Sam Haves
f2461f9ce6
Previously on MSVC we used DllMain to register plugins, you cannot have multiple definitions of DllMain in a single unit so you would get errors if you tried to register two plugins. This modifies the implementation to insert a function pointer into the C runtime initialization instead. PiperOrigin-RevId: 896612678 Change-Id: I07732147b955d741c836acff6da986db0e9b9eff
126 lines
3.9 KiB
C++
126 lines
3.9 KiB
C++
// Copyright 2026 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <cstring>
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#include <string>
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#include <string_view>
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#include <vector>
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#include <mujoco/mjplugin.h>
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#include <mujoco/mjspec.h>
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#include <mujoco/mujoco.h>
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#include <tiny_obj_loader.h>
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namespace {
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mjSpec* Decode(mjResource* resource, const mjVFS* vfs) {
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const void* bytes = nullptr;
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int buffer_sz = mju_readResource(resource, &bytes);
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if (buffer_sz < 0) {
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mju_warning("obj_decoder: could not read OBJ file '%s'", resource->name);
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return nullptr;
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}
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tinyobj::ObjReader obj_reader;
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const char* buffer = static_cast<const char*>(bytes);
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obj_reader.ParseFromString(std::string(buffer, buffer_sz), std::string());
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if (!obj_reader.Valid()) {
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mju_warning("obj_decoder: could not parse OBJ file '%s'", resource->name);
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return nullptr;
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}
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mjSpec* spec = mj_makeSpec();
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mjsMesh* mesh = mjs_addMesh(spec, nullptr);
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const auto& attrib = obj_reader.GetAttrib();
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std::vector<float> usernormal = attrib.normals;
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std::vector<float> usertexcoord = attrib.texcoords;
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std::vector<int> userface;
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std::vector<int> userfacenormal;
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std::vector<int> userfacetexcoord;
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if (!obj_reader.GetShapes().empty()) {
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const auto& obj_mesh = obj_reader.GetShapes()[0].mesh;
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std::vector<tinyobj::index_t> face_indices;
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for (size_t face = 0, idx = 0; idx < obj_mesh.indices.size();) {
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int nfacevert = obj_mesh.num_face_vertices[face];
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if (nfacevert < 3 || nfacevert > 4) {
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mju_warning(
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"obj_decoder: only tri or quad meshes are supported (file '%s')",
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resource->name);
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mj_deleteSpec(spec);
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return nullptr;
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}
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face_indices.push_back(obj_mesh.indices[idx]);
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face_indices.push_back(obj_mesh.indices[idx + 1]);
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face_indices.push_back(obj_mesh.indices[idx + 2]);
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if (nfacevert == 4) {
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face_indices.push_back(obj_mesh.indices[idx]);
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face_indices.push_back(obj_mesh.indices[idx + 2]);
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face_indices.push_back(obj_mesh.indices[idx + 3]);
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}
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idx += nfacevert;
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++face;
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}
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for (const auto& mesh_index : face_indices) {
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userface.push_back(mesh_index.vertex_index);
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if (!usernormal.empty()) {
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userfacenormal.push_back(mesh_index.normal_index);
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}
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if (!usertexcoord.empty()) {
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userfacetexcoord.push_back(mesh_index.texcoord_index);
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}
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}
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}
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for (size_t i = 0; i < usertexcoord.size() / 2; i++) {
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usertexcoord[2 * i + 1] = 1 - usertexcoord[2 * i + 1];
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}
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mjs_setString(mesh->file, resource->name);
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mjs_setFloat(mesh->uservert, attrib.vertices.data(), attrib.vertices.size());
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mjs_setFloat(mesh->usernormal, usernormal.data(), usernormal.size());
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mjs_setFloat(mesh->usertexcoord, usertexcoord.data(), usertexcoord.size());
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mjs_setInt(mesh->userface, userface.data(), userface.size());
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mjs_setInt(mesh->userfacenormal, userfacenormal.data(), userfacenormal.size());
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mjs_setInt(mesh->userfacetexcoord, userfacetexcoord.data(), userfacetexcoord.size());
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return spec;
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}
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int CanDecode(const mjResource* resource) {
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std::string_view name(resource->name);
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return name.ends_with(".obj") || name.ends_with(".OBJ");
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}
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} // namespace
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mjPLUGIN_LIB_INIT(obj_decoder) {
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mjpDecoder decoder;
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mjp_defaultDecoder(&decoder);
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decoder.content_type = "model/obj";
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decoder.extension = ".obj";
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decoder.decode = Decode;
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decoder.can_decode = CanDecode;
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mjp_registerDecoder(&decoder);
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}
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