mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
442 lines
13 KiB
C++
442 lines
13 KiB
C++
/// 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 "Wavefront/tiny_obj_loader.h"
|
|
#include <vector>
|
|
#include "Bullet3Common/b3FileUtils.h"
|
|
#include "../Utils/b3ResourcePath.h"
|
|
#include "Bullet3Common/b3CommandLineArgs.h"
|
|
#include "Bullet3Common/b3HashMap.h"
|
|
#include "../Utils/b3BulletDefaultFileIO.h"
|
|
|
|
struct ShapeContainer
|
|
{
|
|
std::string m_matName;
|
|
std::string m_shapeName;
|
|
tinyobj::material_t material;
|
|
std::vector<float> positions;
|
|
std::vector<float> normals;
|
|
std::vector<float> texcoords;
|
|
std::vector<unsigned int> indices;
|
|
|
|
b3AlignedObjectArray<int> m_shapeIndices;
|
|
};
|
|
|
|
b3HashMap<b3HashString, ShapeContainer> gMaterialNames;
|
|
|
|
#define MAX_PATH_LEN 1024
|
|
|
|
std::string StripExtension(const std::string& sPath)
|
|
{
|
|
for (std::string::const_reverse_iterator i = sPath.rbegin(); i != sPath.rend(); i++)
|
|
{
|
|
if (*i == '.')
|
|
{
|
|
return std::string(sPath.begin(), i.base() - 1);
|
|
}
|
|
|
|
// if we find a slash there is no extension
|
|
if (*i == '\\' || *i == '/')
|
|
break;
|
|
}
|
|
|
|
// we didn't find an extension
|
|
return sPath;
|
|
}
|
|
|
|
int main(int argc, char* argv[])
|
|
{
|
|
b3CommandLineArgs args(argc, argv);
|
|
char* fileName;
|
|
args.GetCmdLineArgument("fileName", fileName);
|
|
if (fileName == 0)
|
|
{
|
|
printf("required --fileName=\"name\"");
|
|
exit(0);
|
|
}
|
|
std::string matLibName = StripExtension(fileName);
|
|
|
|
printf("fileName = %s\n", fileName);
|
|
if (fileName == 0)
|
|
{
|
|
printf("Please use --fileName=\"pathToObj\".");
|
|
exit(0);
|
|
}
|
|
bool mergeMaterials = args.CheckCmdLineFlag("mergeMaterials");
|
|
|
|
char fileNameWithPath[MAX_PATH_LEN];
|
|
bool fileFound = (b3ResourcePath::findResourcePath(fileName, fileNameWithPath, MAX_PATH_LEN,0)) > 0;
|
|
char materialPrefixPath[MAX_PATH_LEN];
|
|
b3FileUtils::extractPath(fileNameWithPath, materialPrefixPath, MAX_PATH_LEN);
|
|
|
|
std::vector<tinyobj::shape_t> shapes;
|
|
tinyobj::attrib_t attribute;
|
|
|
|
b3BulletDefaultFileIO fileIO;
|
|
std::string err = tinyobj::LoadObj(attribute, shapes, fileNameWithPath, materialPrefixPath,&fileIO);
|
|
|
|
char sdfFileName[MAX_PATH_LEN];
|
|
sprintf(sdfFileName, "%s%s.sdf", materialPrefixPath, "newsdf");
|
|
FILE* sdfFile = fopen(sdfFileName, "w");
|
|
if (sdfFile == 0)
|
|
{
|
|
printf("Fatal error: 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];
|
|
tinyobj::material_t mat = shape.material;
|
|
|
|
b3HashString key = mat.name.length() ? mat.name.c_str() : "";
|
|
if (!gMaterialNames.find(key))
|
|
{
|
|
ShapeContainer container;
|
|
container.m_matName = mat.name;
|
|
container.m_shapeName = shape.name;
|
|
container.material = mat;
|
|
gMaterialNames.insert(key, container);
|
|
}
|
|
|
|
ShapeContainer* shapeC = gMaterialNames.find(key);
|
|
if (shapeC)
|
|
{
|
|
shapeC->m_shapeIndices.push_back(s);
|
|
|
|
int curPositions = shapeC->positions.size() / 3;
|
|
int curNormals = shapeC->normals.size() / 3;
|
|
int curTexcoords = shapeC->texcoords.size() / 2;
|
|
|
|
int faceCount = shape.mesh.indices.size();
|
|
int vertexCount = attribute.vertices.size();
|
|
for (int v = 0; v < vertexCount; v++)
|
|
{
|
|
shapeC->positions.push_back(attribute.vertices[v]);
|
|
}
|
|
int numNormals = int(attribute.normals.size());
|
|
for (int vn = 0; vn < numNormals; vn++)
|
|
{
|
|
shapeC->normals.push_back(attribute.normals[vn]);
|
|
}
|
|
int numTexCoords = int(attribute.texcoords.size());
|
|
for (int vt = 0; vt < numTexCoords; vt++)
|
|
{
|
|
shapeC->texcoords.push_back(attribute.texcoords[vt]);
|
|
}
|
|
|
|
for (int face = 0; face < faceCount; face += 3)
|
|
{
|
|
if (face < 0 && face >= int(shape.mesh.indices.size()))
|
|
{
|
|
continue;
|
|
}
|
|
|
|
shapeC->indices.push_back(shape.mesh.indices[face].vertex_index + curPositions);
|
|
shapeC->indices.push_back(shape.mesh.indices[face + 1].vertex_index + curPositions);
|
|
shapeC->indices.push_back(shape.mesh.indices[face + 2].vertex_index + curPositions);
|
|
}
|
|
}
|
|
}
|
|
|
|
printf("unique materials=%d\n", gMaterialNames.size());
|
|
|
|
if (mergeMaterials)
|
|
{
|
|
for (int m = 0; m < gMaterialNames.size(); m++)
|
|
{
|
|
if (gMaterialNames.getAtIndex(m)->m_shapeIndices.size() == 0)
|
|
continue;
|
|
|
|
ShapeContainer* shapeCon = gMaterialNames.getAtIndex(m);
|
|
|
|
printf("object name = %s\n", shapeCon->m_shapeName.c_str());
|
|
|
|
char objSdfPartFileName[MAX_PATH_LEN];
|
|
sprintf(objSdfPartFileName, "part%d.obj", m);
|
|
|
|
char objFileName[MAX_PATH_LEN];
|
|
if (strlen(materialPrefixPath) > 0)
|
|
{
|
|
sprintf(objFileName, "%s/part%d.obj", materialPrefixPath, m);
|
|
}
|
|
else
|
|
{
|
|
sprintf(objFileName, "part%d.obj", m);
|
|
}
|
|
|
|
FILE* f = fopen(objFileName, "w");
|
|
if (f == 0)
|
|
{
|
|
printf("Fatal error: cannot create part obj file %s\n", objFileName);
|
|
exit(0);
|
|
}
|
|
fprintf(f, "# Exported using automatic converter by Erwin Coumans\n");
|
|
if (matLibName.length())
|
|
{
|
|
fprintf(f, "mtllib %s.mtl\n", matLibName.c_str());
|
|
}
|
|
else
|
|
{
|
|
fprintf(f, "mtllib bedroom.mtl\n");
|
|
}
|
|
|
|
int faceCount = shapeCon->indices.size();
|
|
int vertexCount = shapeCon->positions.size();
|
|
tinyobj::material_t mat = shapeCon->material;
|
|
if (shapeCon->m_matName.length())
|
|
{
|
|
const char* objName = shapeCon->m_matName.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", shapeCon->positions[v * 3 + 0], shapeCon->positions[v * 3 + 1], shapeCon->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");
|
|
int numNormals = int(shapeCon->normals.size());
|
|
|
|
for (int vn = 0; vn < numNormals / 3; vn++)
|
|
{
|
|
fprintf(f, "vn %f %f %f\n", shapeCon->normals[vn * 3 + 0], shapeCon->normals[vn * 3 + 1], shapeCon->normals[vn * 3 + 2]);
|
|
}
|
|
|
|
fprintf(f, "\n");
|
|
int numTexCoords = int(shapeCon->texcoords.size());
|
|
for (int vt = 0; vt < numTexCoords / 2; vt++)
|
|
{
|
|
fprintf(f, "vt %f %f\n", shapeCon->texcoords[vt * 2 + 0], shapeCon->texcoords[vt * 2 + 1]);
|
|
}
|
|
|
|
fprintf(f, "s off\n");
|
|
|
|
for (int face = 0; face < faceCount; face += 3)
|
|
{
|
|
if (face < 0 && face >= int(shapeCon->indices.size()))
|
|
{
|
|
continue;
|
|
}
|
|
fprintf(f, "f %d/%d/%d %d/%d/%d %d/%d/%d\n",
|
|
shapeCon->indices[face] + 1, shapeCon->indices[face] + 1, shapeCon->indices[face] + 1,
|
|
shapeCon->indices[face + 1] + 1, shapeCon->indices[face + 1] + 1, shapeCon->indices[face + 1] + 1,
|
|
shapeCon->indices[face + 2] + 1, shapeCon->indices[face + 2] + 1, shapeCon->indices[face + 2] + 1);
|
|
}
|
|
fclose(f);
|
|
|
|
float kdRed = mat.diffuse[0];
|
|
float kdGreen = mat.diffuse[1];
|
|
float kdBlue = mat.diffuse[2];
|
|
float transparency = mat.transparency;
|
|
|
|
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 concave='yes' 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 %f</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, m, m,
|
|
objSdfPartFileName, objSdfPartFileName,
|
|
kdRed, kdGreen, kdBlue, transparency);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
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];
|
|
if (strlen(materialPrefixPath) > 0)
|
|
{
|
|
sprintf(objFileName, "%s/part%d.obj", materialPrefixPath, s);
|
|
}
|
|
else
|
|
{
|
|
sprintf(objFileName, "part%d.obj", s);
|
|
}
|
|
FILE* f = fopen(objFileName, "w");
|
|
if (f == 0)
|
|
{
|
|
printf("Fatal error: cannot create part obj file %s\n", objFileName);
|
|
exit(0);
|
|
}
|
|
fprintf(f, "# Exported using automatic converter by Erwin Coumans\n");
|
|
if (matLibName.length())
|
|
{
|
|
fprintf(f, "mtllib %s.mtl\n", matLibName.c_str());
|
|
}
|
|
else
|
|
{
|
|
fprintf(f, "mtllib bedroom.mtl\n");
|
|
}
|
|
|
|
int faceCount = shape.mesh.indices.size();
|
|
int vertexCount = attribute.vertices.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", attribute.vertices[v * 3 + 0], attribute.vertices[v * 3 + 1], attribute.vertices[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");
|
|
int numNormals = int(attribute.normals.size());
|
|
|
|
for (int vn = 0; vn < numNormals / 3; vn++)
|
|
{
|
|
fprintf(f, "vn %f %f %f\n", attribute.normals[vn * 3 + 0], attribute.normals[vn * 3 + 1], attribute.normals[vn * 3 + 2]);
|
|
}
|
|
|
|
fprintf(f, "\n");
|
|
int numTexCoords = int(attribute.texcoords.size());
|
|
for (int vt = 0; vt < numTexCoords / 2; vt++)
|
|
{
|
|
fprintf(f, "vt %f %f\n", attribute.texcoords[vt * 2 + 0], attribute.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].vertex_index + 1, shape.mesh.indices[face].texcoord_index + 1, shape.mesh.indices[face].normal_index + 1,
|
|
shape.mesh.indices[face + 1].vertex_index + 1, shape.mesh.indices[face + 1].texcoord_index + 1, shape.mesh.indices[face + 1].normal_index + 1,
|
|
shape.mesh.indices[face + 2].vertex_index + 1, shape.mesh.indices[face + 2].texcoord_index + 1, shape.mesh.indices[face + 2].normal_index + 1);
|
|
}
|
|
fclose(f);
|
|
|
|
float kdRed = mat.diffuse[0];
|
|
float kdGreen = mat.diffuse[1];
|
|
float kdBlue = mat.diffuse[2];
|
|
float transparency = mat.transparency;
|
|
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 %f</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, transparency);
|
|
}
|
|
}
|
|
fprintf(sdfFile, "\t</world>\n</sdf>\n");
|
|
|
|
fclose(sdfFile);
|
|
|
|
return 0;
|
|
}
|