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Use meshloader to support multiple file formats loading (#744)

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Co-authored-by: Tin Lai <tin@tinyiu.com>
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Thierry Berger
2024-11-12 09:02:55 +01:00
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crates/rapier3d-meshloader/CHANGELOG.md Normal file
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## Unreleased
Renamed the crate from `rapier3d-stl` to `rapier3d-meshloader`, to better reflect its support for multiple formats.
### Added
- Add optional support for Collada and Wavefront files through new feature flags `collada` and `wavefront`.
### Modified
- Support for STL is now optional through feature `stl`.
- Features `stl`, `wavefront` and `collada` are enabled by default.
## 0.3.0
This is the initial release of the `rapier3d-stl` crate.
### Added
- Add `load_from_path` for creating a shape from a stl file.
- Add `load_from_reader` for creating a shape from an object implementing `Read`.
- Add `load_from_raw_mesh` for creating a shape from an already loaded `IndexedMesh`.

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crates/rapier3d-meshloader/Cargo.toml Normal file
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[package]
name = "rapier3d-meshloader"
version = "0.3.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "STL file loader for the 3D rapier physics engine."
documentation = "https://docs.rs/rapier3d-meshloader"
homepage = "https://rapier.rs"
repository = "https://github.com/dimforge/rapier"
readme = "README.md"
categories = [
"science",
"game-development",
"mathematics",
"simulation",
"wasm",
]
keywords = ["physics", "joints", "multibody", "robotics", "urdf"]
license = "Apache-2.0"
edition = "2021"
[features]
default = ["stl", "collada", "wavefront"]
stl = ["mesh-loader/stl"]
collada = ["mesh-loader/collada"]
wavefront = ["mesh-loader/obj"]
[dependencies]
thiserror = "1.0.61"
mesh-loader = { version = "0.1.12", optional = true }
rapier3d = { version = "0.22", path = "../rapier3d" }

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crates/rapier3d-meshloader/LICENSE Normal file
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crates/rapier3d-meshloader/README.md Normal file
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## Mesh loader for the Rapier physics engine
Rapier is a set of 2D and 3D physics engines for games, animation, and robotics. The `rapier3d-meshloader`
crate lets you create a shape compatible with `rapier3d` and `parry3d` (the underlying collision-detection
library) from different file formats, see the following features list:
- `stl`: support .stl files
- `collada`: support .dae files
- `wavefront`: support .obj files
## Resources and discussions
- [Dimforge](https://dimforge.com): See all the open-source projects we are working on! Follow our announcements
on our [blog](https://www.dimforge.com/blog).
- [User guide](https://www.rapier.rs/docs/): Learn to use Rapier in your project by reading the official User Guides.
- [Discord](https://discord.gg/vt9DJSW): Come chat with us, get help, suggest features, on Discord!
- [NPM packages](https://www.npmjs.com/search?q=%40dimforge): Check out our NPM packages for Rapier, if you need to
use it with JavaScript/Typescript.
Please make sure to familiarize yourself with our [Code of Conduct](CODE_OF_CONDUCT.md)
and our [Contribution Guidelines](CONTRIBUTING.md) before contributing or participating in
discussions with the community.

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crates/rapier3d-meshloader/src/lib.rs Normal file
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#![doc = include_str!("../README.md")]
#![deny(missing_docs)]
use mesh_loader::Mesh;
use rapier3d::geometry::{MeshConverter, SharedShape};
use rapier3d::math::{Isometry, Point, Real, Vector};
use rapier3d::prelude::MeshConverterError;
use std::path::Path;
/// The result of loading a shape.
pub struct LoadedShape {
/// The shape loaded from the file and converted by the [`MeshConverter`].
pub shape: SharedShape,
/// The shape’s pose.
pub pose: Isometry<Real>,
/// The raw mesh read from the file without any modification.
pub raw_mesh: Mesh,
}
/// Error while loading an STL file.
#[derive(thiserror::Error, Debug)]
pub enum MeshLoaderError {
/// An error triggered by rapier’s [`MeshConverter`].
#[error(transparent)]
MeshConverter(#[from] MeshConverterError),
/// A generic IO error.
#[error(transparent)]
Io(#[from] std::io::Error),
}
/// Loads parry shapes from a file.
///
/// # Parameters
/// - `path`: the file’s path.
/// - `converter`: controls how the shapes are computed from the content. In particular, it lets
/// you specify if the computed [`SharedShape`] is a triangle mesh, its convex hull,
/// bounding box, etc.
/// - `scale`: the scaling factor applied to the geometry input to the `converter`. This scale will
/// affect at the geometric level the [`LoadedShape::shape`]. Note that raw mesh value stored
/// in [`LoadedShape::raw_mesh`] remains unscaled.
pub fn load_from_path(
path: impl AsRef<Path>,
converter: &MeshConverter,
scale: Vector<Real>,
) -> Result<Vec<Result<LoadedShape, MeshConverterError>>, MeshLoaderError> {
let loader = mesh_loader::Loader::default();
let mut colliders = vec![];
let scene = loader.load(path)?;
for (raw_mesh, _) in scene.meshes.into_iter().zip(scene.materials) {
let shape = load_from_raw_mesh(&raw_mesh, converter, scale);
colliders.push(shape.map(|(shape, pose)| LoadedShape {
shape,
pose,
raw_mesh,
}));
}
Ok(colliders)
}
/// Loads an file as a shape from a preloaded raw [`mesh_loader::Mesh`].
///
/// # Parameters
/// - `raw_mesh`: the raw mesh.
/// - `converter`: controls how the shape is computed from the STL content. In particular, it lets
/// you specify if the computed [`SharedShape`] is a triangle mesh, its convex hull,
/// bounding box, etc.
/// - `scale`: the scaling factor applied to the geometry input to the `converter`. This scale will
/// affect at the geometric level the [`LoadedShape::shape`]. Note that raw mesh value stored
/// in [`LoadedShape::raw_mesh`] remains unscaled.
pub fn load_from_raw_mesh(
raw_mesh: &Mesh,
converter: &MeshConverter,
scale: Vector<Real>,
) -> Result<(SharedShape, Isometry<Real>), MeshConverterError> {
let mut vertices: Vec<_> = raw_mesh
.vertices
.iter()
.map(|xyz| Point::new(xyz[0], xyz[1], xyz[2]))
.collect();
vertices
.iter_mut()
.for_each(|pt| pt.coords.component_mul_assign(&scale));
let indices: Vec<_> = raw_mesh.faces.clone();
converter.convert(vertices, indices)
}