pass render nodes instead of simulated nodes to renderer
This commit is contained in:
Xuchen Han
@@ -5055,15 +5055,24 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
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{
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btSoftBody* psb = bodyHandle->m_softBody;
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int totalBytesPerVertex = sizeof(btVector3);
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int numVertices = psb->m_nodes.size();
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bool separateRenderMesh = (psb->m_renderNodes.size() != 0);
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int numVertices = separateRenderMesh ? psb->m_renderNodes.size() : psb->m_nodes.size();
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int maxNumVertices = bufferSizeInBytes / totalBytesPerVertex - 1;
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int numVerticesRemaining = numVertices - clientCmd.m_requestMeshDataArgs.m_startingVertex;
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int verticesCopied = btMin(maxNumVertices, numVerticesRemaining);
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btVector3* verticesOut = (btVector3*)bufferServerToClient;
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for (int i = 0; i < verticesCopied; ++i)
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{
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const btSoftBody::Node& n = psb->m_nodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex];
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verticesOut[i] = n.m_x;
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if (separateRenderMesh)
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{
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const btSoftBody::Node& n = psb->m_renderNodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex];
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verticesOut[i] = n.m_x;
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}
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else
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{
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const btSoftBody::Node& n = psb->m_nodes[i + clientCmd.m_requestMeshDataArgs.m_startingVertex];
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verticesOut[i] = n.m_x;
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}
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}
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serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_COMPLETED;
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@@ -7989,220 +7998,225 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
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}
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{
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btSoftBody* psb = NULL;
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btScalar spring_elastic_stiffness, spring_damping_stiffness;
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btSoftBody* psb = NULL;
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CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
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char relativeFileName[1024];
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char pathPrefix[1024];
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pathPrefix[0] = 0;
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if (fileIO->findResourcePath(loadSoftBodyArgs.m_fileName, relativeFileName, 1024))
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{
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b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
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}
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CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
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char relativeFileName[1024];
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char pathPrefix[1024];
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pathPrefix[0] = 0;
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if (fileIO->findResourcePath(loadSoftBodyArgs.m_fileName, relativeFileName, 1024))
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{
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b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
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}
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// add _sim.vtk postfix
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char relativeSimFileName[1024];
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char sim_file_ending[9] = "_sim.vtk";
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strncpy(relativeSimFileName, relativeFileName, strlen(relativeFileName));
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strncpy(relativeSimFileName + strlen(relativeFileName)-4, sim_file_ending, sizeof(sim_file_ending));
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// add _sim.vtk postfix
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char relativeSimFileName[1024];
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char sim_file_ending[9] = "_sim.vtk";
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strncpy(relativeSimFileName, relativeFileName, strlen(relativeFileName));
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strncpy(relativeSimFileName + strlen(relativeFileName)-4, sim_file_ending, sizeof(sim_file_ending));
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const std::string& error_message_prefix = "";
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std::string out_found_filename;
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std::string out_found_sim_filename;
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int out_type, out_sim_type;
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const std::string& error_message_prefix = "";
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std::string out_found_filename;
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std::string out_found_sim_filename;
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int out_type, out_sim_type;
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bool render_mesh_is_sim_mesh = true;
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bool render_mesh_is_sim_mesh = true;
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bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
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if (out_type == UrdfGeometry::FILE_OBJ)
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{
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bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
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if (out_type == UrdfGeometry::FILE_OBJ)
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{
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bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeSimFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type);
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render_mesh_is_sim_mesh = !foundFile;
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}
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render_mesh_is_sim_mesh = !foundFile;
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}
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if (render_mesh_is_sim_mesh)
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{
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out_sim_type = out_type;
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out_found_sim_filename = out_found_filename;
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}
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if (out_sim_type == UrdfGeometry::FILE_OBJ)
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{
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std::vector<tinyobj::shape_t> shapes;
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tinyobj::attrib_t attribute;
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std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO);
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if (!shapes.empty())
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{
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const tinyobj::shape_t& shape = shapes[0];
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btAlignedObjectArray<btScalar> vertices;
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btAlignedObjectArray<int> indices;
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for (int i = 0; i < attribute.vertices.size(); i++)
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{
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vertices.push_back(attribute.vertices[i]);
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}
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for (int i = 0; i < shape.mesh.indices.size(); i++)
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{
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indices.push_back(shape.mesh.indices[i].vertex_index);
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}
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int numTris = shape.mesh.indices.size() / 3;
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if (numTris > 0)
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{
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psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
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}
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}
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if (render_mesh_is_sim_mesh)
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{
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out_sim_type = out_type;
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out_found_sim_filename = out_found_filename;
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}
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if (out_sim_type == UrdfGeometry::FILE_OBJ)
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{
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std::vector<tinyobj::shape_t> shapes;
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tinyobj::attrib_t attribute;
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std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO);
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if (!shapes.empty())
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{
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const tinyobj::shape_t& shape = shapes[0];
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btAlignedObjectArray<btScalar> vertices;
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btAlignedObjectArray<int> indices;
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for (int i = 0; i < attribute.vertices.size(); i++)
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{
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vertices.push_back(attribute.vertices[i]);
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}
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for (int i = 0; i < shape.mesh.indices.size(); i++)
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{
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indices.push_back(shape.mesh.indices[i].vertex_index);
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}
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int numTris = shape.mesh.indices.size() / 3;
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if (numTris > 0)
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{
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psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
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}
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}
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#ifndef SKIP_DEFORMABLE_BODY
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
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{
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spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
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spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
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m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false));
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}
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btScalar spring_elastic_stiffness, spring_damping_stiffness;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
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{
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spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
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spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
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m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false));
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}
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#endif
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}
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else if (out_sim_type == UrdfGeometry::FILE_VTK)
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{
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}
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else if (out_sim_type == UrdfGeometry::FILE_VTK)
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{
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#ifndef SKIP_DEFORMABLE_BODY
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psb = btSoftBodyHelpers::CreateFromVtkFile(m_data->m_dynamicsWorld->getWorldInfo(), out_found_sim_filename.c_str());
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btScalar corotated_mu, corotated_lambda;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE)
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{
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corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu;
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corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda;
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m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda));
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}
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btScalar neohookean_mu, neohookean_lambda;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE)
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{
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neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu;
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neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda;
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m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda));
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}
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btScalar spring_elastic_stiffness, spring_damping_stiffness;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
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{
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spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
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spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
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m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true));
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}
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psb = btSoftBodyHelpers::CreateFromVtkFile(m_data->m_dynamicsWorld->getWorldInfo(), out_found_sim_filename.c_str());
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btScalar corotated_mu, corotated_lambda;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE)
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{
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corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu;
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corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda;
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m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda));
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}
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btScalar neohookean_mu, neohookean_lambda;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE)
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{
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neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu;
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neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda;
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m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda));
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}
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btScalar spring_elastic_stiffness, spring_damping_stiffness;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
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{
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spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
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spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
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m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true));
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}
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#endif
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}
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if (psb != NULL)
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{
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#ifndef SKIP_DEFORMABLE_BODY
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if (!render_mesh_is_sim_mesh)
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{
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// load render mesh
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btSoftBodyHelpers::readRenderMeshFromObj(out_found_filename.c_str(), psb);
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btSoftBodyHelpers::interpolateBarycentricWeights(psb);
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}
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btVector3 gravity = m_data->m_dynamicsWorld->getGravity();
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE)
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{
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m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity));
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}
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btScalar collision_hardness = 1;
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psb->m_cfg.kKHR = collision_hardness;
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psb->m_cfg.kCHR = collision_hardness;
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if (!render_mesh_is_sim_mesh)
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{
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// load render mesh
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btSoftBodyHelpers::readRenderMeshFromObj(out_found_filename.c_str(), psb);
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btSoftBodyHelpers::interpolateBarycentricWeights(psb);
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}
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else
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{
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psb->m_renderNodes.resize(0);
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}
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btVector3 gravity = m_data->m_dynamicsWorld->getGravity();
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE)
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{
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m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity));
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}
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btScalar collision_hardness = 1;
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psb->m_cfg.kKHR = collision_hardness;
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psb->m_cfg.kCHR = collision_hardness;
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btScalar friction_coeff = 0;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT)
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{
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friction_coeff = loadSoftBodyArgs.m_frictionCoeff;
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}
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psb->m_cfg.kDF = friction_coeff;
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bool use_bending_spring = true;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
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{
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use_bending_spring = loadSoftBodyArgs.m_useBendingSprings;
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}
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btSoftBody::Material* pm = psb->appendMaterial();
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pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
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if (use_bending_spring)
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{
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psb->generateBendingConstraints(2,pm);
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}
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btScalar friction_coeff = 0;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT)
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{
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friction_coeff = loadSoftBodyArgs.m_frictionCoeff;
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}
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psb->m_cfg.kDF = friction_coeff;
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bool use_bending_spring = true;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
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{
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use_bending_spring = loadSoftBodyArgs.m_useBendingSprings;
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}
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btSoftBody::Material* pm = psb->appendMaterial();
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pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
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if (use_bending_spring)
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{
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psb->generateBendingConstraints(2,pm);
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}
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// turn on the collision flag for deformable
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// collision between deformable and rigid
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psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
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// collion between deformable and deformable and self-collision
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psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
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psb->setCollisionFlags(0);
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psb->setTotalMass(mass);
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// turn on the collision flag for deformable
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// collision between deformable and rigid
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psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
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// collion between deformable and deformable and self-collision
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psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
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psb->setCollisionFlags(0);
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psb->setTotalMass(mass);
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#else
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btSoftBody::Material* pm = psb->appendMaterial();
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pm->m_kLST = 0.5;
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pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
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psb->generateBendingConstraints(2, pm);
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psb->m_cfg.piterations = 20;
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psb->m_cfg.kDF = 0.5;
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//turn on softbody vs softbody collision
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psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
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psb->randomizeConstraints();
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psb->setTotalMass(mass, true);
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btSoftBody::Material* pm = psb->appendMaterial();
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pm->m_kLST = 0.5;
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pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
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psb->generateBendingConstraints(2, pm);
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psb->m_cfg.piterations = 20;
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psb->m_cfg.kDF = 0.5;
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//turn on softbody vs softbody collision
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psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
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psb->randomizeConstraints();
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psb->setTotalMass(mass, true);
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#endif
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psb->scale(btVector3(scale, scale, scale));
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psb->rotate(initialOrn);
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psb->translate(initialPos);
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psb->scale(btVector3(scale, scale, scale));
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psb->rotate(initialOrn);
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psb->translate(initialPos);
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psb->getCollisionShape()->setMargin(collisionMargin);
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psb->getCollisionShape()->setUserPointer(psb);
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m_data->m_dynamicsWorld->addSoftBody(psb);
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m_data->m_guiHelper->createCollisionShapeGraphicsObject(psb->getCollisionShape());
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m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
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int bodyUniqueId = m_data->m_bodyHandles.allocHandle();
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InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
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bodyHandle->m_softBody = psb;
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psb->getCollisionShape()->setMargin(collisionMargin);
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psb->getCollisionShape()->setUserPointer(psb);
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m_data->m_dynamicsWorld->addSoftBody(psb);
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m_data->m_guiHelper->createCollisionShapeGraphicsObject(psb->getCollisionShape());
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m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
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int bodyUniqueId = m_data->m_bodyHandles.allocHandle();
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InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
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bodyHandle->m_softBody = psb;
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b3VisualShapeData visualShape;
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b3VisualShapeData visualShape;
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visualShape.m_objectUniqueId = bodyUniqueId;
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visualShape.m_linkIndex = -1;
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visualShape.m_visualGeometryType = URDF_GEOM_MESH;
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//dimensions just contains the scale
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visualShape.m_dimensions[0] = scale;
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visualShape.m_dimensions[1] = scale;
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visualShape.m_dimensions[2] = scale;
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//filename
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strncpy(visualShape.m_meshAssetFileName, relativeFileName, VISUAL_SHAPE_MAX_PATH_LEN);
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visualShape.m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN - 1] = 0;
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//position and orientation
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visualShape.m_localVisualFrame[0] = initialPos[0];
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visualShape.m_localVisualFrame[1] = initialPos[1];
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visualShape.m_localVisualFrame[2] = initialPos[2];
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visualShape.m_localVisualFrame[3] = initialOrn[0];
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visualShape.m_localVisualFrame[4] = initialOrn[1];
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visualShape.m_localVisualFrame[5] = initialOrn[2];
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visualShape.m_localVisualFrame[6] = initialOrn[3];
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//color and ids to be set by the renderer
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visualShape.m_rgbaColor[0] = 0;
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visualShape.m_rgbaColor[1] = 0;
|
||||
visualShape.m_rgbaColor[2] = 0;
|
||||
visualShape.m_rgbaColor[3] = 1;
|
||||
visualShape.m_tinyRendererTextureId = -1;
|
||||
visualShape.m_textureUniqueId =-1;
|
||||
visualShape.m_openglTextureId = -1;
|
||||
visualShape.m_objectUniqueId = bodyUniqueId;
|
||||
visualShape.m_linkIndex = -1;
|
||||
visualShape.m_visualGeometryType = URDF_GEOM_MESH;
|
||||
//dimensions just contains the scale
|
||||
visualShape.m_dimensions[0] = scale;
|
||||
visualShape.m_dimensions[1] = scale;
|
||||
visualShape.m_dimensions[2] = scale;
|
||||
//filename
|
||||
strncpy(visualShape.m_meshAssetFileName, relativeFileName, VISUAL_SHAPE_MAX_PATH_LEN);
|
||||
visualShape.m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN - 1] = 0;
|
||||
//position and orientation
|
||||
visualShape.m_localVisualFrame[0] = initialPos[0];
|
||||
visualShape.m_localVisualFrame[1] = initialPos[1];
|
||||
visualShape.m_localVisualFrame[2] = initialPos[2];
|
||||
visualShape.m_localVisualFrame[3] = initialOrn[0];
|
||||
visualShape.m_localVisualFrame[4] = initialOrn[1];
|
||||
visualShape.m_localVisualFrame[5] = initialOrn[2];
|
||||
visualShape.m_localVisualFrame[6] = initialOrn[3];
|
||||
//color and ids to be set by the renderer
|
||||
visualShape.m_rgbaColor[0] = 0;
|
||||
visualShape.m_rgbaColor[1] = 0;
|
||||
visualShape.m_rgbaColor[2] = 0;
|
||||
visualShape.m_rgbaColor[3] = 1;
|
||||
visualShape.m_tinyRendererTextureId = -1;
|
||||
visualShape.m_textureUniqueId =-1;
|
||||
visualShape.m_openglTextureId = -1;
|
||||
|
||||
m_data->m_pluginManager.getRenderInterface()->addVisualShape(&visualShape, fileIO);
|
||||
m_data->m_pluginManager.getRenderInterface()->addVisualShape(&visualShape, fileIO);
|
||||
|
||||
serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId;
|
||||
serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_COMPLETED;
|
||||
serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId;
|
||||
serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_COMPLETED;
|
||||
|
||||
int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
|
||||
serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
|
||||
int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
|
||||
serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
|
||||
|
||||
#ifdef ENABLE_LINK_MAPPER
|
||||
if (m_data->m_urdfLinkNameMapper.size())
|
||||
{
|
||||
serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size() - 1)->m_memSerializer->getCurrentBufferSize();
|
||||
}
|
||||
if (m_data->m_urdfLinkNameMapper.size())
|
||||
{
|
||||
serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size() - 1)->m_memSerializer->getCurrentBufferSize();
|
||||
}
|
||||
#endif
|
||||
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
|
||||
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
|
||||
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
|
||||
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
|
||||
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
|
||||
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
|
||||
|
||||
b3Notification notification;
|
||||
notification.m_notificationType = BODY_ADDED;
|
||||
|
||||
Reference in New Issue
Block a user