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Add support for loading 1D flex components from OBJ line segments.

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The obj_decoder plugin is updated to parse line segments ('l') from OBJ files and represent them as degenerate triangles. The user_flexcomp compiler now supports flex dimensions of 1, using these parsed line segments to define the 1D flex elements. The compile sample's error reporting is also improved.

PiperOrigin-RevId: 928566870
Change-Id: I6920729d1b1d5aeb391401c3245ebb1d4784c190
This commit is contained in:
Alessio Quaglino
2026-06-08 08:03:04 -07:00
committed by Copybara-Service
parent ac7f198536
commit 7a7dc7ccad
6 changed files with 107 additions and 33 deletions
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src/user/user_flexcomp.cc
+11 -2
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@@ -1334,8 +1334,8 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, mjsCompiler* compiler, char* error,
}
// check dim
if (def.spec.flex->dim < 2) {
return comperr(error, "Flex dim must be at least 2 for mesh", error_sz);
if (def.spec.flex->dim < 1) {
return comperr(error, "Flex dim must be at least 1 for mesh", error_sz);
}
// load resource
@@ -1381,6 +1381,15 @@ bool mjCFlexcomp::MakeMesh(mjCModel* model, mjsCompiler* compiler, char* error,
// copy faces or create 3D mesh
if (def.spec.flex->dim == 2) {
element = mesh.Face();
} else if (def.spec.flex->dim == 1) {
// extract edge pairs from degenerate triangles (i1, i2, i2)
const std::vector<int>& face = mesh.Face();
element.clear();
element.reserve(face.size() * 2 / 3);
for (size_t i = 0; i < face.size(); i += 3) {
element.push_back(face[i]);
element.push_back(face[i+1]);
}
} else {
point.insert(point.begin() + 0, origin[0]);
point.insert(point.begin() + 1, origin[1]);