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fix separate render and sim mesh

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This commit is contained in:
Xuchen Han
2019-11-19 21:01:28 -08:00
committed by Xuchen Han
parent 64e5e007e3
commit 00add5490f
5 changed files with 96 additions and 89 deletions
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169
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1709,7 +1709,6 @@ struct PhysicsServerCommandProcessorInternalData
m_dispatcher(0),
m_solver(0),
m_collisionConfiguration(0),
#ifndef SKIP_DEFORMABLE_BODY
m_deformablebodySolver(0),
#endif
@@ -2651,23 +2650,25 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags)
bv->setVelocityPrediction(0);
m_data->m_broadphase = bv;
}
if (flags & RESET_USE_DEFORMABLE_WORLD)
if (flags & RESET_USE_SOFT_MULTIBODY_WORLD)
{
#ifndef SKIP_DEFORMABLE_BODY
m_data->m_deformablebodySolver = new btDeformableBodySolver();
btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver;
m_data->m_solver = solver;
solver->setDeformableSolver(m_data->m_deformablebodySolver);
m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver);
m_data->m_solver = new btMultiBodyConstraintSolver;
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
#else
m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
#endif
}
if ((0==m_data->m_dynamicsWorld) && (0==(flags&RESET_USE_DISCRETE_DYNAMICS_WORLD)))
if ((0==m_data->m_dynamicsWorld) && (0==(flags&RESET_USE_DISCRETE_DYNAMICS_WORLD)))
{
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
m_data->m_solver = new btMultiBodyConstraintSolver;
m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
#ifndef SKIP_DEFORMABLE_BODY
m_data->m_deformablebodySolver = new btDeformableBodySolver();
btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver;
m_data->m_solver = solver;
solver->setDeformableSolver(m_data->m_deformablebodySolver);
m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver);
#endif
}
@@ -5126,24 +5127,24 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
{
btSoftBody* psb = bodyHandle->m_softBody;
int totalBytesPerVertex = sizeof(btVector3);
bool separateRenderMesh = (psb->m_renderNodes.size() != 0);
int numVertices = separateRenderMesh ? psb->m_renderNodes.size() : psb->m_nodes.size();
bool separateRenderMesh = (psb->m_renderNodes.size() != 0);
int numVertices = separateRenderMesh ? psb->m_renderNodes.size() : psb->m_nodes.size();
int maxNumVertices = bufferSizeInBytes / totalBytesPerVertex - 1;
int numVerticesRemaining = numVertices - clientCmd.m_requestMeshDataArgs.m_startingVertex;
int verticesCopied = btMin(maxNumVertices, numVerticesRemaining);
btVector3* verticesOut = (btVector3*)bufferServerToClient;
for (int i = 0; i < verticesCopied; ++i)
{
if (separateRenderMesh)
{
const btSoftBody::Node& n = psb->m_renderNodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex];
verticesOut[i] = n.m_x;
}
else
{
const btSoftBody::Node& n = psb->m_nodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex];
verticesOut[i] = n.m_x;
}
if (separateRenderMesh)
{
const btSoftBody::Node& n = psb->m_renderNodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex];
verticesOut[i] = n.m_x;
}
else
{
const btSoftBody::Node& n = psb->m_nodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex];
verticesOut[i] = n.m_x;
}
}
serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_COMPLETED;
@@ -8069,7 +8070,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
{
collisionMargin = clientCmd.m_loadSoftBodyArguments.m_collisionMargin;
}
{
btSoftBody* psb = NULL;
@@ -8083,17 +8084,26 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
}
const std::string& error_message_prefix = "";
std::string out_found_filename;
int out_type(0);
std::string out_found_filename, out_found_sim_filename;
int out_type(0), out_sim_type(0);
bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
if (out_type == UrdfGeometry::FILE_OBJ)
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SIM_MESH)
{
bool foundSimMesh = UrdfFindMeshFile(fileIO, pathPrefix, loadSoftBodyArgs.m_simFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type);
}
else
{
out_sim_type = out_type;
out_found_sim_filename = out_found_filename;
}
if (out_sim_type == UrdfGeometry::FILE_OBJ)
{
std::vector<tinyobj::shape_t> shapes;
tinyobj::attrib_t attribute;
std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO);
std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO);
if (!shapes.empty())
{
const tinyobj::shape_t& shape = shapes[0];
@@ -8142,13 +8152,13 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
}
#endif
}
else if (out_type == UrdfGeometry::FILE_VTK)
else if (out_sim_type == UrdfGeometry::FILE_VTK)
{
#ifndef SKIP_DEFORMABLE_BODY
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld)
{
psb = btSoftBodyHelpers::CreateFromVtkFile(deformWorld->getWorldInfo(), out_found_filename.c_str());
psb = btSoftBodyHelpers::CreateFromVtkFile(deformWorld->getWorldInfo(), out_found_sim_filename.c_str());
btScalar corotated_mu, corotated_lambda;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE)
{
@@ -8185,58 +8195,55 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
if (psb != NULL)
{
#ifndef SKIP_DEFORMABLE_BODY
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
bool foundRenderMesh = false;
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld)
{
if (!render_mesh_is_sim_mesh)
{
// load render mesh
// load render mesh
if (out_found_sim_filename != out_found_filename)
{
// load render mesh
{
tinyobj::attrib_t attribute;
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), pathPrefix, m_data->m_pluginManager.getFileIOInterface());
for (int s = 0; s < (int)shapes.size(); s++)
{
tinyobj::shape_t& shape = shapes[s];
int faceCount = shape.mesh.indices.size();
int vertexCount = attribute.vertices.size()/3;
for (int v=0;v<vertexCount;v++)
{
btSoftBody::Node n;
n.m_x = btVector3(attribute.vertices[3*v],attribute.vertices[3*v+1],attribute.vertices[3*v+2]);
psb->m_renderNodes.push_back(n);
}
{
tinyobj::attrib_t attribute;
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), pathPrefix, m_data->m_pluginManager.getFileIOInterface());
for (int s = 0; s < (int)shapes.size(); s++)
{
tinyobj::shape_t& shape = shapes[s];
int faceCount = shape.mesh.indices.size();
int vertexCount = attribute.vertices.size()/3;
for (int v=0;v<vertexCount;v++)
{
btSoftBody::Node n;
n.m_x = btVector3(attribute.vertices[3*v],attribute.vertices[3*v+1],attribute.vertices[3*v+2]);
psb->m_renderNodes.push_back(n);
}
for (int f = 0; f < faceCount; f += 3)
{
if (f < 0 && f >= int(shape.mesh.indices.size()))
{
continue;
}
tinyobj::index_t v_0 = shape.mesh.indices[f];
tinyobj::index_t v_1 = shape.mesh.indices[f + 1];
tinyobj::index_t v_2 = shape.mesh.indices[f + 2];
btSoftBody::Face ff;
ff.m_n[0] = &psb->m_renderNodes[v_0.vertex_index];
ff.m_n[1] = &psb->m_renderNodes[v_1.vertex_index];
ff.m_n[2] = &psb->m_renderNodes[v_2.vertex_index];
psb->m_renderFaces.push_back(ff);
}
}
}
btSoftBodyHelpers::interpolateBarycentricWeights(psb);
}
else
{
psb->m_renderNodes.resize(0);
}
for (int f = 0; f < faceCount; f += 3)
{
if (f < 0 && f >= int(shape.mesh.indices.size()))
{
continue;
}
tinyobj::index_t v_0 = shape.mesh.indices[f];
tinyobj::index_t v_1 = shape.mesh.indices[f + 1];
tinyobj::index_t v_2 = shape.mesh.indices[f + 2];
btSoftBody::Face ff;
ff.m_n[0] = &psb->m_renderNodes[v_0.vertex_index];
ff.m_n[1] = &psb->m_renderNodes[v_1.vertex_index];
ff.m_n[2] = &psb->m_renderNodes[v_2.vertex_index];
psb->m_renderFaces.push_back(ff);
}
}
}
btSoftBodyHelpers::interpolateBarycentricWeights(psb);
}
else
{
psb->m_renderNodes.resize(0);
}
btVector3 gravity = m_data->m_dynamicsWorld->getGravity();
btDeformableLagrangianForce* gravityForce = new btDeformableGravityForce(gravity);
deformWorld->addForce(psb, gravityForce);