4b665fa82b
URDF import demo: add COLLADA .dae file support add FiniteElementMethod demo, extracted from the OpenTissue library (under the zlib license) don't crash if loading an invalid STL file add comparison with Assimp for COLLADA file loading (disabled by default, to avoid library dependency) Gwen: disable some flags that make the build incompatible
110 lines
2.9 KiB
C
110 lines
2.9 KiB
C
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#ifndef LOAD_MESH_FROM_STL_H
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#define LOAD_MESH_FROM_STL_H
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#include "OpenGLWindow/GLInstanceGraphicsShape.h"
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#include <stdio.h> //fopen
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#include "Bullet3Common/b3AlignedObjectArray.h"
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struct MySTLTriangle
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{
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float normal[3];
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float vertex0[3];
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float vertex1[3];
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float vertex2[3];
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};
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static GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName)
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{
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GLInstanceGraphicsShape* shape = 0;
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FILE* file = fopen(relativeFileName,"rb");
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if (file)
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{
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int size=0;
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if (fseek(file, 0, SEEK_END) || (size = ftell(file)) == EOF || fseek(file, 0, SEEK_SET))
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{
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printf("Error: Cannot access file to determine size of %s\n", relativeFileName);
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} else
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{
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if (size)
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{
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printf("Open STL file of %d bytes\n",size);
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char* memoryBuffer = new char[size+1];
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int actualBytesRead = fread(memoryBuffer,1,size,file);
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if (actualBytesRead!=size)
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{
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printf("Error reading from file %s",relativeFileName);
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} else
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{
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int numTriangles = *(int*)&memoryBuffer[80];
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if (numTriangles)
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{
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{
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//perform a sanity check instead of crashing on invalid triangles/STL files
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int expectedBinaryFileSize = numTriangles* 50 + 84;
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if (expectedBinaryFileSize != size)
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{
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return 0;
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}
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}
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shape = new GLInstanceGraphicsShape;
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// b3AlignedObjectArray<GLInstanceVertex>* m_vertices;
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// int m_numvertices;
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// b3AlignedObjectArray<int>* m_indices;
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// int m_numIndices;
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// float m_scaling[4];
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shape->m_scaling[0] = 1;
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shape->m_scaling[1] = 1;
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shape->m_scaling[2] = 1;
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shape->m_scaling[3] = 1;
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int index = 0;
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shape->m_indices = new b3AlignedObjectArray<int>();
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shape->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
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for (int i=0;i<numTriangles;i++)
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{
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char* curPtr = &memoryBuffer[84+i*50];
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MySTLTriangle* tri = (MySTLTriangle*) curPtr;
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GLInstanceVertex v0,v1,v2;
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if (i==numTriangles-2)
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{
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printf("!\n");
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}
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v0.uv[0] = v1.uv[0] = v2.uv[0] = 0.5;
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v0.uv[1] = v1.uv[1] = v2.uv[1] = 0.5;
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for (int v=0;v<3;v++)
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{
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v0.xyzw[v] = tri->vertex0[v];
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v1.xyzw[v] = tri->vertex1[v];
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v2.xyzw[v] = tri->vertex2[v];
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v0.normal[v] = v1.normal[v] = v2.normal[v] = tri->normal[v];
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}
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v0.xyzw[3] = v1.xyzw[3] = v2.xyzw[3] = 0.f;
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shape->m_vertices->push_back(v0);
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shape->m_vertices->push_back(v1);
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shape->m_vertices->push_back(v2);
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shape->m_indices->push_back(index++);
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shape->m_indices->push_back(index++);
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shape->m_indices->push_back(index++);
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}
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}
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}
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delete[] memoryBuffer;
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}
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}
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fclose(file);
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}
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shape->m_numIndices = shape->m_indices->size();
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shape->m_numvertices = shape->m_vertices->size();
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return shape;
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}
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#endif //LOAD_MESH_FROM_STL_H
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