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Read normals and textures from OBJ, do not duplicate vertices.

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PiperOrigin-RevId: 510461549
Change-Id: I19245d691e722a8371e61153383f275f599353d6
This commit is contained in:
Alessio Quaglino
2023-02-17 10:14:25 -08:00
committed by Copybara-Service
parent 35967a30d9
commit 9756ed0d80
16 changed files with 279 additions and 168 deletions
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doc/_static/example_saved.txt
Vendored
+1 -1
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@@ -14,7 +14,7 @@ nlight 1
nmesh 0
nmeshvert 0
nmeshface 0
nmeshtexvert 0
nmeshtexcoord 0
nmeshgraph 0
nskin 0
nskinvert 0
doc/changelog.rst
+2
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@@ -10,6 +10,8 @@ General
- The ``mjd_transitionFD`` function no longer triggers sensor calculation unless explicitly requested.
- Corrected the spelling of the ``inteval`` attribute to ``interval`` in the ``mjLROpt`` struct.
- Mesh texture and normal mappings are now 3-per-triangle rather than 1-per-vertex. Mesh vertices are no longer
duplicated in order to circumvent this limitation as they previously were.
Python bindings
^^^^^^^^^^^^^^^
doc/includes/references.h
+11 -5
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@@ -746,7 +746,8 @@ struct mjModel_ {
int nlight; // number of lights
int nmesh; // number of meshes
int nmeshvert; // number of vertices in all meshes
int nmeshtexvert; // number of vertices with texcoords in all meshes
int nmeshnormal; // number of normals in all meshes
int nmeshtexcoord; // number of texcoords in all meshes
int nmeshface; // number of triangular faces in all meshes
int nmeshgraph; // number of ints in mesh auxiliary data
int nskin; // number of skins
@@ -942,14 +943,19 @@ struct mjModel_ {
// meshes
int* mesh_vertadr; // first vertex address (nmesh x 1)
int* mesh_vertnum; // number of vertices (nmesh x 1)
int* mesh_texcoordadr; // texcoord data address; -1: no texcoord (nmesh x 1)
int* mesh_faceadr; // first face address (nmesh x 1)
int* mesh_facenum; // number of faces (nmesh x 1)
int* mesh_normaladr; // first normal address (nmesh x 1)
int* mesh_normalnum; // number of normals (nmesh x 1)
int* mesh_texcoordadr; // texcoord data address; -1: no texcoord (nmesh x 1)
int* mesh_texcoordnum; // number of texcoord (nmesh x 1)
int* mesh_graphadr; // graph data address; -1: no graph (nmesh x 1)
float* mesh_vert; // vertex positions for all meshes (nmeshvert x 3)
float* mesh_normal; // vertex normals for all meshes (nmeshvert x 3)
float* mesh_texcoord; // vertex texcoords for all meshes (nmeshtexvert x 2)
int* mesh_face; // triangle face data (nmeshface x 3)
float* mesh_normal; // normals for all meshes (nmeshnormal x 3)
float* mesh_texcoord; // vertex texcoords for all meshes (nmeshtexcoord x 2)
int* mesh_face; // vertex face data (nmeshface x 3)
int* mesh_facenormal; // normal face data (nmeshface x 3)
int* mesh_facetexcoord; // texture face data (nmeshface x 3)
int* mesh_graph; // convex graph data (nmeshgraph x 1)
// skins