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Add mjmSkin to C API.

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PiperOrigin-RevId: 607295996
Change-Id: I63bf7213d41acbfb98770c097979ce9b889f21ca
This commit is contained in:
Alessio Quaglino
2024-02-15 05:07:51 -08:00
committed by Copybara-Service
parent bafe490ea8
commit 6f958bc404
13 changed files with 630 additions and 420 deletions
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src/user/user_mesh.cc
+139 -90
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@@ -1829,45 +1829,92 @@ void mjCMesh::MakeCenter(void) {
// constructor
mjCSkin::mjCSkin(mjCModel* _model) {
mjm_defaultSkin(spec);
// set model pointer
model = _model;
// clear data
file.clear();
material_.clear();
rgba[0] = rgba[1] = rgba[2] = 0.5f;
rgba[3] = 1.0f;
inflate = 0;
group = 0;
spec_file_.clear();
spec_material_.clear();
spec_vert_.clear();
spec_texcoord_.clear();
spec_face_.clear();
spec_bodyname_.clear();
spec_bindpos_.clear();
spec_bindquat_.clear();
spec_vertid_.clear();
spec_vertweight_.clear();
vert.clear();
texcoord.clear();
face.clear();
bodyname.clear();
bindpos.clear();
bindquat.clear();
vertid.clear();
vertweight.clear();
bodyid.clear();
matid = -1;
// point to local (needs to be after defaults)
PointToLocal();
// in case this camera is not compiled
CopyFromSpec();
}
void mjCSkin::PointToLocal() {
spec.element = (mjElement)this;
spec.name = (mjString)&name;
spec.classname = (mjString)&classname;
spec.file = (mjString)&spec_file_;
spec.material = (mjString)&spec_material_;
spec.vert = (mjFloatVec)&spec_vert_;
spec.texcoord = (mjFloatVec)&spec_texcoord_;
spec.face = (mjIntVec)&spec_face_;
spec.bodyname = (mjStringVec)&spec_bodyname_;
spec.bindpos = (mjFloatVec)&spec_bindpos_;
spec.bindquat = (mjFloatVec)&spec_bindquat_;
spec.vertid = (mjIntVecVec)&spec_vertid_;
spec.vertweight = (mjFloatVecVec)&spec_vertweight_;
spec.info = (mjString)&info;
}
void mjCSkin::CopyFromSpec() {
*static_cast<mjmSkin*>(this) = spec;
file_ = spec_file_;
material_ = spec_material_;
vert_ = spec_vert_;
texcoord_ = spec_texcoord_;
face_ = spec_face_;
bodyname_ = spec_bodyname_;
bindpos_ = spec_bindpos_;
bindquat_ = spec_bindquat_;
vertid_ = spec_vertid_;
vertweight_ = spec_vertweight_;
file = (mjString)&spec_file_;
material = (mjString)&spec_material_;
vert = (mjFloatVec)&spec_vert_;
texcoord = (mjFloatVec)&spec_texcoord_;
face = (mjIntVec)&spec_face_;
bodyname = (mjStringVec)&spec_bodyname_;
bindpos = (mjFloatVec)&spec_bindpos_;
bindquat = (mjFloatVec)&spec_bindquat_;
vertid = (mjIntVecVec)&spec_vertid_;
vertweight = (mjFloatVecVec)&spec_vertweight_;
}
// destructor
mjCSkin::~mjCSkin() {
file.clear();
material_.clear();
vert.clear();
texcoord.clear();
face.clear();
bodyname.clear();
bindpos.clear();
bindquat.clear();
vertid.clear();
vertweight.clear();
spec_file_.clear();
spec_material_.clear();
spec_vert_.clear();
spec_texcoord_.clear();
spec_face_.clear();
spec_bodyname_.clear();
spec_bindpos_.clear();
spec_bindquat_.clear();
spec_vertid_.clear();
spec_vertweight_.clear();
bodyid.clear();
}
@@ -1875,33 +1922,35 @@ mjCSkin::~mjCSkin() {
// compiler
void mjCSkin::Compile(const mjVFS* vfs) {
CopyFromSpec();
// load file
if (!file.empty()) {
if (!file_.empty()) {
// make sure data is not present
if (!vert.empty() ||
!texcoord.empty() ||
!face.empty() ||
!bodyname.empty() ||
!bindpos.empty() ||
!bindquat.empty() ||
!vertid.empty() ||
!vertweight.empty() ||
if (!vert_.empty() ||
!texcoord_.empty() ||
!face_.empty() ||
!bodyname_.empty() ||
!bindpos_.empty() ||
!bindquat_.empty() ||
!vertid_.empty() ||
!vertweight_.empty() ||
!bodyid.empty()) {
throw mjCError(this, "Data already exists, trying to load from skin file: %s", file.c_str());
throw mjCError(this, "Data already exists, trying to load from skin file: %s", file_.c_str());
}
// remove path from file if necessary
if (model->strippath) {
file = mjuu_strippath(file);
file_ = mjuu_strippath(file_);
}
// load SKN
string ext = mjuu_getext(file);
string ext = mjuu_getext(file_);
if (strcasecmp(ext.c_str(), ".skn")) {
throw mjCError(this, "Unknown skin file type: %s", file.c_str());
throw mjCError(this, "Unknown skin file type: %s", file_.c_str());
}
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file);
string filename = mjuu_makefullname(model->modelfiledir, model->meshdir, file_);
mjResource* resource = LoadResource(filename, vfs);
try {
@@ -1914,48 +1963,48 @@ void mjCSkin::Compile(const mjVFS* vfs) {
}
// make sure all data is present
if (vert.empty() ||
face.empty() ||
bodyname.empty() ||
bindpos.empty() ||
bindquat.empty() ||
vertid.empty() ||
vertweight.empty()) {
if (vert_.empty() ||
face_.empty() ||
bodyname_.empty() ||
bindpos_.empty() ||
bindquat_.empty() ||
vertid_.empty() ||
vertweight_.empty()) {
throw mjCError(this, "Missing data in skin");
}
// check mesh sizes
if (vert.size()%3) {
if (vert_.size()%3) {
throw mjCError(this, "Vertex data must be multiple of 3");
}
if (!texcoord.empty() && texcoord.size()!=2*vert.size()/3) {
if (!texcoord_.empty() && texcoord_.size()!=2*vert_.size()/3) {
throw mjCError(this, "Vertex and texcoord data incompatible size");
}
if (face.size()%3) {
if (face_.size()%3) {
throw mjCError(this, "Face data must be multiple of 3");
}
// check bone sizes
size_t nbone = bodyname.size();
if (bindpos.size()!=3*nbone) {
size_t nbone = bodyname_.size();
if (bindpos_.size()!=3*nbone) {
throw mjCError(this, "Unexpected bindpos size in skin");
}
if (bindquat.size()!=4*nbone) {
if (bindquat_.size()!=4*nbone) {
throw mjCError(this, "Unexpected bindquat size in skin");
}
if (vertid.size()!=nbone) {
if (vertid_.size()!=nbone) {
throw mjCError(this, "Unexpected vertid size in skin");
}
if (vertweight.size()!=nbone) {
if (vertweight_.size()!=nbone) {
throw mjCError(this, "Unexpected vertweight size in skin");
}
// resolve body names
bodyid.resize(nbone);
for (int i=0; i<nbone; i++) {
mjCBase* pbody = model->FindObject(mjOBJ_BODY, bodyname[i]);
mjCBase* pbody = model->FindObject(mjOBJ_BODY, bodyname_[i]);
if (!pbody) {
throw mjCError(this, "unknown body '%s' in skin", bodyname[i].c_str());
throw mjCError(this, "unknown body '%s' in skin", bodyname_[i].c_str());
}
bodyid[i] = pbody->id;
}
@@ -1970,28 +2019,28 @@ void mjCSkin::Compile(const mjVFS* vfs) {
// set total vertex weights to 0
vector<float> vw;
size_t nvert = vert.size()/3;
size_t nvert = vert_.size()/3;
vw.resize(nvert);
fill(vw.begin(), vw.end(), 0.0f);
// accumulate vertex weights from all bones
for (int i=0; i<nbone; i++) {
// make sure bone has vertices and sizes match
size_t nbv = vertid[i].size();
if (vertweight[i].size()!=nbv || nbv==0) {
size_t nbv = vertid_[i].size();
if (vertweight_[i].size()!=nbv || nbv==0) {
throw mjCError(this, "vertid and vertweight must have same non-zero size in skin");
}
// accumulate weights in global array
for (int j=0; j<nbv; j++) {
// get index and check range
int jj = vertid[i][j];
int jj = vertid_[i][j];
if (jj<0 || jj>=nvert) {
throw mjCError(this, "vertid %d out of range in skin", NULL, jj);
}
// accumulate
vw[jj] += vertweight[i][j];
vw[jj] += vertweight_[i][j];
}
}
@@ -2004,25 +2053,25 @@ void mjCSkin::Compile(const mjVFS* vfs) {
// normalize vertex weights
for (int i=0; i<nbone; i++) {
for (int j=0; j<vertid[i].size(); j++) {
vertweight[i][j] /= vw[vertid[i][j]];
for (int j=0; j<vertid_[i].size(); j++) {
vertweight_[i][j] /= vw[vertid_[i][j]];
}
}
// normalize bindquat
for (int i=0; i<nbone; i++) {
mjtNum quat[4] = {
(mjtNum)bindquat[4*i],
(mjtNum)bindquat[4*i+1],
(mjtNum)bindquat[4*i+2],
(mjtNum)bindquat[4*i+3]
(mjtNum)bindquat_[4*i],
(mjtNum)bindquat_[4*i+1],
(mjtNum)bindquat_[4*i+2],
(mjtNum)bindquat_[4*i+3]
};
mju_normalize4(quat);
bindquat[4*i] = (float) quat[0];
bindquat[4*i+1] = (float) quat[1];
bindquat[4*i+2] = (float) quat[2];
bindquat[4*i+3] = (float) quat[3];
bindquat_[4*i] = (float) quat[0];
bindquat_[4*i+1] = (float) quat[1];
bindquat_[4*i+2] = (float) quat[2];
bindquat_[4*i+3] = (float) quat[3];
}
}
@@ -2066,31 +2115,31 @@ void mjCSkin::LoadSKN(mjResource* resource) {
// copy vert
if (nvert) {
vert.resize(3*nvert);
memcpy(vert.data(), pdata+cnt, 3*nvert*sizeof(float));
vert_.resize(3*nvert);
memcpy(vert_.data(), pdata+cnt, 3*nvert*sizeof(float));
cnt += 3*nvert;
}
// copy texcoord
if (ntexcoord) {
texcoord.resize(2*ntexcoord);
memcpy(texcoord.data(), pdata+cnt, 2*ntexcoord*sizeof(float));
texcoord_.resize(2*ntexcoord);
memcpy(texcoord_.data(), pdata+cnt, 2*ntexcoord*sizeof(float));
cnt += 2*ntexcoord;
}
// copy face
if (nface) {
face.resize(3*nface);
memcpy(face.data(), pdata+cnt, 3*nface*sizeof(int));
face_.resize(3*nface);
memcpy(face_.data(), pdata+cnt, 3*nface*sizeof(int));
cnt += 3*nface;
}
// allocate bone arrays
bodyname.clear();
bindpos.resize(3*nbone);
bindquat.resize(4*nbone);
vertid.resize(nbone);
vertweight.resize(nbone);
bodyname_.clear();
bindpos_.resize(3*nbone);
bindquat_.resize(4*nbone);
vertid_.resize(nbone);
vertweight_.resize(nbone);
// read bones
for (int i=0; i<nbone; i++) {
@@ -2104,14 +2153,14 @@ void mjCSkin::LoadSKN(mjResource* resource) {
strncpy(txt, (char*)(pdata+cnt), 39);
txt[39] = '\0';
cnt += 10;
bodyname.push_back(txt);
bodyname_.push_back(txt);
// read bindpos
memcpy(bindpos.data()+3*i, pdata+cnt, 3*sizeof(float));
memcpy(bindpos_.data()+3*i, pdata+cnt, 3*sizeof(float));
cnt += 3;
// read bind quat
memcpy(bindquat.data()+4*i, pdata+cnt, 4*sizeof(float));
memcpy(bindquat_.data()+4*i, pdata+cnt, 4*sizeof(float));
cnt += 4;
// read vertex count
@@ -2131,13 +2180,13 @@ void mjCSkin::LoadSKN(mjResource* resource) {
}
// read vertid
vertid[i].resize(vcount);
memcpy(vertid[i].data(), (int*)(pdata+cnt), vcount*sizeof(int));
vertid_[i].resize(vcount);
memcpy(vertid_[i].data(), (int*)(pdata+cnt), vcount*sizeof(int));
cnt += vcount;
// read vertweight
vertweight[i].resize(vcount);
memcpy(vertweight[i].data(), (int*)(pdata+cnt), vcount*sizeof(int));
vertweight_[i].resize(vcount);
memcpy(vertweight_[i].data(), (int*)(pdata+cnt), vcount*sizeof(int));
cnt += vcount;
}