chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/render/render_context.c
+8 -7
View File
@@ -207,7 +207,7 @@ static void makeMesh(const mjModel* m, mjrContext* con) {
// (re) upload mesh to GPU
void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
int vertadr, numvert, numface, texcoordadr;
int vertadr, numvert, normaladr, numface, texcoordadr;
float normal[3], *v1, *v2, *v3, *n1, *n2, *n3, *t1, *t2, *t3;
// check index
@@ -220,6 +220,7 @@ void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
// get vertex and texcoord address for this mesh
vertadr = m->mesh_vertadr[meshid];
normaladr = m->mesh_normaladr[meshid];
texcoordadr = m->mesh_texcoordadr[meshid];
// render original mesh
@@ -234,15 +235,15 @@ void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
v3 = m->mesh_vert + 3*(m->mesh_face[3*face+2] + vertadr);
// compute normal addresses
n1 = m->mesh_normal + 3*(m->mesh_face[3*face] + vertadr);
n2 = m->mesh_normal + 3*(m->mesh_face[3*face+1] + vertadr);
n3 = m->mesh_normal + 3*(m->mesh_face[3*face+2] + vertadr);
n1 = m->mesh_normal + 3*(m->mesh_facenormal[3*face] + normaladr);
n2 = m->mesh_normal + 3*(m->mesh_facenormal[3*face+1] + normaladr);
n3 = m->mesh_normal + 3*(m->mesh_facenormal[3*face+2] + normaladr);
// compute texcoord addresses
if (texcoordadr>=0) {
t1 = m->mesh_texcoord + 2*(m->mesh_face[3*face] + texcoordadr);
t2 = m->mesh_texcoord + 2*(m->mesh_face[3*face+1] + texcoordadr);
t3 = m->mesh_texcoord + 2*(m->mesh_face[3*face+2] + texcoordadr);
t1 = m->mesh_texcoord + 2*(m->mesh_facetexcoord[3*face] + texcoordadr);
t2 = m->mesh_texcoord + 2*(m->mesh_facetexcoord[3*face+1] + texcoordadr);
t3 = m->mesh_texcoord + 2*(m->mesh_facetexcoord[3*face+2] + texcoordadr);
} else {
t1 = t2 = t3 = NULL;
}