Created Wavefront obj to sdf converter, to make it easier to import c…

…omplex obj models with many materials. See kitchen for example.

Fix in tinyobj, make sure material is initialized
Add fatihrmutfak kitchen model, for Virtual Reality and some research

Extras/obj2sdf/obj2sdf.cpp

@@ -0,0 +1,165 @@
+/// 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 "MinitaurSetup.h"
+#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
+#include <vector>
+#include "Bullet3Common/b3FileUtils.h"
+#include "../Utils/b3ResourcePath.h"
+#define MAX_PATH_LEN 1024
+
+int main(int argc, char* argv[])
+{
+	const char* fileName = "kitchens/kitchen.obj";
+
+	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: 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];
+		sprintf(objFileName,"%s/part%d.obj",materialPrefixPath,s);
+		FILE* f = fopen(objFileName,"w");
+		if (f==0)
+		{
+			printf("Fatal: cannot create part obj file %s\n",objFileName);
+			exit(0);
+		}
+		fprintf(f,"# Exported using automatic converter by Erwin Coumans\n");
+		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");
+		for (int vn = 0;vn<shape.mesh.normals.size()/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");
+		for (int vt = 0;vt<shape.mesh.texcoords.size()/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;
+}

build_visual_studio_without_pybullet_vr.bat

@@ -0,0 +1,3 @@
+cd build3
+premake5     --targetdir="../bin" vs2010
+start vs2010