Created Wavefront obj to sdf converter, to make it easier to import complex obj models with many materials. See kitchen for example.

Fix in tinyobj, make sure material is initialized
Add fatihrmutfak kitchen model, for Virtual Reality and some research
This commit is contained in:
Erwin Coumans 2017-03-01 10:06:10 -08:00
parent 89e8e30de6
commit 2eb019cdc3
181 changed files with 842518 additions and 0 deletions

165
Extras/obj2sdf/obj2sdf.cpp Normal file
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/// obj2sdf will load a Wavefront .obj file that may contain many parts/materials
/// it will split into separate obj files for each part/material and
/// create an sdf file with visuals/collisions pointing to the new obj files
/// this will make it easier to load complex obj files into pybullet
/// see for example export in data/kitchens/fathirmutfak.sdf
#include <string.h>
#include <stdio.h>
#include <assert.h>
#define ASSERT_EQ(a,b) assert((a)==(b));
#include "MinitaurSetup.h"
#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
#include <vector>
#include "Bullet3Common/b3FileUtils.h"
#include "../Utils/b3ResourcePath.h"
#define MAX_PATH_LEN 1024
int main(int argc, char* argv[])
{
const char* fileName = "kitchens/kitchen.obj";
char fileNameWithPath[MAX_PATH_LEN];
bool fileFound = (b3ResourcePath::findResourcePath(fileName,fileNameWithPath,MAX_PATH_LEN))>0;
char materialPrefixPath[MAX_PATH_LEN];
b3FileUtils::extractPath(fileNameWithPath,materialPrefixPath,MAX_PATH_LEN);
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, fileNameWithPath, materialPrefixPath);
char sdfFileName[MAX_PATH_LEN];
sprintf(sdfFileName,"%s%s.sdf",materialPrefixPath,"newsdf");
FILE* sdfFile = fopen(sdfFileName,"w");
if (sdfFile==0)
{
printf("Fatal: cannot create sdf file %s\n",sdfFileName);
exit(0);
}
fprintf(sdfFile, "<sdf version='1.6'>\n\t<world name='default'>\n\t<gravity>0 0 -9.8</gravity>\n");
for (int s=0;s<(int)shapes.size();s++)
{
tinyobj::shape_t& shape = shapes[s];
if (shape.name.length())
{
printf("object name = %s\n", shape.name.c_str());
}
char objFileName[MAX_PATH_LEN];
sprintf(objFileName,"%s/part%d.obj",materialPrefixPath,s);
FILE* f = fopen(objFileName,"w");
if (f==0)
{
printf("Fatal: cannot create part obj file %s\n",objFileName);
exit(0);
}
fprintf(f,"# Exported using automatic converter by Erwin Coumans\n");
fprintf(f,"mtllib bedroom.mtl\n");
int faceCount = shape.mesh.indices.size();
int vertexCount = shape.mesh.positions.size();
tinyobj::material_t mat = shape.material;
if (shape.name.length())
{
const char* objName = shape.name.c_str();
printf("mat.name = %s\n", objName);
fprintf(f,"#object %s\n\n",objName);
}
for (int v=0;v<vertexCount/3;v++)
{
fprintf(f,"v %f %f %f\n",shape.mesh.positions[v*3+0],shape.mesh.positions[v*3+1],shape.mesh.positions[v*3+2]);
}
if (mat.name.length())
{
fprintf(f,"usemtl %s\n",mat.name.c_str());
} else
{
fprintf(f,"usemtl wire_028089177\n");
}
fprintf(f,"\n");
for (int vn = 0;vn<shape.mesh.normals.size()/3;vn++)
{
fprintf(f,"vn %f %f %f\n",shape.mesh.normals[vn*3+0],shape.mesh.normals[vn*3+1],shape.mesh.normals[vn*3+2]);
}
fprintf(f,"\n");
for (int vt = 0;vt<shape.mesh.texcoords.size()/2;vt++)
{
fprintf(f,"vt %f %f\n",shape.mesh.texcoords[vt*2+0],shape.mesh.texcoords[vt*2+1]);
}
fprintf(f,"s off\n");
for (int face=0;face<faceCount;face+=3)
{
if (face<0 && face>=int(shape.mesh.indices.size()))
{
continue;
}
fprintf(f,"f %d/%d/%d %d/%d/%d %d/%d/%d\n",
shape.mesh.indices[face]+1,shape.mesh.indices[face]+1,shape.mesh.indices[face]+1,
shape.mesh.indices[face+1]+1,shape.mesh.indices[face+1]+1,shape.mesh.indices[face+1]+1,
shape.mesh.indices[face+2]+1,shape.mesh.indices[face+2]+1,shape.mesh.indices[face+2]+1);
}
fclose(f);
float kdRed=mat.diffuse[0];
float kdGreen=mat.diffuse[1];
float kdBlue=mat.diffuse[2];
char objSdfPartFileName[MAX_PATH_LEN];
sprintf(objSdfPartFileName,"part%d.obj",s);
fprintf(sdfFile,"\t\t<model name='%s'>\n"
"\t\t\t<static>1</static>\n"
"\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
"\t\t\t<link name='link_d%d'>\n"
"\t\t\t<inertial>\n"
"\t\t\t<mass>0</mass>\n"
"\t\t\t<inertia>\n"
"\t\t\t<ixx>0.166667</ixx>\n"
"\t\t\t<ixy>0</ixy>\n"
"\t\t\t<ixz>0</ixz>\n"
"\t\t\t<iyy>0.166667</iyy>\n"
"\t\t\t<iyz>0</iyz>\n"
"\t\t\t<izz>0.166667</izz>\n"
"\t\t\t</inertia>\n"
"\t\t\t</inertial>\n"
"\t\t\t<collision name='collision_%d'>\n"
"\t\t\t<geometry>\n"
"\t\t\t<mesh>\n"
"\t\t\t<scale>1 1 1</scale>\n"
"\t\t\t\t<uri>%s</uri>\n"
"\t\t\t</mesh>\n"
"\t\t\t</geometry>\n"
"\t\t\t </collision>\n"
"\t\t\t<visual name='visual'>\n"
"\t\t\t\t<geometry>\n"
"\t\t\t\t<mesh>\n"
"\t\t\t\t\t<scale>1 1 1</scale>\n"
"\t\t\t\t\t<uri>%s</uri>\n"
"\t\t\t\t</mesh>\n"
"\t\t\t\t</geometry>\n"
"\t\t\t<material>\n"
"\t\t\t\t<ambient>1 0 0 1</ambient>\n"
"\t\t\t\t<diffuse>%f %f %f 1</diffuse>\n"
"\t\t\t\t<specular>0.1 0.1 0.1 1</specular>\n"
"\t\t\t\t<emissive>0 0 0 0</emissive>\n"
"\t\t\t </material>\n"
"\t\t\t </visual>\n"
"\t\t\t </link>\n"
"\t\t\t</model>\n",objSdfPartFileName,s,s,
objSdfPartFileName,objSdfPartFileName,
kdRed, kdGreen, kdBlue);
}
fprintf(sdfFile,"\t</world>\n</sdf>\n");
fclose(sdfFile);
return 0;
}

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cd build3
premake5 --targetdir="../bin" vs2010
start vs2010

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After

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# 3ds Max Wavefront OBJ Exporter v0.94b - (c)2007 guruware
# File Created: 28.02.2017 15:44:40
newmtl wire_028089177
Ns 32
d 1
Tr 1
Tf 1 1 1
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.1098 0.3490 0.6941
Ks 0.3500 0.3500 0.3500
newmtl wire_214229166
Ns 32
d 1
Tr 1
Tf 1 1 1
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.8392 0.8980 0.6510
Ks 0.3500 0.3500 0.3500
newmtl Rubi
Ns 10.0000
Ni 1.5000
d 1.0000
Tr 1.0000
Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.6980 0.0000 0.0000
Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000
newmtl Material__74
Ns 10.0000
Ni 1.5000
d 1.0000
Tr 1.0000
Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.0588 0.0588 0.0588
Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000
newmtl wire_115115115
Ns 32
d 1
Tr 1
Tf 1 1 1
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.4510 0.4510 0.4510
Ks 0.3500 0.3500 0.3500
newmtl wire_087224198
Ns 32
d 1
Tr 1
Tf 1 1 1
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.3412 0.8784 0.7765
Ks 0.3500 0.3500 0.3500
newmtl wire_086086086
Ns 32
d 1
Tr 1
Tf 1 1 1
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.3373 0.3373 0.3373
Ks 0.3500 0.3500 0.3500
newmtl wire_026177088
Ns 32
d 1
Tr 1
Tf 1 1 1
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.1020 0.6941 0.3451
Ks 0.3500 0.3500 0.3500
newmtl wire_000000000
Ns 32
d 1
Tr 1
Tf 1 1 1
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.0000 0.0000 0.0000
Ks 0.3500 0.3500 0.3500
newmtl wire_153228153
Ns 32
d 1
Tr 1
Tf 1 1 1
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.6000 0.8941 0.6000
Ks 0.3500 0.3500 0.3500
newmtl wire_176026026
Ns 32
d 1
Tr 1
Tf 1 1 1
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.6902 0.1020 0.1020
Ks 0.3500 0.3500 0.3500
newmtl wire_255255255
Ns 32
d 1
Tr 1
Tf 1 1 1
illum 2
Ka 0.0000 0.0000 0.0000
Kd 1.0000 1.0000 1.0000
Ks 0.3500 0.3500 0.3500
newmtl wire_165000082
Ns 32
d 1
Tr 1
Tf 1 1 1
illum 2
Ka 0.0000 0.0000 0.0000
Kd 1 1 1
Ks 0.3500 0.3500 0.3500
map_Kd 48x48copsy.png
newmtl wire_255223127
Ns 32
d 1
Tr 1
Tf 1 1 1
illum 2
Ka 0.0000 0.0000 0.0000
Kd 1.0000 0.8745 0.4980
Ks 0.3500 0.3500 0.3500
newmtl wire_165103082
Ns 32
d 1
Tr 1
Tf 1 1 1
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.6471 0.4039 0.3216
Ks 0.3500 0.3500 0.3500
newmtl 02___Default
Ns 32.0000
Ni 1.5000
d 1.0000
Tr 1.0000
Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.1961 0.1961 0.1961
Ks 0.1800 0.1800 0.1800
Ke 0.0000 0.0000 0.0000
newmtl 03___Default
Ns 10.0000
Ni 1.5000
d 1.0000
Tr 1.0000
Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.9098 0.9098 0.9098
Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000
newmtl Material__88
Ns 10.0000
Ni 1.5000
d 1.0000
Tr 1.0000
Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.4471 0.1255 0.1255
Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000
newmtl 04___Default
Ns 10.0000
Ni 1.5000
d 1.0000
Tr 1.0000
Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.1451 0.1451 0.1451
Ks 0.1350 0.1350 0.1350
Ke 0.0000 0.0000 0.0000
newmtl Material__3705
Ns 10.0000
Ni 1.5000
d 1.0000
Tr 1.0000
Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.7843 0.6824 0.4667
Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000
newmtl 07___Default
Ns 10.0000
Ni 1.5000
d 1.0000
Tr 1.0000
Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.3529 0.6824 0.0000
Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000

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# Exported using automatic converter by Erwin Coumans
mtllib bedroom.mtl
#object Layer_zemin
v 82.627502 119.623100 -0.500000
v 151.229904 119.623100 -0.500000
v 82.627502 119.623100 0.000000
v 151.229904 119.623100 0.000000
v 151.229904 119.623100 0.000000
v 151.229904 119.623100 -0.500000
v 151.229904 159.923096 0.000000
v 151.229904 159.923096 -0.500000
v 82.627502 119.623100 -0.500000
v 82.627502 159.923096 -0.500000
v 151.229904 119.623100 -0.500000
v 151.229904 159.923096 -0.500000
v 151.229904 119.623100 0.000000
v 151.229904 159.923096 0.000000
v 82.627502 119.623100 0.000000
v 82.627502 159.923096 0.000000
v 82.627502 119.623100 0.000000
v 82.627502 159.923096 0.000000
v 82.627502 119.623100 -0.500000
v 82.627502 159.923096 -0.500000
v 82.627502 159.923096 0.000000
v 151.229904 159.923096 0.000000
v 82.627502 159.923096 -0.500000
v 151.229904 159.923096 -0.500000
usemtl wire_255255255
vn 0.000000 -1.000000 0.000000
vn 0.000000 -1.000000 0.000000
vn 0.000000 -1.000000 0.000000
vn 0.000000 -1.000000 0.000000
vn 1.000000 0.000000 0.000000
vn 1.000000 0.000000 0.000000
vn 1.000000 0.000000 0.000000
vn 1.000000 0.000000 0.000000
vn 0.000000 0.000000 -1.000000
vn 0.000000 0.000000 -1.000000
vn 0.000000 0.000000 -1.000000
vn 0.000000 0.000000 -1.000000
vn 0.000000 0.000000 1.000000
vn 0.000000 0.000000 1.000000
vn 0.000000 0.000000 1.000000
vn 0.000000 0.000000 1.000000
vn -1.000000 0.000000 0.000000
vn -1.000000 0.000000 0.000000
vn -1.000000 0.000000 0.000000
vn -1.000000 0.000000 0.000000
vn 0.000000 1.000000 0.000000
vn 0.000000 1.000000 0.000000
vn 0.000000 1.000000 0.000000
vn 0.000000 1.000000 0.000000
vt 0.000000 0.000000
vt 6.860200 0.000000
vt 0.000000 0.050000
vt 6.860200 0.050000
vt 0.000000 0.050000
vt 0.000000 0.000000
vt 4.030000 0.050000
vt 4.030000 0.000000
vt 6.860200 -0.000000
vt 6.860200 4.030000
vt -0.000000 0.000000
vt -0.000000 4.030000
vt 6.860200 0.000000
vt 6.860200 4.030000
vt 0.000000 0.000000
vt 0.000000 4.030000
vt 4.030000 0.050000
vt -0.000000 0.050000
vt 4.030000 -0.000000
vt -0.000000 0.000000
vt 6.860200 0.050000
vt -0.000000 0.050000
vt 6.860200 -0.000000
vt -0.000000 0.000000
s off
f 1/1/1 2/2/2 3/3/3
f 2/2/2 4/4/4 3/3/3
f 5/5/5 6/6/6 7/7/7
f 6/6/6 8/8/8 7/7/7
f 9/9/9 10/10/10 11/11/11
f 10/10/10 12/12/12 11/11/11
f 13/13/13 14/14/14 15/15/15
f 14/14/14 16/16/16 15/15/15
f 17/17/17 18/18/18 19/19/19
f 18/18/18 20/20/20 19/19/19
f 21/21/21 22/22/22 23/23/23
f 22/22/22 24/24/24 23/23/23

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# Exported using automatic converter by Erwin Coumans
mtllib bedroom.mtl
#object Layer_tavan
v 151.229904 119.623100 27.500000
v 82.627502 119.623100 27.500000
v 151.229904 119.623100 27.000000
v 82.627502 119.623100 27.000000
v 82.627502 119.623100 27.500000
v 82.627502 159.923096 27.500000
v 82.627502 119.623100 27.000000
v 82.627502 159.923096 27.000000
v 151.229904 119.623100 27.500000
v 151.229904 159.923096 27.500000
v 82.627502 119.623100 27.500000
v 82.627502 159.923096 27.500000
v 82.627502 119.623100 27.000000
v 82.627502 159.923096 27.000000
v 151.229904 119.623100 27.000000
v 151.229904 159.923096 27.000000
v 82.627502 159.923096 27.500000
v 151.229904 159.923096 27.500000
v 82.627502 159.923096 27.000000
v 151.229904 159.923096 27.000000
v 151.229904 119.623100 27.500000
v 151.229904 119.623100 27.000000
v 151.229904 159.923096 27.500000
v 151.229904 159.923096 27.000000
usemtl wire_255255255
vn 0.000000 -1.000000 0.000000
vn 0.000000 -1.000000 0.000000
vn 0.000000 -1.000000 0.000000
vn 0.000000 -1.000000 0.000000
vn -1.000000 0.000000 0.000000
vn -1.000000 0.000000 0.000000
vn -1.000000 0.000000 0.000000
vn -1.000000 0.000000 0.000000
vn 0.000000 0.000000 1.000000
vn 0.000000 0.000000 1.000000
vn 0.000000 0.000000 1.000000
vn 0.000000 0.000000 1.000000
vn 0.000000 0.000000 -1.000000
vn 0.000000 0.000000 -1.000000
vn 0.000000 0.000000 -1.000000
vn 0.000000 0.000000 -1.000000
vn 0.000000 1.000000 0.000000
vn 0.000000 1.000000 0.000000
vn 0.000000 1.000000 0.000000
vn 0.000000 1.000000 0.000000
vn 1.000000 0.000000 0.000000
vn 1.000000 0.000000 0.000000
vn 1.000000 0.000000 0.000000
vn 1.000000 0.000000 0.000000
vt 1513.298950 276.000000
vt 827.274780 276.000000
vt 1513.298950 271.000000
vt 827.274780 271.000000
vt -1195.231323 276.000000
vt -1598.231323 276.000000
vt -1195.231323 271.000000
vt -1598.231323 271.000000
vt 1513.298950 1197.231323
vt 1513.298950 1600.231323
vt 827.274780 1197.231323
vt 827.274780 1600.231323
vt -825.274780 1197.231323
vt -825.274780 1600.231323
vt -1511.298950 1197.231323
vt -1511.298950 1600.231323
vt -825.274780 276.000000
vt -1511.298950 276.000000
vt -825.274780 271.000000
vt -1511.298950 271.000000
vt 1197.231323 276.000000
vt 1197.231323 271.000000
vt 1600.231323 276.000000
vt 1600.231323 271.000000
s off
f 1/1/1 2/2/2 3/3/3
f 2/2/2 4/4/4 3/3/3
f 5/5/5 6/6/6 7/7/7
f 6/6/6 8/8/8 7/7/7
f 9/9/9 10/10/10 11/11/11
f 10/10/10 12/12/12 11/11/11
f 13/13/13 14/14/14 15/15/15
f 14/14/14 16/16/16 15/15/15
f 17/17/17 18/18/18 19/19/19
f 18/18/18 20/20/20 19/19/19
f 21/21/21 22/22/22 23/23/23
f 22/22/22 24/24/24 23/23/23

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# Exported using automatic converter by Erwin Coumans
mtllib bedroom.mtl
#object Layer_fayan
v 150.229904 133.624893 9.700000
v 150.129898 133.624893 9.700000
v 150.229904 133.624893 15.000000
v 150.129898 133.624893 15.000000
v 150.129898 133.624893 15.000000
v 150.129898 133.624893 9.700000
v 150.129898 120.723099 15.000000
v 150.129898 120.723099 9.700000
v 150.129898 133.624893 9.700000
v 150.229904 133.624893 9.700000
v 150.129898 120.723099 9.700000
v 150.229904 120.623100 9.700000
v 142.429901 120.623100 9.700000
v 142.529907 120.723099 9.700000
v 137.729904 121.223099 9.700000
v 137.729904 121.323097 9.700000
v 142.429901 121.223099 9.700000
v 142.529907 121.323097 9.700000
v 150.229904 133.624893 15.000000
v 150.229904 120.623100 15.000000
v 150.229904 133.624893 9.700000
v 150.229904 120.623100 9.700000
v 150.129898 120.723099 15.000000
v 150.129898 120.723099 9.700000
v 142.529907 120.723099 15.000000
v 142.529907 120.723099 9.700000
v 142.529907 120.723099 15.000000
v 142.529907 120.723099 9.700000
v 142.529907 121.323097 15.000000
v 142.529907 121.323097 9.700000
v 142.429901 120.623100 9.700000
v 142.429901 120.623100 15.000000
v 142.429901 121.223099 9.700000
v 142.429901 121.223099 15.000000
v 150.229904 120.623100 15.000000
v 142.429901 120.623100 15.000000
v 150.229904 120.623100 9.700000
v 142.429901 120.623100 9.700000
v 137.729904 121.223099 15.000000
v 137.729904 121.223099 9.700000
v 142.429901 121.223099 15.000000
v 142.429901 121.223099 9.700000
v 150.129898 133.624893 15.000000
v 150.129898 120.723099 15.000000
v 150.229904 133.624893 15.000000
v 150.229904 120.623100 15.000000
v 142.529907 121.323097 15.000000
v 142.429901 121.223099 15.000000
v 142.529907 120.723099 15.000000
v 137.729904 121.323097 15.000000
v 137.729904 121.223099 15.000000
v 142.429901 120.623100 15.000000
v 142.529907 121.323097 9.700000
v 137.729904 121.323097 9.700000
v 142.529907 121.323097 15.000000
v 137.729904 121.323097 15.000000
v 137.729904 121.323097 15.000000
v 137.729904 121.323097 9.700000
v 137.729904 121.223099 15.000000
v 137.729904 121.223099 9.700000
v 150.229904 145.457794 15.000000
v 150.129898 145.457794 15.000000
v 150.229904 145.457794 9.700000
v 150.129898 145.457794 9.700000
v 150.129898 145.457794 15.000000
v 150.229904 145.457794 15.000000
v 150.129898 157.723099 15.000000
v 150.229904 157.823105 15.000000
v 149.129898 157.823105 15.000000
v 149.129898 158.923096 15.000000
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mtllib bedroom.mtl
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mtllib bedroom.mtl
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View File

@ -0,0 +1,246 @@
# Exported using automatic converter by Erwin Coumans
mtllib bedroom.mtl
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s off
f 1/1/1 2/2/2 3/3/3
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s off
f 1/1/1 2/2/2 3/3/3
f 3/3/3 4/4/4 1/1/1
f 5/5/5 1/1/1 4/4/4
f 4/4/4 6/6/6 5/5/5
f 7/7/7 5/5/5 6/6/6
f 6/6/6 8/8/8 7/7/7
f 9/9/9 7/7/7 8/8/8
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# Exported using automatic converter by Erwin Coumans
mtllib bedroom.mtl
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View File

@ -0,0 +1,296 @@
# Exported using automatic converter by Erwin Coumans
mtllib bedroom.mtl
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View File

@ -0,0 +1,580 @@
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mtllib bedroom.mtl
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View File

@ -0,0 +1,580 @@
# Exported using automatic converter by Erwin Coumans
mtllib bedroom.mtl
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# Exported using automatic converter by Erwin Coumans
mtllib bedroom.mtl
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s off
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