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/*
* Copyright (C) 2016 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <memory>
#include "ignition/common/Console.hh"
#include "ignition/common/Material.hh"
#include "ignition/common/Mesh.hh"
#include "ignition/common/SubMesh.hh"
#include "ignition/common/OBJLoader.hh"
#define IGNITION_COMMON_TINYOBJLOADER_IMPLEMENTATION
#include "tiny_obj_loader.h"
namespace ignition
{
namespace common
{
/// \internal
/// \brief OBJLoader private data
class OBJLoaderPrivate
{
};
}
}
using namespace ignition;
using namespace common;
//////////////////////////////////////////////////
OBJLoader::OBJLoader()
: MeshLoader(), dataPtr(new OBJLoaderPrivate)
{
}
//////////////////////////////////////////////////
OBJLoader::~OBJLoader()
{
}
//////////////////////////////////////////////////
Mesh *OBJLoader::Load(const std::string &_filename)
{
std::map<std::string, Material *> materialIds;
std::string path;
size_t idx = _filename.rfind('/');
if (idx != std::string::npos)
path = _filename.substr(0, idx+1);
tinyobj::attrib_t attrib;
std::vector<tinyobj::shape_t> shapes;
std::vector<tinyobj::material_t> materials;
// convert polygons to triangles
bool triangulate = true;
std::string err;
bool ret = tinyobj::LoadObj(&attrib, &shapes, &materials, &err,
_filename.c_str(), path.c_str(), triangulate);
if (!err.empty())
{
ignerr << err << std::endl;
}
if (!ret)
{
ignerr << "Failed to load/parse " << _filename << std::endl;
return nullptr;
}
Mesh *mesh = new Mesh();
mesh->SetPath(path);
for (auto const s: shapes)
{
// obj mesh assigns a material id to each 'face' but ignition assigns a
// single material to each 'submesh'. The strategy here is to identify
// the number of unique material ids in each obj shape and create a new
// submesh per unique material id
std::map<int, SubMesh *> subMeshMatId;
for (auto const id : s.mesh.material_ids)
{
if (subMeshMatId.find(id) == subMeshMatId.end())
{
std::unique_ptr<SubMesh> subMesh(new SubMesh());
subMesh->SetName(s.name);
subMesh->SetPrimitiveType(SubMesh::TRIANGLES);
subMeshMatId[id] = subMesh.get();
Material *mat = nullptr;
auto m = materials[id];
if (materialIds.find(m.name) != materialIds.end())
{
mat = materialIds[m.name];
}
else
{
// Create new material and pass it to mesh who will take ownership of
// the object
mat = new Material();
mat->SetAmbient(
math::Color(m.ambient[0], m.ambient[1], m.ambient[2]));
mat->SetDiffuse(
math::Color(m.diffuse[0], m.diffuse[1], m.diffuse[2]));
mat->SetSpecular(
math::Color(m.specular[0], m.specular[1], m.specular[2]));
mat->SetEmissive(
math::Color(m.emission[0], m.emission[1], m.emission[2]));
mat->SetShininess(m.shininess);
mat->SetTransparency(1.0 - m.dissolve);
if (!m.diffuse_texname.empty())
mat->SetTextureImage(m.diffuse_texname, path.c_str());
materialIds[m.name] = mat;
}
int matIndex = mesh->IndexOfMaterial(mat);
if (matIndex < 0)
matIndex = mesh->AddMaterial(MaterialPtr(mat));
subMesh->SetMaterialIndex(matIndex);
mesh->AddSubMesh(std::move(subMesh));
}
}
unsigned int indexOffset = 0;
// For each face
for (unsigned int f = 0; f < s.mesh.num_face_vertices.size(); ++f)
{
// find the submesh that corresponds to the current face material
unsigned int matId = s.mesh.material_ids[f];
SubMesh *subMesh = subMeshMatId[matId];
unsigned int fnum = s.mesh.num_face_vertices[f];
// For each vertex in the face
for (unsigned int v = 0; v < fnum; ++v)
{
auto i = s.mesh.indices[indexOffset + v];
// vertices
int vIdx = i.vertex_index;
ignition::math::Vector3d vertex(attrib.vertices[3 * vIdx],
attrib.vertices[3 * vIdx + 1],
attrib.vertices[3 * vIdx + 2]);
subMesh->AddVertex(vertex);
// normals
if (attrib.normals.size() > 0)
{
int nIdx = i.normal_index;
ignition::math::Vector3d normal(attrib.normals[3 * nIdx],
attrib.normals[3 * nIdx + 1],
attrib.normals[3 * nIdx + 2]);
subMesh->AddNormal(normal);
}
// texcoords
if (attrib.texcoords.size() > 0)
{
int tIdx = i.texcoord_index;
ignition::math::Vector2d uv(attrib.texcoords[2 * tIdx],
attrib.texcoords[2 * tIdx + 1]);
subMesh->AddTexCoord(uv.X(), 1.0-uv.Y());
}
subMesh->AddIndex(subMesh->IndexCount());
}
indexOffset += fnum;
}
}
return mesh;
}
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