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URDF loader: reuse the same resources finder routine for TinyRendererVisualShapeConverter

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This commit is contained in:
Oleg Klimov
2017-03-10 18:17:38 +03:00
parent 5b2a9d1a01
commit 82495f3c84
4 changed files with 170 additions and 247 deletions
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322
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
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@@ -36,13 +36,6 @@ subject to the following restrictions:
#include "../TinyRenderer/model.h"
#include "../ThirdPartyLibs/stb_image/stb_image.h"
enum MyFileType
{
MY_FILE_STL=1,
MY_FILE_COLLADA=2,
MY_FILE_OBJ=3,
};
struct MyTexture2
{
unsigned char* textureData;
@@ -241,223 +234,150 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
convexColShape = sphereShape;
convexColShape->setMargin(0.001);
break;
break;
}
case URDF_GEOM_MESH:
{
if (visual->m_name.length())
strncpy(visualShapeOut.m_meshAssetFileName, visual->m_geometry.m_meshFileName.c_str(), VISUAL_SHAPE_MAX_PATH_LEN);
visualShapeOut.m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN-1] = 0;
visualShapeOut.m_dimensions[0] = visual->m_geometry.m_meshScale[0];
visualShapeOut.m_dimensions[1] = visual->m_geometry.m_meshScale[1];
visualShapeOut.m_dimensions[2] = visual->m_geometry.m_meshScale[2];
visualShapeOut.m_localVisualFrame[0] = visual->m_linkLocalFrame.getOrigin()[0];
visualShapeOut.m_localVisualFrame[1] = visual->m_linkLocalFrame.getOrigin()[1];
visualShapeOut.m_localVisualFrame[2] = visual->m_linkLocalFrame.getOrigin()[2];
visualShapeOut.m_localVisualFrame[3] = visual->m_linkLocalFrame.getRotation()[0];
visualShapeOut.m_localVisualFrame[4] = visual->m_linkLocalFrame.getRotation()[1];
visualShapeOut.m_localVisualFrame[5] = visual->m_linkLocalFrame.getRotation()[2];
visualShapeOut.m_localVisualFrame[6] = visual->m_linkLocalFrame.getRotation()[3];
switch (visual->m_geometry.m_meshFileType)
{
//b3Printf("visual->name=%s\n", visual->m_name.c_str());
}
if (1)//visual->m_geometry)
{
if (visual->m_geometry.m_meshFileName.length())
case UrdfGeometry::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"))
//glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
{
fileType = MY_FILE_COLLADA;
}
if (strstr(fullPath, ".stl"))
{
fileType = MY_FILE_STL;
}
if (strstr(fullPath,".obj"))
{
fileType = MY_FILE_OBJ;
}
sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
visualShapeOut.m_dimensions[0] = visual->m_geometry.m_meshScale[0];
visualShapeOut.m_dimensions[1] = visual->m_geometry.m_meshScale[1];
visualShapeOut.m_dimensions[2] = visual->m_geometry.m_meshScale[2];
visualShapeOut.m_localVisualFrame[0] = visual->m_linkLocalFrame.getOrigin()[0];
visualShapeOut.m_localVisualFrame[1] = visual->m_linkLocalFrame.getOrigin()[1];
visualShapeOut.m_localVisualFrame[2] = visual->m_linkLocalFrame.getOrigin()[2];
visualShapeOut.m_localVisualFrame[3] = visual->m_linkLocalFrame.getRotation()[0];
visualShapeOut.m_localVisualFrame[4] = visual->m_linkLocalFrame.getRotation()[1];
visualShapeOut.m_localVisualFrame[5] = visual->m_linkLocalFrame.getRotation()[2];
visualShapeOut.m_localVisualFrame[6] = visual->m_linkLocalFrame.getRotation()[3];
int sl = strlen(fullPath);
if (sl < (VISUAL_SHAPE_MAX_PATH_LEN-1))
{
memcpy(visualShapeOut.m_meshAssetFileName, fullPath, sl);
visualShapeOut.m_meshAssetFileName[sl] = 0;
}
FILE* f = fopen(fullPath, "rb");
if (f)
{
fclose(f);
switch (fileType)
if (meshData.m_textureImage)
{
case MY_FILE_OBJ:
{
//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;
}
case MY_FILE_STL:
{
glmesh = LoadMeshFromSTL(fullPath);
break;
MyTexture2 texData;
texData.m_width = meshData.m_textureWidth;
texData.m_height = meshData.m_textureHeight;
texData.textureData = meshData.m_textureImage;
texturesOut.push_back(texData);
}
case MY_FILE_COLLADA:
glmesh = meshData.m_gfxShape;
}
break;
}
case UrdfGeometry::FILE_STL:
glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str());
break;
case UrdfGeometry::FILE_COLLADA:
{
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
btTransform upAxisTrans; upAxisTrans.setIdentity();
float unitMeterScaling = 1;
int upAxis = 2;
LoadMeshFromCollada(visual->m_geometry.m_meshFileName.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];
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
btTransform upAxisTrans; upAxisTrans.setIdentity();
float unitMeterScaling = 1;
int upAxis = 2;
}
LoadMeshFromCollada(fullPath,
visualShapes,
visualShapeInstances,
upAxisTrans,
unitMeterScaling,
upAxis);
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;
}
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();
//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);
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:
for (int v = 0; v<verts.size(); v++)
{
b3Warning("Error: unsupported file type for Visual mesh: %s\n", fullPath);
btAssert(0);
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]);
}
}
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);
}
glmesh->m_numIndices = glmesh->m_indices->size();
glmesh->m_numvertices = glmesh->m_vertices->size();
//glmesh = LoadMeshFromCollada(visual->m_geometry.m_meshFileName.c_str());
break;
}
default:
// should never get here (findExistingMeshFile returns false if it doesn't recognize extension)
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", visual->m_geometry.m_meshFileName.c_str());
}
break;
}
} // case mesh
default:
{
b3Warning("Error: unknown visual geometry type\n");