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improve deformable objects loading

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This commit is contained in:
Xuchen Han
2019-08-28 10:37:27 -07:00
committed by Xuchen Han
parent 7d1b93cc17
commit 482458c9df
1 changed files with 17 additions and 19 deletions
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36
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -105,7 +105,6 @@
#include "BulletSoftBody/btDeformableBodySolver.h" #include "BulletSoftBody/btDeformableBodySolver.h"
#include "BulletSoftBody/btDeformableMultiBodyConstraintSolver.h" #include "BulletSoftBody/btDeformableMultiBodyConstraintSolver.h"
#include "../SoftDemo/BunnyMesh.h" #include "../SoftDemo/BunnyMesh.h"
#define SKIP_DEFORMABLE_BODY
#else #else
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#endif #endif
@@ -8040,6 +8039,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
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);
btSoftBody* psb = NULL; btSoftBody* psb = NULL;
btScalar spring_elastic_stiffness, spring_damping_stiffness;
if (out_type == UrdfGeometry::FILE_OBJ) if (out_type == UrdfGeometry::FILE_OBJ)
{ {
std::vector<tinyobj::shape_t> shapes; std::vector<tinyobj::shape_t> shapes;
@@ -8064,14 +8064,20 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
} }
} }
#ifndef SKIP_DEFORMABLE_BODY
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
{
spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false));
}
#endif
} }
else if (out_type = UrdfGeometry::FILE_VTK) else if (out_type == UrdfGeometry::FILE_VTK)
{ {
#ifndef SKIP_DEFORMABLE_BODY #ifndef SKIP_DEFORMABLE_BODY
psb = btSoftBodyHelpers::CreateFromVtkFile(m_data->m_dynamicsWorld->getWorldInfo(), out_found_filename.c_str()); psb = btSoftBodyHelpers::CreateFromVtkFile(m_data->m_dynamicsWorld->getWorldInfo(), out_found_filename.c_str());
btScalar corotated_mu, corotated_lambda; btScalar corotated_mu, corotated_lambda;
btScalar spring_elastic_stiffness, spring_damping_stiffness;
btScalar gravity_constant;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE)
{ {
corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu; corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu;
@@ -8085,26 +8091,18 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda; neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda)); m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda));
} }
btScalar spring_elastic_stiffness, spring_damping_stiffness;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
{
spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true));
}
#endif #endif
} }
if (psb != NULL) if (psb != NULL)
{ {
#ifndef SKIP_DEFORMABLE_BODY #ifndef SKIP_DEFORMABLE_BODY
btScalar corotated_mu, corotated_lambda;
btScalar spring_elastic_stiffness, spring_damping_stiffness;
btScalar gravity_constant;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE)
{
corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu;
corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda));
}
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
{
spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false));
}
btVector3 gravity(0,0,0); btVector3 gravity(0,0,0);
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE) if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE)
{ {