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Move OBJ handling to a mjpDecoder.

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PiperOrigin-RevId: 875194599
Change-Id: I2cccc683d69a217f1817e70d16bc1815e366d00c
This commit is contained in:
Sam Haves
2026-02-25 09:11:54 -08:00
committed by Copybara-Service
parent abdea379af
commit b907ffedaa
12 changed files with 258 additions and 109 deletions
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src/user/CMakeLists.txt
-1
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@@ -38,4 +38,3 @@ set(MUJOCO_USER_SRCS
)
target_sources(mujoco PRIVATE ${MUJOCO_USER_SRCS})
target_compile_definitions(mujoco PRIVATE MUJOCO_TINYOBJLOADER_IMPL)
src/user/user_mesh.cc
+46 -94
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@@ -612,10 +612,7 @@ void mjCMesh::ProcessVertices(const std::vector<float>& vert, bool remove_repeat
}
}
bool mjCMesh::IsObj(std::string_view filename, std::string_view ct) {
std::string asset_type = GetAssetContentType(filename, ct);
return asset_type == "model/obj";
}
bool mjCMesh::IsSTL(std::string_view filename, std::string_view ct) {
std::string asset_type = GetAssetContentType(filename, ct);
@@ -627,9 +624,7 @@ bool mjCMesh::IsMSH(std::string_view filename, std::string_view ct) {
return asset_type == "model/vnd.mujoco.msh";
}
bool mjCMesh::IsObj() const {
return content_type_ == "model/obj";
}
bool mjCMesh::IsSTL() const {
return content_type_ == "model/stl";
@@ -639,28 +634,62 @@ bool mjCMesh::IsMSH() const {
return content_type_ == "model/vnd.mujoco.msh";
}
// load mesh using decoder plugin
void mjCMesh::LoadFromDecoder(mjResource* resource, bool remove_repeated) {
const mjpDecoder* decoder = mjp_findDecoder(resource, content_type_.c_str());
if (!decoder) {
throw mjCError(this, "no decoder found for mesh file '%s'", resource->name);
}
mjSpec* mesh_spec = decoder->decode(resource, nullptr);
if (!mesh_spec) {
throw mjCError(this, "decoder failed for mesh file '%s'", resource->name);
}
mjsElement* elem = mjs_firstElement(mesh_spec, mjOBJ_MESH);
if (elem) {
mjsMesh* src_mesh = mjs_asMesh(elem);
if (src_mesh) {
normal_.assign(src_mesh->usernormal->begin(), src_mesh->usernormal->end());
texcoord_.assign(src_mesh->usertexcoord->begin(), src_mesh->usertexcoord->end());
face_.assign(src_mesh->userface->begin(), src_mesh->userface->end());
facenormal_.assign(src_mesh->userfacenormal->begin(), src_mesh->userfacenormal->end());
facetexcoord_.assign(src_mesh->userfacetexcoord->begin(), src_mesh->userfacetexcoord->end());
// correct winding order for left-handed coordinate systems
bool righthand = scale[0] * scale[1] * scale[2] > 0;
if (!righthand) {
for (size_t i = 0; i < face_.size(); i += 3) {
std::swap(face_[i + 1], face_[i + 2]);
}
for (size_t i = 0; i < facenormal_.size(); i += 3) {
std::swap(facenormal_[i + 1], facenormal_[i + 2]);
}
for (size_t i = 0; i < facetexcoord_.size(); i += 3) {
std::swap(facetexcoord_[i + 1], facetexcoord_[i + 2]);
}
}
std::vector<float> vert(src_mesh->uservert->begin(), src_mesh->uservert->end());
mj_deleteSpec(mesh_spec);
ProcessVertices(vert, remove_repeated);
return;
}
}
mj_deleteSpec(mesh_spec);
}
// load mesh from resource; throw error on failure
void mjCMesh::LoadFromResource(mjResource* resource, bool remove_repeated) {
// set content type from resource name
std::string asset_type = GetAssetContentType(resource->name, content_type_);
if (asset_type.empty()) {
if (!content_type_.empty()) {
throw mjCError(this, "invalid content type: '%s'", content_type_.c_str());
}
throw mjCError(this, "unknown or unsupported mesh file: '%s'", resource->name);
}
content_type_ = asset_type;
if (IsSTL()) {
LoadSTL(resource);
} else if (IsObj()) {
LoadOBJ(resource, remove_repeated);
} else if (IsMSH()) {
LoadMSH(resource, remove_repeated);
} else {
throw mjCError(this, "unsupported mesh type: '%s'", asset_type.c_str());
LoadFromDecoder(resource, remove_repeated);
}
}
@@ -1009,83 +1038,6 @@ void mjCMesh::FitGeom(mjCGeom* geom, double center[3]) {
}
// load OBJ mesh
void mjCMesh::LoadOBJ(mjResource* resource, bool remove_repeated) {
tinyobj::ObjReader objReader;
const void* bytes = nullptr;
int buffer_sz = mju_readResource(resource, &bytes);
if (buffer_sz < 0) {
throw mjCError(this, "could not read OBJ file '%s'", resource->name);
}
// TODO(etom): support .mtl files?
const char* buffer = (const char*) bytes;
objReader.ParseFromString(std::string(buffer, buffer_sz), std::string());
if (!objReader.Valid()) {
throw mjCError(this, "could not parse OBJ file '%s'", resource->name);
}
const auto& attrib = objReader.GetAttrib();
normal_ = attrib.normals;
texcoord_ = attrib.texcoords;
facenormal_.clear();
facetexcoord_.clear();
if (!objReader.GetShapes().empty()) {
const auto& mesh = objReader.GetShapes()[0].mesh;
bool righthand = scale[0] * scale[1] * scale[2] > 0;
// iterate over mesh faces
std::vector<tinyobj::index_t> face_indices;
for (int face = 0, idx = 0; idx < mesh.indices.size();) {
int nfacevert = mesh.num_face_vertices[face];
if (nfacevert < 3 || nfacevert > 4) {
throw mjCError(
this, "only tri or quad meshes are supported for OBJ (file '%s')",
resource->name);
}
face_indices.push_back(mesh.indices[idx]);
face_indices.push_back(mesh.indices[idx + (righthand == 1 ? 1 : 2)]);
face_indices.push_back(mesh.indices[idx + (righthand == 1 ? 2 : 1)]);
if (nfacevert == 4) {
face_indices.push_back(mesh.indices[idx]);
face_indices.push_back(mesh.indices[idx + (righthand == 1 ? 2 : 3)]);
face_indices.push_back(mesh.indices[idx + (righthand == 1 ? 3 : 2)]);
}
idx += nfacevert;
++face;
}
// for each vertex, store index, normal, and texcoord
for (const auto& mesh_index : face_indices) {
face_.push_back(mesh_index.vertex_index);
if (!normal_.empty()) {
facenormal_.push_back(mesh_index.normal_index);
}
if (!texcoord_.empty()) {
facetexcoord_.push_back(mesh_index.texcoord_index);
}
}
}
// flip the second texcoord
for (int i=0; i < texcoord_.size()/2; i++) {
texcoord_[2*i+1] = 1-texcoord_[2*i+1];
}
// copy vertex data
ProcessVertices(attrib.vertices, remove_repeated);
}
// load mesh from cached asset, return true on success
bool mjCMesh::LoadCachedMesh(mjCCache *cache, const mjResource* resource) {
auto process_mesh = [&](const void* data) {
@@ -1776,7 +1728,7 @@ void mjCMesh::CheckInitialMesh() const {
// check texcoord size if no face texcoord indices are given
if (!texcoord_.empty() && texcoord_.size() != 2 * nvert() &&
facetexcoord_.empty() && !IsObj()) {
facetexcoord_.empty() && content_type_ != "model/obj") {
throw mjCError(this,
"texcoord must be 2*nv if face texcoord indices are not provided in an OBJ file");
}
src/user/user_objects.h
+4 -7
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@@ -22,6 +22,7 @@
#include <array>
#include <deque>
#include <functional>
#include <map>
#include <string>
#include <string_view>
#include <unordered_map>
@@ -34,10 +35,6 @@
#include <mujoco/mjtnum.h>
#include "user/user_cache.h"
#include "user/user_util.h"
#include <tiny_obj_loader.h>
using face_vertices_type =
decltype(tinyobj::mesh_t::num_face_vertices)::value_type;
// forward declarations of all mjC/X classes
class mjCError;
@@ -1241,11 +1238,11 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
// load from OBJ, STL, or MSH file; throws mjCError on failure
void LoadFromResource(mjResource* resource, bool remove_repeated = false);
static bool IsObj(std::string_view filename, std::string_view ct = "");
static bool IsSTL(std::string_view filename, std::string_view ct = "");
static bool IsMSH(std::string_view filename, std::string_view ct = "");
bool IsObj() const;
bool IsSTL() const;
bool IsMSH() const;
@@ -1262,7 +1259,7 @@ class mjCMesh: public mjCMesh_, private mjsMesh {
void ProcessVertices(const std::vector<float>& vert, bool remove_repeated = false);
void LoadOBJ(mjResource* resource, bool remove_repeated); // load mesh in wavefront OBJ format
void LoadFromDecoder(mjResource* resource, bool remove_repeated); // load mesh using decoder plugin
void LoadSTL(mjResource* resource); // load mesh in STL BIN format
void LoadMSH(mjResource* resource, bool remove_repeated); // load mesh in MSH BIN format