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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"Wavefront/tiny_obj_loader.h"
#include <vector>
#include "Bullet3Common/b3FileUtils.h"
#include "../Utils/b3ResourcePath.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#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);
}
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 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];
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 = 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");
int numNormals = int(shape.mesh.normals.size());
for (int vn = 0;vn<numNormals/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");
int numTexCoords = int(shape.mesh.texcoords.size());
for (int vt = 0;vt<numTexCoords/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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