Cache OBJ files in MuJoCo compiler.
PiperOrigin-RevId: 616211896 Change-Id: I3b765f4529957914e6154f0e62ef36fd9df93c96
This commit is contained in:
Kyle Bayes
committed by
Copybara-Service
Copybara-Service
parent
bf66801bc9
commit
74d3d8cb4e
@@ -60,6 +60,7 @@
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#include "engine/engine_util_misc.h"
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#include "engine/engine_util_solve.h"
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#include "engine/engine_util_spatial.h"
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#include "user/user_cache.h"
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#include "user/user_model.h"
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#include "user/user_objects.h"
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#include "user/user_util.h"
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@@ -967,6 +968,19 @@ void mjCMesh::RemoveRepeated() {
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void mjCMesh::LoadOBJ(mjResource* resource) {
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tinyobj::ObjReader objReader;
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const void* bytes = nullptr;
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// try loading from cache
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mjCCache *cache = reinterpret_cast<mjCCache*>(mj_globalCache());
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if (cache) {
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auto asset = cache->Get(resource->name);
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if (asset.has_value() &&
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!mju_isModifiedResource(resource, asset->Timestamp().c_str())) {
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if (LoadCachedOBJ(asset.value())) {
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return;
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}
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}
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}
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int buffer_sz = mju_readResource(resource, &bytes);
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if (buffer_sz < 0) {
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throw mjCError(this, "could not read OBJ file '%s'", resource->name);
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@@ -1030,9 +1044,117 @@ void mjCMesh::LoadOBJ(mjResource* resource) {
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for (int i=0; i<usertexcoord_.size()/2; i++) {
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usertexcoord_[2*i+1] = 1-usertexcoord_[2*i+1];
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}
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// try caching asset
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if (cache) {
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mjCAsset asset("", resource->name, resource->timestamp);
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asset.AddVector("uservert_", uservert_);
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asset.AddVector("usernormal_", usernormal_);
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asset.AddVector("usertexcoord_", usertexcoord_);
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if (!objReader.GetShapes().empty()) {
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const auto& mesh = objReader.GetShapes()[0].mesh;
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std::vector<int> vertex_index;
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vertex_index.reserve(mesh.indices.size());
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std::vector<int> normal_index;
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normal_index.reserve(mesh.indices.size());
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std::vector<int> texcoord_index;
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texcoord_index.reserve(mesh.indices.size());
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for (tinyobj::index_t index : mesh.indices) {
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vertex_index.push_back(index.vertex_index);
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normal_index.push_back(index.normal_index);
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texcoord_index.push_back(index.texcoord_index);
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}
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asset.AddVector("num_face_vertices", mesh.num_face_vertices);
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asset.AddVector("vertex_index", vertex_index);
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asset.AddVector("normal_index", normal_index);
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asset.AddVector("texcoord_index", texcoord_index);
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} else {
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asset.AddVector("num_face_vertices", std::vector<unsigned char>());
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asset.AddVector("vertex_index", std::vector<int>());
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asset.AddVector("normal_index", std::vector<int>());
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asset.AddVector("texcoord_index", std::vector<int>());
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}
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cache->Insert(std::move(asset));
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}
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}
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// load OBJ from cached asset, return true on success
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bool mjCMesh::LoadCachedOBJ(const mjCAsset& asset) {
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// check that asset has all data
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if (!asset.HasData("uservert_") || !asset.HasData("usernormal_")
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|| !asset.HasData("usertexcoord_") || !asset.HasData("num_face_vertices")
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|| !asset.HasData("vertex_index") || !asset.HasData("normal_index")
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|| !asset.HasData("texcoord_index")) {
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return false;
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}
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uservert_ = asset.GetVector<float>("uservert_").value();
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usernormal_ = asset.GetVector<float>("usernormal_").value();
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usertexcoord_ = asset.GetVector<float>("usertexcoord_").value();
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vector<int> vertex_index = asset.GetVector<int>("vertex_index").value();
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vector<int> normal_index = asset.GetVector<int>("normal_index").value();
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vector<int> texcoord_index = asset.GetVector<int>("texcoord_index").value();
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vector<unsigned char> num_face_vertices =
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asset.GetVector<unsigned char>("num_face_vertices").value();
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bool righthand = (scale[0] * scale[1] * scale[2]) > 0;
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for (int face = 0, i = 0; i < vertex_index.size();) {
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int nfacevert = num_face_vertices[face];
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if (nfacevert < 3 || nfacevert > 4) {
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throw mjCError(
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this, "only tri or quad meshes are supported for OBJ (file '%s')",
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asset.Id().c_str());
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}
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userface_.push_back(vertex_index[i]);
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userface_.push_back(vertex_index[i + (righthand == 1 ? 1 : 2)]);
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userface_.push_back(vertex_index[i + (righthand == 1 ? 2 : 1)]);
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if (!usernormal_.empty()) {
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userfacenormal_.push_back(normal_index[i]);
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userfacenormal_.push_back(normal_index[i + (righthand == 1 ? 1 : 2)]);
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userfacenormal_.push_back(normal_index[i + (righthand == 1 ? 2 : 1)]);
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}
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if (!usertexcoord_.empty()) {
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userfacetexcoord_.push_back(texcoord_index[i]);
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userfacetexcoord_.push_back(texcoord_index[i + (righthand == 1 ? 1 : 2)]);
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userfacetexcoord_.push_back(texcoord_index[i + (righthand == 1 ? 2 : 1)]);
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}
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if (nfacevert == 4) {
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userface_.push_back(vertex_index[i]);
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userface_.push_back(vertex_index[i + (righthand == 1 ? 2 : 3)]);
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userface_.push_back(vertex_index[i + (righthand == 1 ? 3 : 2)]);
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if (!usernormal_.empty()) {
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userfacenormal_.push_back(normal_index[i]);
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userfacenormal_.push_back(normal_index[i + (righthand == 1 ? 1 : 2)]);
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userfacenormal_.push_back(normal_index[i + (righthand == 1 ? 2 : 1)]);
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}
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if (!usertexcoord_.empty()) {
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userfacetexcoord_.push_back(texcoord_index[i]);
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userfacetexcoord_.push_back(texcoord_index[i + (righthand == 1 ? 1 : 2)]);
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userfacetexcoord_.push_back(texcoord_index[i + (righthand == 1 ? 2 : 1)]);
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}
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}
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i += nfacevert;
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++face;
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}
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return true;
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}
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// load STL binary mesh
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void mjCMesh::LoadSTL(mjResource* resource) {
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bool righthand = (scale[0]*scale[1]*scale[2]>0);
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