chenlin
1eb05132f1
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55 lines
2.6 KiB
TypeScript
55 lines
2.6 KiB
TypeScript
import {LoadingManager,type Material,type Mesh,type Texture} from 'three';
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import {OBJExporter} from 'three/addons/exporters/OBJExporter.js';
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import {ColladaLoader} from 'three/addons/loaders/ColladaLoader.js';
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const TRANSPARENT_PIXEL='data:image/gif;base64,R0lGODlhAQABAAD/ACwAAAAAAQABAAACADs=';
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/**
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* 将 Collada 几何转换为 MuJoCo WASM 可读取的 OBJ。
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* ColladaLoader 会先统一为 Y-up；额外旋转到 MuJoCo 使用的 Z-up，并烘焙节点变换与单位缩放。
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*/
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export function convertDaeToObj(data:Uint8Array,path:string):Uint8Array {
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const manager=new LoadingManager();
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// 转换只需要几何。拦截贴图 URL，避免为浏览器内存文件发起无效网络请求。
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manager.setURLModifier(()=>TRANSPARENT_PIXEL);
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const loader=new ColladaLoader(manager);
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const text=new TextDecoder('utf-8').decode(data);
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const xml=new DOMParser().parseFromString(text,'application/xml');
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if(xml.querySelector('parsererror'))throw new Error('Collada XML 格式无效');
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const upAxis=xml.getElementsByTagName('up_axis')[0]?.textContent?.trim().toUpperCase()??'Y_UP';
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// 禁用 ColladaLoader 自带的 Z-up → Y-up 旋转，改为直接统一到 MuJoCo 的 Z-up。
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if(upAxis==='Z_UP')xml.getElementsByTagName('up_axis')[0]!.textContent='Y_UP';
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const normalized=new XMLSerializer().serializeToString(xml);
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const result=loader.parse(normalized,path.slice(0,path.lastIndexOf('/')+1));
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if(!result?.scene)throw new Error('Collada 文件无法解析');
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const scene=result.scene;
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if(upAxis==='Y_UP')scene.rotation.x+=Math.PI/2;
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else if(upAxis==='X_UP')scene.rotation.y-=Math.PI/2;
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scene.updateMatrixWorld(true);
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let meshCount=0;
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scene.traverse(object=>{
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const mesh=object as Mesh;
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if(!mesh.isMesh)return;
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meshCount+=1;
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const materials=Array.isArray(mesh.material)?mesh.material:[mesh.material];
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for(const material of materials)if(material)material.name='';
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});
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if(!meshCount)throw new Error('Collada 文件不包含可转换的三角网格');
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try {
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const output=new OBJExporter().parse(scene);
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if(!/^v\s/m.test(output)||!/^f\s/m.test(output))throw new Error('Collada 文件未生成有效三角面');
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return new TextEncoder().encode(output);
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} finally {
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scene.traverse(object=>{
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const mesh=object as Mesh;
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if(!mesh.isMesh)return;
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mesh.geometry?.dispose();
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const materials:Material[]=Array.isArray(mesh.material)?mesh.material:[mesh.material];
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for(const material of materials){
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for(const value of Object.values(material))if(value&&typeof value==='object'&&(value as Texture).isTexture)(value as Texture).dispose();
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material.dispose();
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}
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});
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}
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}
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