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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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src/engine/engine_io.c
+8 -6
View File
@@ -367,8 +367,8 @@ static int safeAddToBufferSize(intptr_t* offset, int* nbuffer, size_t type_size,
// allocate and initialize mjModel structure
mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int njnt,
int ngeom, int nsite, int ncam, int nlight,
int nmesh, int nmeshvert, int nmeshtexvert, int nmeshface, int nmeshgraph,
int nskin, int nskinvert, int nskintexvert, int nskinface,
int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface,
int nmeshgraph, int nskin, int nskinvert, int nskintexvert, int nskinface,
int nskinbone, int nskinbonevert, int nhfield, int nhfielddata,
int ntex, int ntexdata, int nmat, int npair, int nexclude,
int neq, int ntendon, int nwrap, int nsensor,
@@ -399,7 +399,8 @@ mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int njnt,
m->nlight = nlight;
m->nmesh = nmesh;
m->nmeshvert = nmeshvert;
m->nmeshtexvert = nmeshtexvert;
m->nmeshnormal = nmeshnormal;
m->nmeshtexcoord = nmeshtexcoord;
m->nmeshface = nmeshface;
m->nmeshgraph = nmeshgraph;
m->nskin = nskin;
@@ -512,7 +513,7 @@ mjModel* mj_copyModel(mjModel* dest, const mjModel* src) {
if (!dest) {
dest = mj_makeModel(src->nq, src->nv, src->nu, src->na, src->nbody, src->njnt,
src->ngeom, src->nsite, src->ncam, src->nlight, src->nmesh, src->nmeshvert,
src->nmeshtexvert, src->nmeshface, src->nmeshgraph,
src->nmeshnormal, src->nmeshtexcoord, src->nmeshface, src->nmeshgraph,
src->nskin, src->nskinvert, src->nskintexvert, src->nskinface,
src->nskinbone, src->nskinbonevert, src->nhfield, src->nhfielddata,
src->ntex, src->ntexdata, src->nmat, src->npair, src->nexclude,
@@ -691,7 +692,7 @@ mjModel* mj_loadModel(const char* filename, const mjVFS* vfs) {
info[28], info[29], info[30], info[31], info[32], info[33], info[34],
info[35], info[36], info[37], info[38], info[39], info[40], info[41],
info[42], info[43], info[44], info[45], info[46], info[47], info[48],
info[49], info[50]);
info[49], info[50], info[51]);
if (!m || m->nbuffer!=info[getnint()-1]) {
if (fp) {
fclose(fp);
@@ -1361,7 +1362,8 @@ const char* mj_validateReferences(const mjModel* m) {
X(light_bodyid, nlight, nbody , 0 ) \
X(light_targetbodyid, nlight, nbody , 0 ) \
X(mesh_vertadr, nmesh, nmeshvert , m->mesh_vertnum ) \
X(mesh_texcoordadr, nmesh, nmeshtexvert , 0 ) \
X(mesh_normaladr, nmesh, nmeshnormal , m->mesh_normalnum ) \
X(mesh_texcoordadr, nmesh, nmeshtexcoord, m->mesh_texcoordnum ) \
X(mesh_faceadr, nmesh, nmeshface , m->mesh_facenum ) \
X(mesh_graphadr, nmesh, nmeshgraph , 0 ) \
X(skin_matid, nskin, nmat , 0 ) \
src/engine/engine_io.h
+2 -2
View File
@@ -49,8 +49,8 @@ void mj_defaultStatistic(mjStatistic* stat);
// allocate mjModel
mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int njnt,
int ngeom, int nsite, int ncam, int nlight,
int nmesh, int nmeshvert, int nmeshtexvert, int nmeshface, int nmeshgraph,
int nskin, int nskinvert, int nskintexvert, int nskinface,
int nmesh, int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface,
int nmeshgraph, int nskin, int nskinvert, int nskintexvert, int nskinface,
int nskinbone, int nskinbonevert, int nhfield, int nhfielddata,
int ntex, int ntexdata, int nmat, int npair, int nexclude,
int neq, int ntendon, int nwrap, int nsensor,