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Move STL handling to a mjpDecoder.

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PiperOrigin-RevId: 880820344
Change-Id: Ib3a714dd9698335433e518ed6af17d7b8407a8fb
This commit is contained in:
Sam Haves
2026-03-09 06:14:23 -07:00
committed by Copybara-Service
parent 330c36c99b
commit ed0d7ba29f
7 changed files with 203 additions and 83 deletions
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src/user/user_mesh.cc
+1 -81
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@@ -614,10 +614,6 @@ void mjCMesh::ProcessVertices(const std::vector<float>& vert, bool remove_repeat
bool mjCMesh::IsSTL(std::string_view filename, std::string_view ct) {
std::string asset_type = GetAssetContentType(filename, ct);
return asset_type == "model/stl";
}
bool mjCMesh::IsMSH(std::string_view filename, std::string_view ct) {
std::string asset_type = GetAssetContentType(filename, ct);
@@ -626,9 +622,6 @@ bool mjCMesh::IsMSH(std::string_view filename, std::string_view ct) {
bool mjCMesh::IsSTL() const {
return content_type_ == "model/stl";
}
bool mjCMesh::IsMSH() const {
return content_type_ == "model/vnd.mujoco.msh";
@@ -684,9 +677,7 @@ void mjCMesh::LoadFromResource(mjResource* resource, bool remove_repeated) {
std::string asset_type = GetAssetContentType(resource->name, content_type_);
content_type_ = asset_type;
if (IsSTL()) {
LoadSTL(resource);
} else if (IsMSH()) {
if (IsMSH()) {
LoadMSH(resource, remove_repeated);
} else {
LoadFromDecoder(resource, remove_repeated);
@@ -1115,77 +1106,6 @@ bool mjCMesh::LoadCachedMesh(mjCCache *cache, const mjResource* resource) {
// load STL binary mesh
void mjCMesh::LoadSTL(mjResource* resource) {
bool righthand = scale[0] * scale[1] * scale[2] > 0;
// get file data in buffer
char* buffer = 0;
int buffer_sz = mju_readResource(resource, (const void**)&buffer);
// still not found
if (buffer_sz < 0) {
throw mjCError(this, "could not read STL file '%s'", resource->name);
} else if (!buffer_sz) {
throw mjCError(this, "STL file '%s' is empty", resource->name);
}
// make sure there is enough data for header
if (buffer_sz < 84) {
throw mjCError(this, "invalid header in STL file '%s'", resource->name);
}
// get number of triangles, check bounds
int nfaces = 0;
ReadFromBuffer(&nfaces, buffer + 80);
if (nfaces < 1 || nfaces > 200000) {
throw mjCError(this,
"number of faces should be between 1 and 200000 in STL file '%s';"
" perhaps this is an ASCII file?", resource->name);
}
// check remaining buffer size
if (nfaces*50 != buffer_sz-84) {
throw mjCError(this,
"STL file '%s' has wrong size; perhaps this is an ASCII file?",
resource->name);
}
// assign stl data pointer
const char* stl = buffer + 84;
// allocate face and vertex data
face_.assign(3*nfaces, 0);
std::vector<float> vert;
// add vertices and faces, including repeated for now
for (int i=0; i < nfaces; i++) {
for (int j=0; j < 3; j++) {
// read vertex coordinates
float v[3];
ReadFromBuffer(&v, stl + 50*i + 12*(j + 1));
// check if vertex can be cast to an int safely
if (fabs(v[0]) > pow(2, 30) || fabs(v[1]) > pow(2, 30) || fabs(v[2]) > pow(2, 30)) {
throw mjCError(this, "vertex in STL file '%s' exceed maximum bounds", resource->name);
}
// add vertex address in face; change order if scale makes it lefthanded
if (righthand || j == 0) {
face_[3*i + j] = vert.size() / 3;
} else {
face_[3*i + 3 - j] = vert.size() / 3;
}
// add vertex data
vert.push_back(v[0]);
vert.push_back(v[1]);
vert.push_back(v[2]);
}
}
ProcessVertices(vert, true);
}
// load MSH binary mesh