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Refactor user codebase to use LoadResource helper method.

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* Fix small bug when registering resource providers.
* Add test cases for OS filesystem fallback with VFS.
* Rewrite LoadModelFromString using a resource provider (now can pass custom VFSs).

PiperOrigin-RevId: 526959705
Change-Id: Iee1773e5584535d868aab6b206d1bf362e600c8a
This commit is contained in:
Kyle Bayes
2023-04-25 07:23:53 -07:00
committed by Copybara-Service
parent c2115a1f51
commit 23961e24b7
10 changed files with 446 additions and 274 deletions
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src/user/user_mesh.cc
+64 -118
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@@ -13,15 +13,12 @@
// limitations under the License.
#include <algorithm>
#include <array>
#include <cmath>
#include <csetjmp>
#include <cstddef>
#include <cstdio>
#include <cstring>
#include <memory>
#include <ostream>
#include <sstream>
#include <string>
#include <vector>
@@ -189,15 +186,28 @@ void mjCMesh::Compile(int default_provider) {
// load STL, OBJ or MSH
string ext = mjuu_getext(file);
if (!strcasecmp(ext.c_str(), ".stl")) {
LoadSTL(default_provider);
} else if (!strcasecmp(ext.c_str(), ".obj")) {
LoadOBJ(default_provider);
} else if (!strcasecmp(ext.c_str(), ".msh")) {
LoadMSH(default_provider);
} else {
if (strcasecmp(ext.c_str(), ".stl") &&
strcasecmp(ext.c_str(), ".obj") &&
strcasecmp(ext.c_str(), ".msh")) {
throw mjCError(this, "Unknown mesh file type: %s", file.c_str());
}
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
mjResource* resource = LoadResource(filename, default_provider);
try {
if (!strcasecmp(ext.c_str(), ".stl")) {
LoadSTL(resource);
} else if (!strcasecmp(ext.c_str(), ".obj")) {
LoadOBJ(resource);
} else {
LoadMSH(resource);
}
mju_closeResource(resource);
} catch (mjCError err) {
mju_closeResource(resource);
throw err;
}
}
// copy user vertex
@@ -583,36 +593,20 @@ void mjCMesh::RemoveRepeated() {
// load OBJ mesh
void mjCMesh::LoadOBJ(int default_provider) {
// make filename
string filename = mjuu_makefullname(
model->modelfiledir, model->meshdir, file);
mjResource* r = nullptr;
// try reading from default provider
if ((r = mju_openResource(filename.c_str(), default_provider)) == nullptr) {
// try reading from filesystem
if (!default_provider || (r = mju_openResource(filename.c_str(), 0)) == nullptr) {
throw mjCError(this, "could not open OBJ file '%s'", filename.c_str());
}
}
void mjCMesh::LoadOBJ(mjResource* resource) {
tinyobj::ObjReader objReader;
const void* bytes = nullptr;
int buffer_sz = mju_readResource(r, &bytes);
int buffer_sz = mju_readResource(resource, &bytes);
if (buffer_sz < 0) {
mju_closeResource(r);
throw mjCError(this, "could not read OBJ file '%s'", filename.c_str());
throw mjCError(this, "could not read OBJ file '%s'", resource->name);
}
// TODO(etom): support .mtl files?
const char* buffer = (const char*) bytes;
objReader.ParseFromString(std::string(buffer, buffer_sz), std::string());
mju_closeResource(r);
if (!objReader.Valid()) {
throw mjCError(this, "could not parse OBJ file '%s'", filename.c_str());
throw mjCError(this, "could not parse OBJ file '%s'", resource->name);
}
const auto& attrib = objReader.GetAttrib();
@@ -631,7 +625,7 @@ void mjCMesh::LoadOBJ(int default_provider) {
if (nfacevert < 3 || nfacevert > 4) {
throw mjCError(
this, "only tri or quad meshes are supported for OBJ (file '%s')",
filename.c_str());
resource->name);
}
face_indices.push_back(mesh.indices[idx]);
@@ -686,53 +680,38 @@ void mjCMesh::LoadOBJ(int default_provider) {
// load STL binary mesh
void mjCMesh::LoadSTL(int default_provider) {
void mjCMesh::LoadSTL(mjResource* resource) {
bool righthand = (scale[0]*scale[1]*scale[2]>0);
// make filename
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
mjResource* r = nullptr;
if((r = mju_openResource(filename.c_str(), default_provider)) == nullptr) {
if(!default_provider || (r = mju_openResource(filename.c_str(), 0)) == nullptr) {
throw mjCError(this, "could not open STL file '%s'", filename.c_str());
}
}
// get file data in buffer
char* buffer = 0;
int buffer_sz = mju_readResource(r, (const void**) &buffer);
int buffer_sz = mju_readResource(resource, (const void**) &buffer);
// still not found
if (buffer_sz < 0) {
mju_closeResource(r);
throw mjCError(this, "could not read STL file '%s'", filename.c_str());
throw mjCError(this, "could not read STL file '%s'", resource->name);
} else if (!buffer_sz) {
mju_closeResource(r);
throw mjCError(this, "STL file '%s' is empty", filename.c_str());
throw mjCError(this, "STL file '%s' is empty", resource->name);
}
// make sure there is enough data for header
if (buffer_sz<84) {
mju_closeResource(r);
throw mjCError(this, "invalid header in STL file '%s'", filename.c_str());
throw mjCError(this, "invalid header in STL file '%s'", resource->name);
}
// get number of triangles, check bounds
nface = *(unsigned int*)(buffer+80);
if (nface<1 || nface>200000) {
mju_closeResource(r);
throw mjCError(this,
"number of faces should be between 1 and 200000 in STL file '%s';"
" perhaps this is an ASCII file?", filename.c_str());
" perhaps this is an ASCII file?", resource->name);
}
// check remaining buffer size
if (nface*50 != buffer_sz-84) {
mju_closeResource(r);
throw mjCError(this,
"STL file '%s' has wrong size; perhaps this is an ASCII file?",
filename.c_str());
resource->name);
}
// assign stl data pointer
@@ -749,16 +728,14 @@ void mjCMesh::LoadSTL(int default_provider) {
float* v = (float*)(stl+50*i+12*(j+1));
for (int k=0; k < 3; k++) {
if (std::isnan(v[k]) || std::isinf(v[k])) {
mju_closeResource(r);
throw mjCError(this, "STL file '%s' contains invalid vertices.",
filename.c_str());
resource->name);
}
// check if vertex coordinates can be cast to an int safely
if (fabs(v[k])>pow(2, 30)) {
mju_closeResource(r);
throw mjCError(this,
"vertex coordinates in STL file '%s' exceed maximum bounds",
filename.c_str());
resource->name);
}
}
@@ -775,44 +752,29 @@ void mjCMesh::LoadSTL(int default_provider) {
}
}
mju_closeResource(r);
RemoveRepeated();
}
// load MSH binary mesh
void mjCMesh::LoadMSH(int default_provider) {
void mjCMesh::LoadMSH(mjResource* resource) {
bool righthand = (scale[0]*scale[1]*scale[2]>0);
// make filename
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
mjResource* r = nullptr;
if((r = mju_openResource(filename.c_str(), default_provider)) == nullptr) {
// fall back to OS filesystem
if(!default_provider || (r = mju_openResource(filename.c_str(), 0)) == nullptr) {
throw mjCError(this, "could not open MSH file '%s'", filename.c_str());
}
}
// get file data in buffer
char* buffer = 0;
int buffer_sz = mju_readResource(r, (const void**) &buffer);
int buffer_sz = mju_readResource(resource, (const void**) &buffer);
// still not found
if (buffer_sz < 0) {
mju_closeResource(r);
throw mjCError(this, "could not read MSH file '%s'", filename.c_str());
throw mjCError(this, "could not read MSH file '%s'", resource->name);
} else if (!buffer_sz) {
mju_closeResource(r);
throw mjCError(this, "MSH file '%s' is empty", filename.c_str());
throw mjCError(this, "MSH file '%s' is empty", resource->name);
}
// make sure header is present
if (buffer_sz<4*sizeof(int)) {
mju_closeResource(r);
throw mjCError(this, "missing header in MSH file '%s'", filename.c_str());
throw mjCError(this, "missing header in MSH file '%s'", resource->name);
}
// get sizes from header
@@ -825,15 +787,13 @@ void mjCMesh::LoadMSH(int default_provider) {
if (nvert<4 || nface<0 || nnormal<0 || ntexcoord<0 ||
(nnormal>0 && nnormal!=nvert) ||
(ntexcoord>0 && ntexcoord!=nvert)) {
mju_closeResource(r);
throw mjCError(this, "invalid sizes in MSH file '%s'", filename.c_str());
throw mjCError(this, "invalid sizes in MSH file '%s'", resource->name);
}
// check file size
if (buffer_sz != 4*sizeof(int) + 3*nvert*sizeof(float) + 3*nnormal*sizeof(float) +
2*ntexcoord*sizeof(float) + 3*nface*sizeof(int)) {
mju_closeResource(r);
throw mjCError(this, "unexpected file size in MSH file '%s'", filename.c_str());
throw mjCError(this, "unexpected file size in MSH file '%s'", resource->name);
}
// allocate and copy
@@ -872,8 +832,6 @@ void mjCMesh::LoadMSH(int default_provider) {
face[3*i+2] = tmp;
}
}
mju_closeResource(r);
}
@@ -1601,11 +1559,20 @@ void mjCSkin::Compile(int default_provider) {
// load SKN
string ext = mjuu_getext(file);
if (!strcasecmp(ext.c_str(), ".skn")) {
LoadSKN(default_provider);
} else {
if (strcasecmp(ext.c_str(), ".skn")) {
throw mjCError(this, "Unknown skin file type: %s", file.c_str());
}
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
mjResource* resource = LoadResource(filename, default_provider);
try {
LoadSKN(resource);
mju_closeResource(resource);
} catch(mjCError err) {
mju_closeResource(resource);
throw err;
}
}
// make sure all data is present
@@ -1724,33 +1691,19 @@ void mjCSkin::Compile(int default_provider) {
// load skin in SKN BIN format
void mjCSkin::LoadSKN(int default_provider) {
// make filename
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
// get file data in buffer
mjResource* r = nullptr;
if((r = mju_openResource(filename.c_str(), default_provider)) == nullptr) {
if(!default_provider || (r = mju_openResource(filename.c_str(), 0)) == nullptr) {
throw mjCError(this, "could not open SKN file '%s'", filename.c_str());
}
}
void mjCSkin::LoadSKN(mjResource* resource) {
char* buffer = 0;
int buffer_sz = mju_readResource(r, (const void**) &buffer);
int buffer_sz = mju_readResource(resource, (const void**) &buffer);
if (buffer_sz < 0) {
mju_closeResource(r);
throw mjCError(this, "could not read SKN file '%s'", filename.c_str());
throw mjCError(this, "could not read SKN file '%s'", resource->name);
} else if (!buffer_sz) {
mju_closeResource(r);
throw mjCError(this, "SKN file '%s' is empty", filename.c_str());
throw mjCError(this, "SKN file '%s' is empty", resource->name);
}
// make sure header is present
if (buffer_sz<16) {
mju_closeResource(r);
throw mjCError(this, "missing header in SKN file '%s'", filename.c_str());
throw mjCError(this, "missing header in SKN file '%s'", resource->name);
}
// get sizes from header
@@ -1761,14 +1714,12 @@ void mjCSkin::LoadSKN(int default_provider) {
// negative sizes not allowed
if (nvert<0 || ntexcoord<0 || nface<0 || nbone<0) {
mju_closeResource(r);
throw mjCError(this, "negative size in header of SKN file '%s'", filename.c_str());
throw mjCError(this, "negative size in header of SKN file '%s'", resource->name);
}
// make sure we have data for vert, texcoord, face
if (buffer_sz < 16 + 12*nvert + 8*ntexcoord + 12*nface) {
mju_closeResource(r);
throw mjCError(this, "insufficient data in SKN file '%s'", filename.c_str());
throw mjCError(this, "insufficient data in SKN file '%s'", resource->name);
}
// data pointer and counter
@@ -1807,8 +1758,7 @@ void mjCSkin::LoadSKN(int default_provider) {
for (int i=0; i<nbone; i++) {
// check size
if (buffer_sz/4-4-cnt < 18) {
mju_closeResource(r);
throw mjCError(this, "insufficient data in SKN file '%s', bone %d", filename.c_str(), i);
throw mjCError(this, "insufficient data in SKN file '%s', bone %d", resource->name, i);
}
// read name
@@ -1832,16 +1782,14 @@ void mjCSkin::LoadSKN(int default_provider) {
// check for negative
if (vcount<1) {
mju_closeResource(r);
throw mjCError(this, "vertex count must be positive in SKN file '%s', bone %d",
filename.c_str(), i);
resource->name, i);
}
// check size
if (buffer_sz/4-4-cnt < 2*vcount) {
mju_closeResource(r);
throw mjCError(this, "insufficient vertex data in SKN file '%s', bone %d",
filename.c_str(), i);
resource->name, i);
}
// read vertid
@@ -1855,10 +1803,8 @@ void mjCSkin::LoadSKN(int default_provider) {
cnt += vcount;
}
mju_closeResource(r);
// check final size
if (buffer_sz != 16+4*cnt) {
throw mjCError(this, "unexpected buffer size in SKN file '%s'", filename.c_str());
throw mjCError(this, "unexpected buffer size in SKN file '%s'", resource->name);
}
}