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Merge pull request #2366 from fuchuyuan/tinyObjUpdate

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update obj loader
This commit is contained in:
erwincoumans
2019-08-14 13:37:14 -07:00
committed by GitHub
parent 3301b46367 eacebc80d5
commit 75df77611a
12 changed files with 503 additions and 393 deletions
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28
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -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;
}