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Merge pull request #2378 from Balint-H:feature/unity-obj

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PiperOrigin-RevId: 772619174
Change-Id: I62a2bbeb0d8bb0fb007af1abc93d6e8b3449b3fe
This commit is contained in:
Copybara-Service
2025-06-17 14:24:08 -07:00
parent a64f1fd335 3a035fc0a9
commit a7559ed0ad
5 changed files with 140 additions and 21 deletions
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unity/Editor/Importer/MjImporterWithAssets.cs
+27 -11
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@@ -153,28 +153,36 @@ public class MjImporterWithAssets : MjcfImporter {
var assetReferenceName = MjEngineTool.Sanitize(unsanitizedAssetReferenceName);
var sourceFilePath = Path.Combine(_sourceMeshesDir, fileName);
if (Path.GetExtension(sourceFilePath) == ".obj") {
throw new NotImplementedException("OBJ mesh file loading is not yet implemented. " +
"Please convert to binary STL. " +
if (Path.GetExtension(sourceFilePath) != ".obj" && Path.GetExtension(sourceFilePath) != ".stl") {
throw new NotImplementedException("Type of mesh file not yet supported. " +
"Please convert to binary STL or OBJ. " +
$"Attempted to load: {sourceFilePath}");
}
var targetFilePath = Path.Combine(_targetMeshesDir, assetReferenceName + ".stl");
var targetFilePath =
Path.Combine(_targetMeshesDir, assetReferenceName + Path.GetExtension(sourceFilePath));
if (File.Exists(targetFilePath)) {
File.Delete(targetFilePath);
}
var scale = MjEngineTool.UnityVector3(
parentNode.GetVector3Attribute("scale", defaultValue: Vector3.one));
CopyMeshAndRescale(sourceFilePath, targetFilePath, scale);
var assetPath = Path.Combine(_targetAssetDir, assetReferenceName + ".stl");
var assetPath = Path.Combine(_targetAssetDir, assetReferenceName + Path.GetExtension(sourceFilePath));
// This asset path should be available because the MuJoCo compiler guarantees element names
// are unique, but check for completeness (and in case sanitizing the name broke uniqueness):
if (AssetDatabase.LoadMainAssetAtPath(assetPath) != null) {
throw new Exception(
$"Trying to import mesh {unsanitizedAssetReferenceName} but {assetPath} already exists.");
}
AssetDatabase.ImportAsset(assetPath);
var copiedMesh = AssetDatabase.LoadMainAssetAtPath(assetPath) as Mesh;
ModelImporter importer = AssetImporter.GetAtPath(assetPath) as ModelImporter;
if (importer != null && !importer.isReadable) {
importer.isReadable = true;
importer.SaveAndReimport();
}
var copiedMesh = AssetDatabase.LoadAssetAtPath<Mesh>(assetPath);
if (copiedMesh == null) {
throw new Exception($"Mesh {assetPath} was not imported.");
}
@@ -186,9 +194,16 @@ public class MjImporterWithAssets : MjcfImporter {
private void CopyMeshAndRescale(
string sourceFilePath, string targetFilePath, Vector3 scale) {
var originalMeshBytes = File.ReadAllBytes(sourceFilePath);
var mesh = StlMeshParser.ParseBinary(originalMeshBytes, scale);
var rescaledMeshBytes = StlMeshParser.SerializeBinary(mesh);
File.WriteAllBytes(targetFilePath, rescaledMeshBytes);
if (Path.GetExtension(sourceFilePath) == ".stl") {
var mesh = StlMeshParser.ParseBinary(originalMeshBytes, scale);
var rescaledMeshBytes = StlMeshParser.SerializeBinary(mesh);
File.WriteAllBytes(targetFilePath, rescaledMeshBytes);
} else if (Path.GetExtension(sourceFilePath) == ".obj") {
ObjMeshImportUtility.CopyAndScaleOBJFile(sourceFilePath, targetFilePath, scale);
} else {
throw new NotImplementedException($"Extension {Path.GetExtension(sourceFilePath)} " +
$"not yet supported for MuJoCo mesh asset.");
}
}
private void ParseMaterial(XmlElement parentNode) {
@@ -276,8 +291,8 @@ public class MjImporterWithAssets : MjcfImporter {
// If geom is nameless, use a random number.
var name =
MjEngineTool.Sanitize(parentNode.GetStringAttribute(
"name", defaultValue: $"{UnityEngine.Random.Range(0, 1000000)}"));
var assetPath = Path.Combine(_targetAssetDir, name + ".mat");
"name", defaultValue: $"{UnityEngine.Random.Range(0, 1000000)}"));
var assetPath = Path.Combine(_targetAssetDir, name+".mat");
if (AssetDatabase.LoadMainAssetAtPath(assetPath) != null) {
throw new Exception(
$"Creating a material asset for the geom {name}, but {assetPath} already exists.");
@@ -289,6 +304,7 @@ public class MjImporterWithAssets : MjcfImporter {
material = DefaultMujocoMaterial;
}
}
if (parentNode.GetFloatAttribute("group") > 2) renderer.enabled = false;
renderer.sharedMaterial = material;
}
}
unity/Editor/Importer/ObjMeshImportUtility.cs
+93
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@@ -0,0 +1,93 @@
// Copyright 2019 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
using System.Globalization;
using System.IO;
using System.Linq;
using System.Text;
using UnityEngine;
namespace Mujoco {
/// <summary>
/// Scale vertex data manually line by line. We skip normals. Warning: Parameter vertex points
/// (`vp`) were unclear to me how to handle with scaling, if you use them and notice an issue
/// please report it.
/// </summary>
public static class ObjMeshImportUtility {
private static Vector3 ToXZY(float x, float y, float z) => new Vector3(x, z, y);
public static void CopyAndScaleOBJFile(string sourceFilePath, string targetFilePath,
Vector3 scale) {
// OBJ files are human-readable
string[] lines = File.ReadAllLines(sourceFilePath);
StringBuilder outputBuilder = new StringBuilder();
// Culture info for consistent decimal point handling
CultureInfo invariantCulture = CultureInfo.InvariantCulture;
scale = ToXZY(scale.x, scale.y, scale.z);
foreach (string line in lines) {
if (line.StartsWith("v ")) // Vertex line
{
// Split the line into components
string[] parts = line.Split(' ');
if (parts.Length >= 4) {
// Scale the vertex. It is unclear to me why flipping along x axis was necessary,
// but without it meshes were incorrectly oriented.
float x = -float.Parse(parts[1], invariantCulture) * scale.x;
float y = float.Parse(parts[2], invariantCulture) * scale.y;
float z = float.Parse(parts[3], invariantCulture) * scale.z;
var swizzled = ToXZY(x, y, z);
outputBuilder.AppendLine(
$"v {swizzled.x.ToString(invariantCulture)} "+
$"{swizzled.y.ToString(invariantCulture)} "+
$"{swizzled.z.ToString(invariantCulture)}");
}
} else if (line.StartsWith("vn ")) {
// We swizzle the normals too
string[] parts = line.Split(' ');
if (parts.Length >= 4) {
float x = -float.Parse(parts[1], invariantCulture);
float y = float.Parse(parts[2], invariantCulture);
float z = float.Parse(parts[3], invariantCulture);
var swizzled = ToXZY(x, y, z);
outputBuilder.AppendLine(
$"vn {swizzled.x.ToString(invariantCulture)} "+
$"{swizzled.y.ToString(invariantCulture)} "+
$"{swizzled.z.ToString(invariantCulture)}");
}
} else if (line.StartsWith("f ") && scale.x*scale.y*scale.z < 0) {
// Faces definition, flip face by reordering vertices
string[] parts = line.Split(' ');
if (parts.Length >= 4) {
outputBuilder.Append(parts[0]+" ");
var face = parts.Skip(1).ToArray();
if (face.Length >= 3) {
outputBuilder.Append(face[0]+" ");
outputBuilder.Append(face[2]+" ");
outputBuilder.Append(face[1]);
}
outputBuilder.AppendLine();
}
} else {
// Copy non-vertex lines as-is
outputBuilder.AppendLine(line);
}
}
// Write the scaled OBJ to the target file
File.WriteAllText(targetFilePath, outputBuilder.ToString());
}
}
}
unity/Editor/Importer/ObjMeshImportUtility.cs.meta
+11
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@@ -0,0 +1,11 @@
fileFormatVersion: 2
guid: adec9978c00bb934eb8bf974c26193e1
MonoImporter:
externalObjects: {}
serializedVersion: 2
defaultReferences: []
executionOrder: 0
icon: {instanceID: 0}
userData:
assetBundleName:
assetBundleVariant:
unity/Runtime/Components/Shapes/MjMeshFilter.cs
+8 -9
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@@ -41,19 +41,19 @@ public class MjMeshFilter : MonoBehaviour {
return;
}
_shapeChangeStamp = currentChangeStamp;
Tuple<Vector3[], int[]> meshData = _geom.BuildMesh();
if (meshData == null) {
throw new ArgumentException("Unsupported geom shape detected");
}
if(_geom.ShapeType == MjShapeComponent.ShapeTypes.Mesh) {
if(_geom.ShapeType == MjShapeComponent.ShapeTypes.Mesh) {
MjMeshShape meshShape = _geom.Shape as MjMeshShape;
_meshFilter.sharedMesh = meshShape.Mesh;
return;
}
_shapeChangeStamp = currentChangeStamp;
Tuple<Vector3[], int[]> meshData = _geom.BuildMesh();
if (meshData == null)
{
throw new ArgumentException("Unsupported geom shape detected");
}
DisposeCurrentMesh();
var mesh = new Mesh();
@@ -67,7 +67,6 @@ public class MjMeshFilter : MonoBehaviour {
uvs[i] = new Vector2(mesh.vertices[i].x, mesh.vertices[i].z);
}
mesh.uv = uvs;
mesh.RecalculateNormals();
mesh.RecalculateTangents();
}
unity/Runtime/Components/Shapes/MjMeshShape.cs
+1 -1
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@@ -36,7 +36,7 @@ public class MjMeshShape : IMjShape {
var assetName = MjEngineTool.Sanitize(
mjcf.GetStringAttribute("mesh", defaultValue: string.Empty));
if (!string.IsNullOrEmpty(assetName)) {
Mesh = (Mesh)Resources.Load(assetName);
Mesh = Resources.Load<Mesh>(assetName);
}
}