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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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8
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -338,20 +338,20 @@ B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle
return 0; return 0;
} }
B3_SHARED_API int b3LoadSoftBodyAddRenderMesh(b3SharedMemoryCommandHandle commandHandle, const char* filename) B3_SHARED_API int b3LoadSoftBodyUpdateSimMesh(b3SharedMemoryCommandHandle commandHandle, const char* filename)
{ {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle; struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY); b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
int len = strlen(filename); int len = strlen(filename);
if (len < MAX_FILENAME_LENGTH) if (len < MAX_FILENAME_LENGTH)
{ {
strcpy(command->m_loadSoftBodyArguments.m_renderFileName, filename); strcpy(command->m_loadSoftBodyArguments.m_simFileName, filename);
} }
else else
{ {
command->m_loadSoftBodyArguments.m_renderFileName[0] = 0; command->m_loadSoftBodyArguments.m_simFileName[0] = 0;
} }
command->m_updateFlags |= LOAD_SOFT_BODY_RENDER_MESH; command->m_updateFlags |= LOAD_SOFT_BODY_SIM_MESH;
return 0; return 0;
} }

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -633,7 +633,7 @@ extern "C"
B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin); B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin);
B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ); B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ);
B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW); B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW);
B3_SHARED_API int b3LoadSoftBodyAddRenderMesh(b3SharedMemoryCommandHandle commandHandle, const char* filename); B3_SHARED_API int b3LoadSoftBodyUpdateSimMesh(b3SharedMemoryCommandHandle commandHandle, const char* filename);
B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda); B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda);
B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda); B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda);
B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping); B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping);

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

4
examples/SharedMemory/SharedMemoryCommands.h
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@@ -505,7 +505,7 @@ enum EnumLoadSoftBodyUpdateFlags
LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12, LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12,
LOAD_SOFT_BODY_USE_SELF_COLLISION = 1<<13, LOAD_SOFT_BODY_USE_SELF_COLLISION = 1<<13,
LOAD_SOFT_BODY_USE_FACE_CONTACT = 1<<14, LOAD_SOFT_BODY_USE_FACE_CONTACT = 1<<14,
LOAD_SOFT_BODY_RENDER_MESH = 1<<15, LOAD_SOFT_BODY_SIM_MESH = 1<<15,
}; };
enum EnumSimParamInternalSimFlags enum EnumSimParamInternalSimFlags
@@ -536,7 +536,7 @@ struct LoadSoftBodyArgs
double m_NeoHookeanLambda; double m_NeoHookeanLambda;
double m_NeoHookeanDamping; double m_NeoHookeanDamping;
int m_useFaceContact; int m_useFaceContact;
char m_renderFileName[MAX_FILENAME_LENGTH]; char m_simFileName[MAX_FILENAME_LENGTH];
}; };
struct b3LoadSoftBodyResultArgs struct b3LoadSoftBodyResultArgs

2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -567,7 +567,7 @@ enum b3NotificationType
enum b3ResetSimulationFlags enum b3ResetSimulationFlags
{ {
RESET_USE_DEFORMABLE_WORLD=1, RESET_USE_SOFT_MULTIBODY_WORLD=1,
RESET_USE_DISCRETE_DYNAMICS_WORLD=2, RESET_USE_DISCRETE_DYNAMICS_WORLD=2,
RESET_USE_SIMPLE_BROADPHASE=4, RESET_USE_SIMPLE_BROADPHASE=4,
}; };