\n",fullPath);
}
int curNumIndices = glmesh->m_indices->size();
int additionalIndices = gfxShape->m_indices->size();
glmesh->m_indices->resize(curNumIndices+additionalIndices);
for (int k=0;k<additionalIndices;k++)
{
glmesh->m_indices->at(curNumIndices+k)=gfxShape->m_indices->at(k)+baseIndex;
}
//compensate upAxisTrans and unitMeterScaling here
btMatrix4x4 upAxisMat;
upAxisMat.setIdentity();
//upAxisMat.setPureRotation(upAxisTrans.getRotation());
btMatrix4x4 unitMeterScalingMat;
unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling,unitMeterScaling,unitMeterScaling));
btMatrix4x4 worldMat = unitMeterScalingMat*instance->m_worldTransform*upAxisMat;
//btMatrix4x4 worldMat = instance->m_worldTransform;
int curNumVertices = glmesh->m_vertices->size();
int additionalVertices = verts.size();
glmesh->m_vertices->reserve(curNumVertices+additionalVertices);
for(int v=0;v<verts.size();v++)
{
btVector3 pos(verts[v].xyzw[0],verts[v].xyzw[1],verts[v].xyzw[2]);
pos = worldMat*pos;
verts[v].xyzw[0] = float(pos[0]);
verts[v].xyzw[1] = float(pos[1]);
verts[v].xyzw[2] = float(pos[2]);
glmesh->m_vertices->push_back(verts[v]);
}
}
glmesh->m_numIndices = glmesh->m_indices->size();
glmesh->m_numvertices = glmesh->m_vertices->size();
//glmesh = LoadMeshFromCollada(success.c_str());
break;
}
}
if (!glmesh || glmesh->m_numvertices<=0)
{
b3Warning("%s: cannot extract mesh from '%s'\n", urdfPathPrefix, existing_file.c_str());
delete glmesh;
break;
}
btAlignedObjectArray<btVector3> convertedVerts;
convertedVerts.reserve(glmesh->m_numvertices);
for (int i=0; i<glmesh->m_numvertices; i++)
{
convertedVerts.push_back(btVector3(
glmesh->m_vertices->at(i).xyzw[0]*collision->m_geometry.m_meshScale[0],
glmesh->m_vertices->at(i).xyzw[1]*collision->m_geometry.m_meshScale[1],
glmesh->m_vertices->at(i).xyzw[2]*collision->m_geometry.m_meshScale[2]));
}
if (collision->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
{
BT_PROFILE("convert trimesh");
btTriangleMesh* meshInterface = new btTriangleMesh();
for (int i=0; i<glmesh->m_numIndices/3; i++)
{
float* v0 = glmesh->m_vertices->at(glmesh->m_indices->at(i*3)).xyzw;
float* v1 = glmesh->m_vertices->at(glmesh->m_indices->at(i*3+1)).xyzw;
float* v2 = glmesh->m_vertices->at(glmesh->m_indices->at(i*3+2)).xyzw;
meshInterface->addTriangle(
btVector3(v0[0],v0[1],v0[2]),
btVector3(v1[0],v1[1],v1[2]),
btVector3(v2[0],v2[1],v2[2]));
}
btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
shape = trimesh;
} else
{
BT_PROFILE("convert btConvexHullShape");
btConvexHullShape* convexHull = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));
convexHull->optimizeConvexHull();
//convexHull->initializePolyhedralFeatures();
convexHull->setMargin(gUrdfDefaultCollisionMargin);
convexHull->setLocalScaling(collision->m_geometry.m_meshScale);
shape = convexHull;
}
delete glmesh;
break;
} // mesh case
break;
}
default:
{
b3Warning("Error: unknown visual geometry type\n");
}
}
b3Warning("Error: unknown visual geometry type\n");
}
return shape;
}
@@ -778,17 +780,17 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha
convexColShape = cylZShape;
break;
}
case URDF_GEOM_BOX:
{
btVector3 extents = visual->m_geometry.m_boxSize;
btBoxShape* boxShape = new btBoxShape(extents*0.5f);
//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
convexColShape = boxShape;
convexColShape->setMargin(gUrdfDefaultCollisionMargin);
break;
}
case URDF_GEOM_SPHERE:
{
btScalar radius = visual->m_geometry.m_sphereRadius;
@@ -796,206 +798,142 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha
convexColShape = sphereShape;
convexColShape->setMargin(gUrdfDefaultCollisionMargin);
break;
break;
}
case URDF_GEOM_MESH:
{
if (visual->m_name.length())
std::string existing_file;
int fileType;
bool success = findExistingMeshFile(urdfPathPrefix, visual->m_geometry.m_meshFileName, visual->m_sourceFileLocation, &existing_file, &fileType);
if (!success) break; // error message already printed
switch (fileType)
{
//b3Printf("visual->name=%s\n", visual->m_name.c_str());
}
if (1)//visual->m_geometry)
{
if (visual->m_geometry.m_meshFileName.length())
case FILE_OBJ:
{
const char* filename = visual->m_geometry.m_meshFileName.c_str();
//b3Printf("mesh->filename=%s\n", filename);
char fullPath[1024];
int fileType = 0;
char tmpPathPrefix[1024];
std::string xml_string;
int maxPathLen = 1024;
b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
char visualPathPrefix[1024];
sprintf(visualPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
b3FileUtils::toLower(fullPath);
if (strstr(fullPath, ".dae"))
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(existing_file, meshData))
{
fileType = FILE_COLLADA;
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;
}
if (strstr(fullPath, ".stl"))
{
fileType = FILE_STL;
}
if (strstr(fullPath,".obj"))
{
fileType = FILE_OBJ;
}
sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
FILE* f = fopen(fullPath, "rb");
if (f)
{
fclose(f);
switch (fileType)
{
case FILE_OBJ:
{
// 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;
}
case FILE_STL:
{
glmesh = LoadMeshFromSTL(fullPath);
break;
}
case FILE_COLLADA:
{
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
btTransform upAxisTrans; upAxisTrans.setIdentity();
float unitMeterScaling = 1;
int upAxis = 2;
LoadMeshFromCollada(fullPath,
visualShapes,
visualShapeInstances,
upAxisTrans,
unitMeterScaling,
upAxis);
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i = 0; i<visualShapeInstances.size(); i++)
{
ColladaGraphicsInstance* instance = &visualShapeInstances[i];
GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
b3AlignedObjectArray<GLInstanceVertex> verts;
verts.resize(gfxShape->m_vertices->size());
int baseIndex = glmesh->m_vertices->size();
for (int i = 0; i<gfxShape->m_vertices->size(); i++)
{
verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
}
int curNumIndices = glmesh->m_indices->size();
int additionalIndices = gfxShape->m_indices->size();
glmesh->m_indices->resize(curNumIndices + additionalIndices);
for (int k = 0; k<additionalIndices; k++)
{
glmesh->m_indices->at(curNumIndices + k) = gfxShape->m_indices->at(k) + baseIndex;
}
//compensate upAxisTrans and unitMeterScaling here
btMatrix4x4 upAxisMat;
upAxisMat.setIdentity();
// upAxisMat.setPureRotation(upAxisTrans.getRotation());
btMatrix4x4 unitMeterScalingMat;
unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling, unitMeterScaling, unitMeterScaling));
btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform;
//btMatrix4x4 worldMat = instance->m_worldTransform;
int curNumVertices = glmesh->m_vertices->size();
int additionalVertices = verts.size();
glmesh->m_vertices->reserve(curNumVertices + additionalVertices);
for (int v = 0; v<verts.size(); v++)
{
btVector3 pos(verts[v].xyzw[0], verts[v].xyzw[1], verts[v].xyzw[2]);
pos = worldMat*pos;
verts[v].xyzw[0] = float(pos[0]);
verts[v].xyzw[1] = float(pos[1]);
verts[v].xyzw[2] = float(pos[2]);
glmesh->m_vertices->push_back(verts[v]);
}
}
glmesh->m_numIndices = glmesh->m_indices->size();
glmesh->m_numvertices = glmesh->m_vertices->size();
//glmesh = LoadMeshFromCollada(fullPath);
break;
}
default:
{
b3Warning("Error: unsupported file type for Visual mesh: %s\n", fullPath);
btAssert(0);
}
}
if (glmesh && glmesh->m_vertices && (glmesh->m_numvertices>0))
{
//apply the geometry scaling
for (int i=0;i<glmesh->m_vertices->size();i++)
{
glmesh->m_vertices->at(i).xyzw[0] *= visual->m_geometry.m_meshScale[0];
glmesh->m_vertices->at(i).xyzw[1] *= visual->m_geometry.m_meshScale[1];
glmesh->m_vertices->at(i).xyzw[2] *= visual->m_geometry.m_meshScale[2];
}
}
else
{
b3Warning("issue extracting mesh from COLLADA/STL file %s\n", fullPath);
}
}
else
{
b3Warning("mesh geometry not found %s\n", fullPath);
}
break;
}
case FILE_STL:
{
glmesh = LoadMeshFromSTL(existing_file.c_str());
break;
}
case FILE_COLLADA:
{
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
btTransform upAxisTrans; upAxisTrans.setIdentity();
float unitMeterScaling = 1;
int upAxis = 2;
LoadMeshFromCollada(existing_file.c_str(),
visualShapes,
visualShapeInstances,
upAxisTrans,
unitMeterScaling,
upAxis);
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i = 0; i<visualShapeInstances.size(); i++)
{
ColladaGraphicsInstance* instance = &visualShapeInstances[i];
GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
b3AlignedObjectArray<GLInstanceVertex> verts;
verts.resize(gfxShape->m_vertices->size());
int baseIndex = glmesh->m_vertices->size();
for (int i = 0; i<gfxShape->m_vertices->size(); i++)
{
verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
}
int curNumIndices = glmesh->m_indices->size();
int additionalIndices = gfxShape->m_indices->size();
glmesh->m_indices->resize(curNumIndices + additionalIndices);
for (int k = 0; k<additionalIndices; k++)
{
glmesh->m_indices->at(curNumIndices + k) = gfxShape->m_indices->at(k) + baseIndex;
}
//compensate upAxisTrans and unitMeterScaling here
btMatrix4x4 upAxisMat;
upAxisMat.setIdentity();
// upAxisMat.setPureRotation(upAxisTrans.getRotation());
btMatrix4x4 unitMeterScalingMat;
unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling, unitMeterScaling, unitMeterScaling));
btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform;
//btMatrix4x4 worldMat = instance->m_worldTransform;
int curNumVertices = glmesh->m_vertices->size();
int additionalVertices = verts.size();
glmesh->m_vertices->reserve(curNumVertices + additionalVertices);
for (int v = 0; v<verts.size(); v++)
{
btVector3 pos(verts[v].xyzw[0], verts[v].xyzw[1], verts[v].xyzw[2]);
pos = worldMat*pos;
verts[v].xyzw[0] = float(pos[0]);
verts[v].xyzw[1] = float(pos[1]);
verts[v].xyzw[2] = float(pos[2]);
glmesh->m_vertices->push_back(verts[v]);
}
}
glmesh->m_numIndices = glmesh->m_indices->size();
glmesh->m_numvertices = glmesh->m_vertices->size();
//glmesh = LoadMeshFromCollada(existing_file);
break;
}
} // switch file type
if (!glmesh || !glmesh->m_vertices || glmesh->m_numvertices<=0)
{
b3Warning("%s: cannot extract anything useful from mesh '%s'\n", urdfPathPrefix, existing_file.c_str());
break;
}
//apply the geometry scaling
for (int i=0;i<glmesh->m_vertices->size();i++)
{
glmesh->m_vertices->at(i).xyzw[0] *= visual->m_geometry.m_meshScale[0];
glmesh->m_vertices->at(i).xyzw[1] *= visual->m_geometry.m_meshScale[1];
glmesh->m_vertices->at(i).xyzw[2] *= visual->m_geometry.m_meshScale[2];
}
break;
}
default:
{
b3Warning("Error: unknown visual geometry type\n");
}
}
//if we have a convex, tesselate into localVertices/localIndices

11
examples/Importers/ImportURDFDemo/UrdfParser.cpp
View File

@@ -8,9 +8,9 @@ UrdfParser::UrdfParser()
:m_parseSDF(false),
m_activeSdfModel(-1)
{
m_urdf2Model.m_sourceFile = "IN_MEMORY_STRING"; // if loadUrdf() called later, source file name will be replaced with real
}
UrdfParser::~UrdfParser()
{
cleanModel(&m_urdf2Model);
@@ -845,6 +845,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
for (TiXmlElement* vis_xml = config->FirstChildElement("visual"); vis_xml; vis_xml = vis_xml->NextSiblingElement("visual"))
{
UrdfVisual visual;
visual.m_sourceFileLocation = sourceFileLocation(vis_xml);
if (parseVisual(model, visual, vis_xml,logger))
{
@@ -864,6 +865,8 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
for (TiXmlElement* col_xml = config->FirstChildElement("collision"); col_xml; col_xml = col_xml->NextSiblingElement("collision"))
{
UrdfCollision col;
col.m_sourceFileLocation = sourceFileLocation(col_xml);
if (parseCollision(col, col_xml,logger))
{
link.m_collisionArray.push_back(col);
@@ -1657,3 +1660,9 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
return true;
}
std::string UrdfParser::sourceFileLocation(TiXmlElement* e)
{
char buf[1024];
snprintf(buf, sizeof(buf), "%s:%i", m_urdf2Model.m_sourceFile.c_str(), e->Row());
return buf;
}

10
examples/Importers/ImportURDFDemo/UrdfParser.h
View File

@@ -77,6 +77,7 @@ struct UrdfGeometry
struct UrdfVisual
{
std::string m_sourceFileLocation;
btTransform m_linkLocalFrame;
UrdfGeometry m_geometry;
std::string m_name;
@@ -90,6 +91,7 @@ struct UrdfVisual
struct UrdfCollision
{
std::string m_sourceFileLocation;
btTransform m_linkLocalFrame;
UrdfGeometry m_geometry;
std::string m_name;
@@ -159,6 +161,7 @@ struct UrdfJoint
struct UrdfModel
{
std::string m_name;
std::string m_sourceFile;
btTransform m_rootTransformInWorld;
btHashMap<btHashString, UrdfMaterial*> m_materials;
btHashMap<btHashString, UrdfLink*> m_links;
@@ -263,6 +266,13 @@ public:
}
return m_urdf2Model;
}
std::string sourceFileLocation(TiXmlElement* e);
void setSourceFile(const std::string& sourceFile)
{
m_urdf2Model.m_sourceFile = sourceFile;
}
};
#endif

10
examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
View File

@@ -507,6 +507,16 @@ LoadObj(
const char* filename,
const char* mtl_basepath)
{
std::string tmp = filename;
if (!mtl_basepath) {
int last_slash = 0;
for (int c=0; c<(int)tmp.size(); ++c)
if (tmp[c]=='/' || tmp[c]=='\\')
last_slash = c;
tmp = tmp.substr(0, last_slash);
mtl_basepath = tmp.c_str();
//fprintf(stderr, "MTL PATH '%s' orig '%s'\n", mtl_basepath, filename);
}
shapes.resize(0);
std::vector<vertex_index> allIndices;