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Convert internal representation of vertices to double. Also replace remove duplicate vertices with fast hash implementation.

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PiperOrigin-RevId: 734516595
Change-Id: Ic78556688d5f2b75d69cd286b8d060e2cdeb7c48
This commit is contained in:
Kyle Bayes
2025-03-07 05:16:54 -08:00
committed by Copybara-Service
parent e4ee00e695
commit 4d024f9421
9 changed files with 435 additions and 363 deletions
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src/user/user_flexcomp.cc
+12 -37
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@@ -989,14 +989,6 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
return comperr(error, "File is required", error_sz);
}
// get extension and check; must be STL, OBJ or MSH
std::string ext = mjuu_getext(file);
if (strcasecmp(ext.c_str(), ".stl") &&
strcasecmp(ext.c_str(), ".obj") &&
strcasecmp(ext.c_str(), ".msh")) {
return comperr(error, "Mesh file extension must be stl, obj or msh", error_sz);
}
// check dim
if (def.spec.flex->dim < 2) {
return comperr(error, "Flex dim must be at least 2 for mesh", error_sz);
@@ -1006,6 +998,11 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
std::string filename = mjuu_combinePaths(mjs_getString(model->spec.meshdir), file);
mjResource* resource = nullptr;
if (mjCMesh::IsMSH(filename)) {
return comperr(error, "legacy MSH files are not supported in flexcomp", error_sz);
}
try {
resource = mjCBase::LoadResource(mjs_getString(model->spec.modelfiledir),
filename, 0);
@@ -1013,46 +1010,24 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, char* error, int error_sz) {
return comperr(error, err.message, error_sz);
}
// load mesh
mjCMesh mesh;
bool isobj = false;
try {
if (!strcasecmp(ext.c_str(), ".stl")) {
mesh.LoadSTL(resource);
} else if (!strcasecmp(ext.c_str(), ".obj")) {
isobj = true;
mesh.LoadOBJ(resource);
} else {
mesh.LoadMSH(resource);
}
mesh.LoadFromResource(resource, true);
mju_closeResource(resource);
} catch (mjCError err) {
mju_closeResource(resource);
return comperr(error, err.message, error_sz);
}
// LoadOBJ uses userXXX, extra processing needed
if (isobj) {
// check sizes
if (mesh.Vert().empty() || mesh.Face().empty()) {
return comperr(error, "Vertex and face data required", error_sz);
}
if (mesh.Vert().size()%3) {
return comperr(error, "Vertex data must be multiple of 3", error_sz);
}
if (mesh.Face().size()%3) {
return comperr(error, "Face data must be multiple of 3", error_sz);
}
// remove repeated vertices (not called in LoadOBJ)
mesh.RemoveRepeated();
// check sizes
if (mesh.Vert().empty() || mesh.Face().empty()) {
return comperr(error, "Vertex and face data required", error_sz);
}
// copy vertices, convert from float to double
point = vector<double> (mesh.nvert()*3);
for (int i=0; i < mesh.nvert()*3; i++) {
point[i] = (double) mesh.Vert(i);
}
// copy vertices
point = mesh.Vert();
if (mesh.HasTexcoord()) {
texcoord = mesh.Texcoord();