mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 05:10:08 +00:00
462 lines
14 KiB
C++
462 lines
14 KiB
C++
/// obj2sdf will load a Wavefront .obj file that may contain many parts/materials
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/// it will split into separate obj files for each part/material and
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/// create an sdf file with visuals/collisions pointing to the new obj files
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/// this will make it easier to load complex obj files into pybullet
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/// see for example export in data/kitchens/fathirmutfak.sdf
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///Bullet Continuous Collision Detection and Physics Library
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///Erwin Coumans (C) 2018
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///http://bulletphysics.org
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///
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///This software is provided 'as-is', without any express or implied warranty.
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///In no event will the authors be held liable for any damages arising from the use of this software.
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///Permission is granted to anyone to use this software for any purpose,
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///including commercial applications, and to alter it and redistribute it freely,
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///subject to the following restrictions:
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///
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///1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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///2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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///3. This notice may not be removed or altered from any source distribution.
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#include <string.h>
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#include <stdio.h>
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#include <assert.h>
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#define ASSERT_EQ(a, b) assert((a) == (b));
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#include "Wavefront/tiny_obj_loader.h"
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#include <vector>
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#include "Bullet3Common/b3FileUtils.h"
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#include "../Utils/b3ResourcePath.h"
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#include "Bullet3Common/b3CommandLineArgs.h"
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#include "Bullet3Common/b3HashMap.h"
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#include "../Utils/b3BulletDefaultFileIO.h"
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using tinyobj::index_t;
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struct ShapeContainer
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{
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std::string m_matName;
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std::string m_shapeName;
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tinyobj::material_t material;
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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::vector<index_t> indices;
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b3AlignedObjectArray<int> m_shapeIndices;
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};
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b3HashMap<b3HashString, ShapeContainer> gMaterialNames;
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#define MAX_PATH_LEN 1024
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std::string StripExtension(const std::string& sPath)
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{
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for (std::string::const_reverse_iterator i = sPath.rbegin(); i != sPath.rend(); i++)
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{
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if (*i == '.')
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{
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return std::string(sPath.begin(), i.base() - 1);
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}
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// if we find a slash there is no extension
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if (*i == '\\' || *i == '/')
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break;
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}
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// we didn't find an extension
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return sPath;
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}
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int main(int argc, char* argv[])
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{
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b3CommandLineArgs args(argc, argv);
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char* fileName;
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args.GetCmdLineArgument("fileName", fileName);
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if (fileName == 0)
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{
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printf("required --fileName=\"name\"");
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exit(0);
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}
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std::string matLibName = StripExtension(fileName);
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printf("fileName = %s\n", fileName);
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if (fileName == 0)
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{
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printf("Please use --fileName=\"pathToObj\".");
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exit(0);
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}
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bool mergeMaterials = args.CheckCmdLineFlag("mergeMaterials");
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char fileNameWithPath[MAX_PATH_LEN];
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bool fileFound = (b3ResourcePath::findResourcePath(fileName, fileNameWithPath, MAX_PATH_LEN,0)) > 0;
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char materialPrefixPath[MAX_PATH_LEN];
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b3FileUtils::extractPath(fileNameWithPath, materialPrefixPath, MAX_PATH_LEN);
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std::vector<tinyobj::shape_t> shapes;
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tinyobj::attrib_t attribute;
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b3BulletDefaultFileIO fileIO;
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std::string err = tinyobj::LoadObj(attribute, shapes, fileNameWithPath, materialPrefixPath,&fileIO);
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char sdfFileName[MAX_PATH_LEN];
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sprintf(sdfFileName, "%s%s.sdf", materialPrefixPath, "newsdf");
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FILE* sdfFile = fopen(sdfFileName, "w");
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if (sdfFile == 0)
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{
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printf("Fatal error: cannot create sdf file %s\n", sdfFileName);
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exit(0);
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}
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fprintf(sdfFile, "<sdf version='1.6'>\n\t<world name='default'>\n\t<gravity>0 0 -9.8</gravity>\n");
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for (int s = 0; s < (int)shapes.size(); s++)
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{
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tinyobj::shape_t& shape = shapes[s];
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tinyobj::material_t mat = shape.material;
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b3HashString key = mat.name.length() ? mat.name.c_str() : "";
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if (!gMaterialNames.find(key))
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{
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ShapeContainer container;
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container.m_matName = mat.name;
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container.m_shapeName = shape.name;
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container.material = mat;
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gMaterialNames.insert(key, container);
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}
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ShapeContainer* shapeC = gMaterialNames.find(key);
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if (shapeC)
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{
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shapeC->m_shapeIndices.push_back(s);
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int curPositions = shapeC->positions.size() / 3;
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int curNormals = shapeC->normals.size() / 3;
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int curTexcoords = shapeC->texcoords.size() / 2;
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int faceCount = shape.mesh.indices.size();
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int vertexCount = attribute.vertices.size();
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for (int v = 0; v < vertexCount; v++)
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{
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shapeC->positions.push_back(attribute.vertices[v]);
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}
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int numNormals = int(attribute.normals.size());
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for (int vn = 0; vn < numNormals; vn++)
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{
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shapeC->normals.push_back(attribute.normals[vn]);
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}
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int numTexCoords = int(attribute.texcoords.size());
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for (int vt = 0; vt < numTexCoords; vt++)
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{
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shapeC->texcoords.push_back(attribute.texcoords[vt]);
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}
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for (int face = 0; face < faceCount; face += 3)
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{
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if (face < 0 && face >= int(shape.mesh.indices.size()))
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{
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continue;
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}
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index_t index;
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for (int ii = 0; ii < 3; ii++)
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{
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index.vertex_index = shape.mesh.indices[face + ii].vertex_index + curPositions;
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index.normal_index = shape.mesh.indices[face + ii].normal_index + curNormals;
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index.texcoord_index = shape.mesh.indices[face + ii].texcoord_index + curTexcoords;
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shapeC->indices.push_back(index);
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}
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}
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}
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}
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printf("unique materials=%d\n", gMaterialNames.size());
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if (mergeMaterials)
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{
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for (int m = 0; m < gMaterialNames.size(); m++)
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{
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if (gMaterialNames.getAtIndex(m)->m_shapeIndices.size() == 0)
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continue;
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ShapeContainer* shapeCon = gMaterialNames.getAtIndex(m);
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printf("object name = %s\n", shapeCon->m_shapeName.c_str());
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char objSdfPartFileName[MAX_PATH_LEN];
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sprintf(objSdfPartFileName, "part%d.obj", m);
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char objFileName[MAX_PATH_LEN];
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if (strlen(materialPrefixPath) > 0)
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{
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sprintf(objFileName, "%s/part%d.obj", materialPrefixPath, m);
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}
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else
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{
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sprintf(objFileName, "part%d.obj", m);
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}
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FILE* f = fopen(objFileName, "w");
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if (f == 0)
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{
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printf("Fatal error: cannot create part obj file %s\n", objFileName);
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exit(0);
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}
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fprintf(f, "# Exported using automatic converter by Erwin Coumans\n");
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if (matLibName.length())
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{
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fprintf(f, "mtllib %s.mtl\n", matLibName.c_str());
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}
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else
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{
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fprintf(f, "mtllib bedroom.mtl\n");
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}
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int faceCount = shapeCon->indices.size();
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int vertexCount = shapeCon->positions.size();
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tinyobj::material_t mat = shapeCon->material;
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if (shapeCon->m_matName.length())
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{
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const char* objName = shapeCon->m_matName.c_str();
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printf("mat.name = %s\n", objName);
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fprintf(f, "#object %s\n\n", objName);
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}
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for (int v = 0; v < vertexCount / 3; v++)
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{
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fprintf(f, "v %f %f %f\n", shapeCon->positions[v * 3 + 0], shapeCon->positions[v * 3 + 1], shapeCon->positions[v * 3 + 2]);
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}
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if (mat.name.length())
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{
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fprintf(f, "usemtl %s\n", mat.name.c_str());
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}
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else
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{
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fprintf(f, "usemtl wire_028089177\n");
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}
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fprintf(f, "\n");
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int numNormals = int(shapeCon->normals.size());
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for (int vn = 0; vn < numNormals / 3; vn++)
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{
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fprintf(f, "vn %f %f %f\n", shapeCon->normals[vn * 3 + 0], shapeCon->normals[vn * 3 + 1], shapeCon->normals[vn * 3 + 2]);
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}
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fprintf(f, "\n");
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int numTexCoords = int(shapeCon->texcoords.size());
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for (int vt = 0; vt < numTexCoords / 2; vt++)
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{
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fprintf(f, "vt %f %f\n", shapeCon->texcoords[vt * 2 + 0], shapeCon->texcoords[vt * 2 + 1]);
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}
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fprintf(f, "s off\n");
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for (int face = 0; face < faceCount; face += 3)
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{
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if (face < 0 && face >= int(shapeCon->indices.size()))
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{
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continue;
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}
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fprintf(f, "f %d/%d/%d %d/%d/%d %d/%d/%d\n",
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shapeCon->indices[face].vertex_index + 1, shapeCon->indices[face].texcoord_index + 1, shapeCon->indices[face].normal_index + 1,
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shapeCon->indices[face + 1].vertex_index + 1, shapeCon->indices[face + 1].texcoord_index + 1, shapeCon->indices[face + 1].normal_index + 1,
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shapeCon->indices[face + 2].vertex_index + 1, shapeCon->indices[face + 2].texcoord_index + 1, shapeCon->indices[face + 2].normal_index + 1);
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}
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fclose(f);
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float kdRed = mat.diffuse[0];
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float kdGreen = mat.diffuse[1];
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float kdBlue = mat.diffuse[2];
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float transparency = mat.transparency;
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fprintf(sdfFile,
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"\t\t<model name='%s'>\n"
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"\t\t\t<static>1</static>\n"
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"\t\t\t<pose >0 0 0 0 0 0</pose>\n"
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"\t\t\t<link name='link_d%d'>\n"
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"\t\t\t<inertial>\n"
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"\t\t\t<mass>0</mass>\n"
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"\t\t\t<inertia>\n"
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"\t\t\t<ixx>0.166667</ixx>\n"
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"\t\t\t<ixy>0</ixy>\n"
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"\t\t\t<ixz>0</ixz>\n"
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"\t\t\t<iyy>0.166667</iyy>\n"
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"\t\t\t<iyz>0</iyz>\n"
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"\t\t\t<izz>0.166667</izz>\n"
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"\t\t\t</inertia>\n"
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"\t\t\t</inertial>\n"
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"\t\t\t<collision concave='yes' name='collision_%d'>\n"
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"\t\t\t<geometry>\n"
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"\t\t\t<mesh>\n"
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"\t\t\t<scale>1 1 1</scale>\n"
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"\t\t\t\t<uri>%s</uri>\n"
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"\t\t\t</mesh>\n"
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"\t\t\t</geometry>\n"
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"\t\t\t </collision>\n"
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"\t\t\t<visual name='visual'>\n"
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"\t\t\t\t<geometry>\n"
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"\t\t\t\t<mesh>\n"
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"\t\t\t\t\t<scale>1 1 1</scale>\n"
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"\t\t\t\t\t<uri>%s</uri>\n"
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"\t\t\t\t</mesh>\n"
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"\t\t\t\t</geometry>\n"
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"\t\t\t<material>\n"
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"\t\t\t\t<ambient>1 0 0 1</ambient>\n"
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"\t\t\t\t<diffuse>%f %f %f %f</diffuse>\n"
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"\t\t\t\t<specular>0.1 0.1 0.1 1</specular>\n"
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"\t\t\t\t<emissive>0 0 0 0</emissive>\n"
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"\t\t\t </material>\n"
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"\t\t\t </visual>\n"
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"\t\t\t </link>\n"
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"\t\t\t</model>\n",
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objSdfPartFileName, m, m,
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objSdfPartFileName, objSdfPartFileName,
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kdRed, kdGreen, kdBlue, transparency);
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}
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}
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else
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{
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for (int s = 0; s < (int)shapes.size(); s++)
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{
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tinyobj::shape_t& shape = shapes[s];
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if (shape.name.length())
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{
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printf("object name = %s\n", shape.name.c_str());
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}
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char objFileName[MAX_PATH_LEN];
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if (strlen(materialPrefixPath) > 0)
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{
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sprintf(objFileName, "%s/part%d.obj", materialPrefixPath, s);
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}
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else
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{
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sprintf(objFileName, "part%d.obj", s);
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}
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FILE* f = fopen(objFileName, "w");
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if (f == 0)
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{
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printf("Fatal error: cannot create part obj file %s\n", objFileName);
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exit(0);
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}
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fprintf(f, "# Exported using automatic converter by Erwin Coumans\n");
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if (matLibName.length())
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{
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fprintf(f, "mtllib %s.mtl\n", matLibName.c_str());
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}
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else
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{
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fprintf(f, "mtllib bedroom.mtl\n");
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}
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int faceCount = shape.mesh.indices.size();
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int vertexCount = attribute.vertices.size();
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tinyobj::material_t mat = shape.material;
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if (shape.name.length())
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{
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const char* objName = shape.name.c_str();
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printf("mat.name = %s\n", objName);
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fprintf(f, "#object %s\n\n", objName);
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}
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for (int v = 0; v < vertexCount / 3; v++)
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{
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fprintf(f, "v %f %f %f\n", attribute.vertices[v * 3 + 0], attribute.vertices[v * 3 + 1], attribute.vertices[v * 3 + 2]);
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}
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if (mat.name.length())
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{
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fprintf(f, "usemtl %s\n", mat.name.c_str());
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}
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else
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{
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fprintf(f, "usemtl wire_028089177\n");
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}
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fprintf(f, "\n");
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int numNormals = int(attribute.normals.size());
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for (int vn = 0; vn < numNormals / 3; vn++)
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{
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fprintf(f, "vn %f %f %f\n", attribute.normals[vn * 3 + 0], attribute.normals[vn * 3 + 1], attribute.normals[vn * 3 + 2]);
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}
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fprintf(f, "\n");
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int numTexCoords = int(attribute.texcoords.size());
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for (int vt = 0; vt < numTexCoords / 2; vt++)
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{
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fprintf(f, "vt %f %f\n", attribute.texcoords[vt * 2 + 0], attribute.texcoords[vt * 2 + 1]);
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}
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fprintf(f, "s off\n");
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for (int face = 0; face < faceCount; face += 3)
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{
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if (face < 0 && face >= int(shape.mesh.indices.size()))
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{
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continue;
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}
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fprintf(f, "f %d/%d/%d %d/%d/%d %d/%d/%d\n",
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shape.mesh.indices[face].vertex_index + 1, shape.mesh.indices[face].texcoord_index + 1, shape.mesh.indices[face].normal_index + 1,
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shape.mesh.indices[face + 1].vertex_index + 1, shape.mesh.indices[face + 1].texcoord_index + 1, shape.mesh.indices[face + 1].normal_index + 1,
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shape.mesh.indices[face + 2].vertex_index + 1, shape.mesh.indices[face + 2].texcoord_index + 1, shape.mesh.indices[face + 2].normal_index + 1);
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}
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fclose(f);
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float kdRed = mat.diffuse[0];
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float kdGreen = mat.diffuse[1];
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float kdBlue = mat.diffuse[2];
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float transparency = mat.transparency;
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char objSdfPartFileName[MAX_PATH_LEN];
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sprintf(objSdfPartFileName, "part%d.obj", s);
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fprintf(sdfFile,
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"\t\t<model name='%s'>\n"
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"\t\t\t<static>1</static>\n"
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"\t\t\t<pose>0 0 0 0 0 0</pose>\n"
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"\t\t\t<link name='link_d%d'>\n"
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"\t\t\t<inertial>\n"
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"\t\t\t<mass>0</mass>\n"
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"\t\t\t<inertia>\n"
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"\t\t\t<ixx>0.166667</ixx>\n"
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"\t\t\t<ixy>0</ixy>\n"
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"\t\t\t<ixz>0</ixz>\n"
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"\t\t\t<iyy>0.166667</iyy>\n"
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"\t\t\t<iyz>0</iyz>\n"
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"\t\t\t<izz>0.166667</izz>\n"
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"\t\t\t</inertia>\n"
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"\t\t\t</inertial>\n"
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"\t\t\t<collision name='collision_%d'>\n"
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"\t\t\t<geometry>\n"
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"\t\t\t<mesh>\n"
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"\t\t\t<scale>1 1 1</scale>\n"
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"\t\t\t\t<uri>%s</uri>\n"
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"\t\t\t</mesh>\n"
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"\t\t\t</geometry>\n"
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"\t\t\t </collision>\n"
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"\t\t\t<visual name='visual'>\n"
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"\t\t\t\t<geometry>\n"
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"\t\t\t\t<mesh>\n"
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"\t\t\t\t\t<scale>1 1 1</scale>\n"
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"\t\t\t\t\t<uri>%s</uri>\n"
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"\t\t\t\t</mesh>\n"
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"\t\t\t\t</geometry>\n"
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"\t\t\t<material>\n"
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"\t\t\t\t<ambient>1 0 0 1</ambient>\n"
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"\t\t\t\t<diffuse>%f %f %f %f</diffuse>\n"
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"\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;
|
|
}
|