mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-07 08:10:08 +00:00
4db6fa9e29
added test urdf files for minitaur with all fixed joints, or fixed knees. added some stiffness/damping to minitaur legs (testing) tiny_obj_loader, don't crash on invalid texture coordinates btMultiBodyConstraintSolver: sweep back and forward to reduce asymmetry
742 lines
17 KiB
C++
742 lines
17 KiB
C++
//
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// Copyright 2012-2013, Syoyo Fujita.
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//
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// Licensed under 2-clause BSD liecense.
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//
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// Erwin Coumans: improved performance, especially in debug mode on Visual Studio (25sec -> 4sec)
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//
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// version 0.9.5: Parse multiple group name.
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// Add support of specifying the base path to load material file.
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// version 0.9.4: Initial suupport of group tag(g)
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// version 0.9.3: Fix parsing triple 'x/y/z'
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// version 0.9.2: Add more .mtl load support
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// version 0.9.1: Add initial .mtl load support
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// version 0.9.0: Initial
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//
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#include <cstdlib>
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#include <cstring>
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#include <cassert>
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#include <string>
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#include <vector>
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#include <map>
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#include <fstream>
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#include <sstream>
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#include "tiny_obj_loader.h"
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namespace tinyobj {
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//See http://stackoverflow.com/questions/6089231/getting-std-ifstream-to-handle-lf-cr-and-crlf
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std::istream& safeGetline(std::istream& is, std::string& t)
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{
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t.clear();
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// The characters in the stream are read one-by-one using a std::streambuf.
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// That is faster than reading them one-by-one using the std::istream.
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// Code that uses streambuf this way must be guarded by a sentry object.
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// The sentry object performs various tasks,
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// such as thread synchronization and updating the stream state.
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std::istream::sentry se(is, true);
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std::streambuf* sb = is.rdbuf();
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for(;;) {
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int c = sb->sbumpc();
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switch (c) {
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case '\n':
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return is;
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case '\r':
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if(sb->sgetc() == '\n')
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sb->sbumpc();
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return is;
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case EOF:
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// Also handle the case when the last line has no line ending
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if(t.empty())
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is.setstate(std::ios::eofbit);
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return is;
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default:
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t += (char)c;
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}
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}
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}
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struct vertex_index {
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int v_idx, vt_idx, vn_idx, dummy;
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};
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struct MyIndices
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{
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int m_offset;
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int m_numIndices;
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};
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// for std::map
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static inline bool operator<(const vertex_index& a, const vertex_index& b)
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{
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if (a.v_idx != b.v_idx) return (a.v_idx < b.v_idx);
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if (a.vn_idx != b.vn_idx) return (a.vn_idx < b.vn_idx);
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if (a.vt_idx != b.vt_idx) return (a.vt_idx < b.vt_idx);
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return false;
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}
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static inline bool isSpace(const char c) {
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return (c == ' ') || (c == '\t');
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}
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static inline bool isNewLine(const char c) {
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return (c == '\r') || (c == '\n') || (c == '\0');
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}
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// Make index zero-base, and also support relative index.
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static inline int fixIndex(int idx, int n)
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{
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int i;
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if (idx > 0) {
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i = idx - 1;
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} else if (idx == 0) {
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i = 0;
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} else { // negative value = relative
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i = n + idx;
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}
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return i;
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}
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static inline std::string parseString(const char*& token)
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{
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std::string s;
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int b = strspn(token, " \t");
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int e = strcspn(token, " \t\r");
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s = std::string(&token[b], &token[e]);
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token += (e - b);
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return s;
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}
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static inline float parseFloat(const char*& token)
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{
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token += strspn(token, " \t");
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float f = (float)atof(token);
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token += strcspn(token, " \t\r");
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return f;
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}
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static inline void parseFloat2(
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float& x, float& y,
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const char*& token)
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{
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x = parseFloat(token);
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y = parseFloat(token);
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}
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static inline void parseFloat3(
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float& x, float& y, float& z,
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const char*& token)
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{
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x = parseFloat(token);
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y = parseFloat(token);
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z = parseFloat(token);
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}
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// Parse triples: i, i/j/k, i//k, i/j
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static vertex_index parseTriple(
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const char* &token,
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int vsize,
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int vnsize,
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int vtsize)
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{
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vertex_index vi;
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vi.vn_idx = -1;
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vi.vt_idx = -1;
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vi.v_idx= -1;
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vi.v_idx = fixIndex(atoi(token), vsize);
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token += strcspn(token, "/ \t\r");
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if (token[0] != '/') {
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return vi;
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}
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token++;
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// i//k
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if (token[0] == '/') {
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token++;
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vi.vn_idx = fixIndex(atoi(token), vnsize);
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token += strcspn(token, "/ \t\r");
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return vi;
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}
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// i/j/k or i/j
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vi.vt_idx = fixIndex(atoi(token), vtsize);
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token += strcspn(token, "/ \t\r");
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if (token[0] != '/') {
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return vi;
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}
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// i/j/k
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token++; // skip '/'
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vi.vn_idx = fixIndex(atoi(token), vnsize);
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token += strcspn(token, "/ \t\r");
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return vi;
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}
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static unsigned int
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updateVertex(
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std::map<vertex_index, unsigned int>& vertexCache,
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std::vector<float>& positions,
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std::vector<float>& normals,
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std::vector<float>& texcoords,
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const std::vector<float>& in_positions,
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const std::vector<float>& in_normals,
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const std::vector<float>& in_texcoords,
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const vertex_index& i)
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{
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const std::map<vertex_index, unsigned int>::iterator it = vertexCache.find(i);
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if (it != vertexCache.end()) {
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// found cache
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return it->second;
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}
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assert(static_cast<int>(in_positions.size()) > (3*i.v_idx+2));
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positions.push_back(in_positions[3*i.v_idx+0]);
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positions.push_back(in_positions[3*i.v_idx+1]);
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positions.push_back(in_positions[3*i.v_idx+2]);
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if (i.vn_idx >= 0 && ((3*i.vn_idx+2)<in_normals.size())) {
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normals.push_back(in_normals[3*i.vn_idx+0]);
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normals.push_back(in_normals[3*i.vn_idx+1]);
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normals.push_back(in_normals[3*i.vn_idx+2]);
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}
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if (i.vt_idx >= 0) {
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int numTexCoords = in_texcoords.size();
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int index0 = 2*i.vt_idx+0;
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int index1 = 2*i.vt_idx+1;
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if (index0>=0 && (index0)<numTexCoords)
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{
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texcoords.push_back(in_texcoords[index0]);
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}
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if (index1>=0 && (index1)<numTexCoords)
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{
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texcoords.push_back(in_texcoords[index1]);
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}
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}
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unsigned int idx = positions.size() / 3 - 1;
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vertexCache[i] = idx;
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return idx;
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}
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static bool
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exportFaceGroupToShape(
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shape_t& shape,
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const std::vector<float>& in_positions,
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const std::vector<float>& in_normals,
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const std::vector<float>& in_texcoords,
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const std::vector<MyIndices >& faceGroup,
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const material_t material,
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const std::string name,
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std::vector<vertex_index>& allIndices
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)
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{
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if (faceGroup.empty()) {
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return false;
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}
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// Flattened version of vertex data
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std::vector<float> positions;
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std::vector<float> normals;
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std::vector<float> texcoords;
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std::map<vertex_index, unsigned int> vertexCache;
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std::vector<unsigned int> indices;
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// Flatten vertices and indices
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for (size_t i = 0; i < faceGroup.size(); i++)
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{
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const MyIndices& face = faceGroup[i];
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vertex_index i0 = allIndices[face.m_offset];
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vertex_index i1;
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i1.vn_idx = -1;
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i1.vt_idx = -1;
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i1.v_idx= -1;
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vertex_index i2 = allIndices[face.m_offset+1];
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size_t npolys = face.m_numIndices;//.size();
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{
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// Polygon -> triangle fan conversion
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for (size_t k = 2; k < npolys; k++)
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{
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i1 = i2;
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i2 = allIndices[face.m_offset+k];
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unsigned int v0 = updateVertex(vertexCache, positions, normals, texcoords, in_positions, in_normals, in_texcoords, i0);
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unsigned int v1 = updateVertex(vertexCache, positions, normals, texcoords, in_positions, in_normals, in_texcoords, i1);
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unsigned int v2 = updateVertex(vertexCache, positions, normals, texcoords, in_positions, in_normals, in_texcoords, i2);
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indices.push_back(v0);
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indices.push_back(v1);
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indices.push_back(v2);
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}
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}
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}
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//
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// Construct shape.
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//
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shape.name = name;
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shape.mesh.positions.swap(positions);
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shape.mesh.normals.swap(normals);
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shape.mesh.texcoords.swap(texcoords);
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shape.mesh.indices.swap(indices);
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shape.material = material;
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return true;
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}
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void InitMaterial(material_t& material) {
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material.name = "";
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material.ambient_texname = "";
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material.diffuse_texname = "";
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material.specular_texname = "";
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material.normal_texname = "";
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for (int i = 0; i < 3; i ++) {
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material.ambient[i] = 0.f;
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material.diffuse[i] = 0.f;
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material.specular[i] = 0.f;
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material.transmittance[i] = 0.f;
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material.emission[i] = 0.f;
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}
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material.shininess = 1.f;
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}
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std::string LoadMtl (
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std::map<std::string, material_t>& material_map,
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const char* filename,
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const char* mtl_basepath)
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{
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material_map.clear();
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std::stringstream err;
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std::string filepath;
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if (mtl_basepath) {
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filepath = std::string(mtl_basepath) + std::string(filename);
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} else {
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filepath = std::string(filename);
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}
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std::ifstream ifs(filepath.c_str());
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if (!ifs) {
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err << "Cannot open file [" << filepath << "]" << std::endl;
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return err.str();
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}
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material_t material;
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int maxchars = 8192; // Alloc enough size.
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std::vector<char> buf(maxchars); // Alloc enough size.
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while (ifs.peek() != -1) {
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std::string linebuf;
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safeGetline(ifs,linebuf);
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// Trim newline '\r\n' or '\r'
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if (linebuf.size() > 0) {
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if (linebuf[linebuf.size()-1] == '\n') linebuf.erase(linebuf.size()-1);
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}
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if (linebuf.size() > 0) {
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if (linebuf[linebuf.size()-1] == '\n') linebuf.erase(linebuf.size()-1);
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}
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// Skip if empty line.
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if (linebuf.empty()) {
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continue;
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}
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linebuf = linebuf.substr(0, linebuf.find_last_not_of(" \t") + 1);
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// Skip leading space.
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const char* token = linebuf.c_str();
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token += strspn(token, " \t");
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assert(token);
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if (token[0] == '\0') continue; // empty line
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if (token[0] == '#') continue; // comment line
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// new mtl
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if ((0 == strncmp(token, "newmtl", 6)) && isSpace((token[6]))) {
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// flush previous material.
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material_map.insert(std::pair<std::string, material_t>(material.name, material));
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// initial temporary material
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InitMaterial(material);
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// set new mtl name
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char namebuf[4096];
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token += 7;
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sscanf(token, "%s", namebuf);
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material.name = namebuf;
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continue;
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}
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// ambient
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if (token[0] == 'K' && token[1] == 'a' && isSpace((token[2]))) {
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token += 2;
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float r, g, b;
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parseFloat3(r, g, b, token);
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material.ambient[0] = r;
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material.ambient[1] = g;
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material.ambient[2] = b;
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continue;
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}
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// diffuse
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if (token[0] == 'K' && token[1] == 'd' && isSpace((token[2]))) {
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token += 2;
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float r, g, b;
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parseFloat3(r, g, b, token);
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material.diffuse[0] = r;
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material.diffuse[1] = g;
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material.diffuse[2] = b;
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continue;
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}
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// specular
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if (token[0] == 'K' && token[1] == 's' && isSpace((token[2]))) {
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token += 2;
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float r, g, b;
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parseFloat3(r, g, b, token);
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material.specular[0] = r;
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material.specular[1] = g;
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material.specular[2] = b;
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continue;
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}
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// specular
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if (token[0] == 'K' && token[1] == 't' && isSpace((token[2]))) {
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token += 2;
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float r, g, b;
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parseFloat3(r, g, b, token);
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material.specular[0] = r;
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material.specular[1] = g;
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material.specular[2] = b;
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continue;
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}
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// emission
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if(token[0] == 'K' && token[1] == 'e' && isSpace(token[2])) {
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token += 2;
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float r, g, b;
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parseFloat3(r, g, b, token);
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material.emission[0] = r;
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material.emission[1] = g;
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material.emission[2] = b;
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continue;
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}
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// shininess
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if(token[0] == 'N' && token[1] == 's' && isSpace(token[2])) {
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token += 2;
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material.shininess = parseFloat(token);
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continue;
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}
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// ambient texture
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if ((0 == strncmp(token, "map_Ka", 6)) && isSpace(token[6])) {
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token += 7;
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material.ambient_texname = token;
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continue;
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}
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// diffuse texture
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if ((0 == strncmp(token, "map_Kd", 6)) && isSpace(token[6])) {
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token += 7;
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material.diffuse_texname = token;
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continue;
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}
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// specular texture
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if ((0 == strncmp(token, "map_Ks", 6)) && isSpace(token[6])) {
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token += 7;
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material.specular_texname = token;
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continue;
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}
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// normal texture
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if ((0 == strncmp(token, "map_Ns", 6)) && isSpace(token[6])) {
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token += 7;
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material.normal_texname = token;
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continue;
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}
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// unknown parameter
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const char* _space = strchr(token, ' ');
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if(!_space) {
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_space = strchr(token, '\t');
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}
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if(_space) {
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int len = _space - token;
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std::string key(token, len);
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std::string value = _space + 1;
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material.unknown_parameter.insert(std::pair<std::string, std::string>(key, value));
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}
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}
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// flush last material.
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material_map.insert(std::pair<std::string, material_t>(material.name, material));
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return err.str();
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}
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std::string
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LoadObj(
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std::vector<shape_t>& shapes,
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const char* filename,
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const char* mtl_basepath)
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{
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std::string tmp = filename;
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if (!mtl_basepath) {
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int last_slash = 0;
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for (int c=0; c<(int)tmp.size(); ++c)
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if (tmp[c]=='/' || tmp[c]=='\\')
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last_slash = c;
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tmp = tmp.substr(0, last_slash);
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mtl_basepath = tmp.c_str();
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//fprintf(stderr, "MTL PATH '%s' orig '%s'\n", mtl_basepath, filename);
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}
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shapes.resize(0);
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std::vector<vertex_index> allIndices;
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allIndices.reserve(1024*1024);
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MyIndices face;
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std::stringstream err;
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std::ifstream ifs(filename);
|
|
if (!ifs) {
|
|
err << "Cannot open file [" << filename << "]" << std::endl;
|
|
return err.str();
|
|
}
|
|
|
|
std::vector<float> v;
|
|
v.reserve(1024*1024);
|
|
std::vector<float> vn;
|
|
vn.reserve(1024*1024);
|
|
std::vector<float> vt;
|
|
vt.reserve(1024*1024);
|
|
//std::vector<std::vector<vertex_index> > faceGroup;
|
|
std::vector<MyIndices> faceGroup;
|
|
faceGroup.reserve(1024*1024);
|
|
std::string name;
|
|
|
|
// material
|
|
std::map<std::string, material_t> material_map;
|
|
material_t material;
|
|
InitMaterial(material);
|
|
|
|
int maxchars = 8192; // Alloc enough size.
|
|
std::vector<char> buf(maxchars); // Alloc enough size.
|
|
while (ifs.peek() != -1) {
|
|
|
|
std::string linebuf;
|
|
safeGetline(ifs,linebuf);
|
|
|
|
// Trim newline '\r\n' or '\r'
|
|
if (linebuf.size() > 0) {
|
|
if (linebuf[linebuf.size()-1] == '\n') linebuf.erase(linebuf.size()-1);
|
|
}
|
|
if (linebuf.size() > 0) {
|
|
if (linebuf[linebuf.size()-1] == '\n') linebuf.erase(linebuf.size()-1);
|
|
}
|
|
|
|
// Skip if empty line.
|
|
if (linebuf.empty()) {
|
|
continue;
|
|
}
|
|
|
|
// Skip leading space.
|
|
const char* token = linebuf.c_str();
|
|
token += strspn(token, " \t");
|
|
|
|
assert(token);
|
|
if (token[0] == '\0') continue; // empty line
|
|
|
|
if (token[0] == '#') continue; // comment line
|
|
|
|
// vertex
|
|
if (token[0] == 'v' && isSpace((token[1]))) {
|
|
token += 2;
|
|
float x, y, z;
|
|
parseFloat3(x, y, z, token);
|
|
v.push_back(x);
|
|
v.push_back(y);
|
|
v.push_back(z);
|
|
continue;
|
|
}
|
|
|
|
// normal
|
|
if (token[0] == 'v' && token[1] == 'n' && isSpace((token[2]))) {
|
|
token += 3;
|
|
float x, y, z;
|
|
parseFloat3(x, y, z, token);
|
|
vn.push_back(x);
|
|
vn.push_back(y);
|
|
vn.push_back(z);
|
|
continue;
|
|
}
|
|
|
|
// texcoord
|
|
if (token[0] == 'v' && token[1] == 't' && isSpace((token[2]))) {
|
|
token += 3;
|
|
float x, y;
|
|
parseFloat2(x, y, token);
|
|
vt.push_back(x);
|
|
vt.push_back(y);
|
|
continue;
|
|
}
|
|
|
|
// face
|
|
if (token[0] == 'f' && isSpace((token[1]))) {
|
|
token += 2;
|
|
token += strspn(token, " \t");
|
|
|
|
face.m_offset = allIndices.size();
|
|
face.m_numIndices = 0;
|
|
|
|
while (!isNewLine(token[0])) {
|
|
vertex_index vi = parseTriple(token, v.size() / 3, vn.size() / 3, vt.size() / 2);
|
|
allIndices.push_back(vi);
|
|
face.m_numIndices++;
|
|
int n = strspn(token, " \t\r");
|
|
token += n;
|
|
}
|
|
|
|
faceGroup.push_back(face);
|
|
|
|
continue;
|
|
}
|
|
|
|
// use mtl
|
|
if ((0 == strncmp(token, "usemtl", 6)) && isSpace((token[6]))) {
|
|
|
|
char namebuf[4096];
|
|
token += 7;
|
|
sscanf(token, "%s", namebuf);
|
|
|
|
if (material_map.find(namebuf) != material_map.end()) {
|
|
material = material_map[namebuf];
|
|
} else {
|
|
// { error!! material not found }
|
|
InitMaterial(material);
|
|
}
|
|
continue;
|
|
|
|
}
|
|
|
|
// load mtl
|
|
if ((0 == strncmp(token, "mtllib", 6)) && isSpace((token[6]))) {
|
|
char namebuf[4096];
|
|
token += 7;
|
|
sscanf(token, "%s", namebuf);
|
|
|
|
std::string err_mtl = LoadMtl(material_map, namebuf, mtl_basepath);
|
|
if (!err_mtl.empty()) {
|
|
//faceGroup.resize(0); // for safety
|
|
//return err_mtl;
|
|
}
|
|
continue;
|
|
}
|
|
|
|
// group name
|
|
if (token[0] == 'g' && isSpace((token[1]))) {
|
|
|
|
// flush previous face group.
|
|
shape_t shape;
|
|
bool ret = exportFaceGroupToShape(shape, v, vn, vt, faceGroup, material, name,allIndices);
|
|
if (ret) {
|
|
shapes.push_back(shape);
|
|
}
|
|
|
|
faceGroup.resize(0);
|
|
|
|
std::vector<std::string> names;
|
|
while (!isNewLine(token[0])) {
|
|
std::string str = parseString(token);
|
|
names.push_back(str);
|
|
token += strspn(token, " \t\r"); // skip tag
|
|
}
|
|
|
|
assert(names.size() > 0);
|
|
|
|
// names[0] must be 'g', so skipt 0th element.
|
|
if (names.size() > 1) {
|
|
name = names[1];
|
|
} else {
|
|
name = "";
|
|
}
|
|
|
|
continue;
|
|
}
|
|
|
|
// object name
|
|
if (token[0] == 'o' && isSpace((token[1]))) {
|
|
|
|
// flush previous face group.
|
|
shape_t shape;
|
|
bool ret = exportFaceGroupToShape(shape, v, vn, vt, faceGroup, material, name,allIndices);
|
|
if (ret) {
|
|
shapes.push_back(shape);
|
|
}
|
|
|
|
faceGroup.resize(0);
|
|
|
|
// @todo { multiple object name? }
|
|
char namebuf[4096];
|
|
token += 2;
|
|
sscanf(token, "%s", namebuf);
|
|
name = std::string(namebuf);
|
|
|
|
|
|
continue;
|
|
}
|
|
|
|
// Ignore unknown command.
|
|
}
|
|
|
|
shape_t shape;
|
|
bool ret = exportFaceGroupToShape(shape, v, vn, vt, faceGroup, material, name,allIndices);
|
|
if (ret) {
|
|
shapes.push_back(shape);
|
|
}
|
|
faceGroup.resize(0); // for safety
|
|
|
|
return err.str();
|
|
}
|
|
|
|
|
|
};
|