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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/user/user_model.cc
+19 -8
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@@ -258,7 +258,8 @@ void mjCModel::Clear(void) {
nu = 0;
na = 0;
nmeshvert = 0;
nmeshtexvert = 0;
nmeshnormal = 0;
nmeshtexcoord = 0;
nmeshface = 0;
nmeshgraph = 0;
nskinvert = 0;
@@ -933,11 +934,12 @@ void mjCModel::SetSizes(void) {
}
}
// nmeshvert, nmeshface, nmeshtexvert, nmeshgraph
// nmeshvert, nmeshface, nmeshtexcoord, nmeshgraph
for (i=0; i<nmesh; i++) {
nmeshvert += meshes[i]->nvert;
nmeshnormal += meshes[i]->nnormal;
nmeshface += meshes[i]->nface;
nmeshtexvert += (meshes[i]->texcoord ? meshes[i]->nvert : 0);
nmeshtexcoord += (meshes[i]->texcoord ? meshes[i]->ntexcoord : 0);
nmeshgraph += meshes[i]->szgraph;
}
@@ -1645,7 +1647,7 @@ void mjCModel::CopyTree(mjModel* m) {
// copy objects outside kinematic tree
void mjCModel::CopyObjects(mjModel* m) {
int i, j, adr, bone_adr, vert_adr, face_adr, texcoord_adr;
int i, j, adr, bone_adr, vert_adr, normal_adr, face_adr, texcoord_adr;
int bonevert_adr, graph_adr, data_adr;
// sizes outside call to mj_makeModel
@@ -1657,6 +1659,7 @@ void mjCModel::CopyObjects(mjModel* m) {
// meshes
vert_adr = 0;
normal_adr = 0;
texcoord_adr = 0;
face_adr = 0;
graph_adr = 0;
@@ -1667,17 +1670,24 @@ void mjCModel::CopyObjects(mjModel* m) {
// set fields
m->mesh_vertadr[i] = vert_adr;
m->mesh_vertnum[i] = pme->nvert;
m->mesh_normaladr[i] = normal_adr;
m->mesh_normalnum[i] = pme->nnormal;
m->mesh_texcoordadr[i] = (pme->texcoord ? texcoord_adr : -1);
m->mesh_texcoordnum[i] = pme->ntexcoord;
m->mesh_faceadr[i] = face_adr;
m->mesh_facenum[i] = pme->nface;
m->mesh_graphadr[i] = (pme->szgraph ? graph_adr : -1);
// copy vertices, normals, faces, texcoords, aux data
memcpy(m->mesh_vert + 3*vert_adr, pme->vert, 3*pme->nvert*sizeof(float));
memcpy(m->mesh_normal + 3*vert_adr, pme->normal, 3*pme->nvert*sizeof(float));
memcpy(m->mesh_normal + 3*normal_adr, pme->normal, 3*pme->nnormal*sizeof(float));
memcpy(m->mesh_face + 3*face_adr, pme->face, 3*pme->nface*sizeof(float));
memcpy(m->mesh_facenormal + 3*face_adr, pme->facenormal, 3*pme->nface*sizeof(int));
if (pme->texcoord) {
memcpy(m->mesh_texcoord + 2*texcoord_adr, pme->texcoord, 2*pme->nvert*sizeof(float));
memcpy(m->mesh_texcoord + 2*texcoord_adr, pme->texcoord, 2*pme->ntexcoord*sizeof(float));
memcpy(m->mesh_facetexcoord + 3*face_adr, pme->facetexcoord, 3*pme->nface*sizeof(int));
} else {
memset(m->mesh_facetexcoord + 3*face_adr, 0, 3*pme->nface*sizeof(int));
}
if (pme->szgraph) {
memcpy(m->mesh_graph + graph_adr, pme->graph, pme->szgraph*sizeof(int));
@@ -1685,7 +1695,8 @@ void mjCModel::CopyObjects(mjModel* m) {
// advance counters
vert_adr += pme->nvert;
texcoord_adr += (pme->texcoord ? pme->nvert : 0);
normal_adr += pme->nnormal;
texcoord_adr += (pme->texcoord ? pme->ntexcoord : 0);
face_adr += pme->nface;
graph_adr += pme->szgraph;
}
@@ -2619,7 +2630,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
// create low-level model
m = mj_makeModel(nq, nv, nu, na, nbody, njnt, ngeom, nsite, ncam, nlight,
nmesh, nmeshvert, nmeshtexvert, nmeshface, nmeshgraph,
nmesh, nmeshvert, nmeshnormal, nmeshtexcoord, nmeshface, nmeshgraph,
nskin, nskinvert, nskintexvert, nskinface, nskinbone, nskinbonevert,
nhfield, nhfielddata, ntex, ntexdata, nmat, npair, nexclude,
neq, ntendon, nwrap, nsensor,