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load render mesh from command

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This commit is contained in:
Xuchen Han
2019-11-17 00:01:52 -08:00
parent f5400b40d2
commit 6c34c91ca7
4 changed files with 50 additions and 27 deletions
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54
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8087,29 +8087,14 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
const std::string& error_message_prefix = "";
std::string out_found_filename;
std::string out_found_sim_filename;
int out_type(0), out_sim_type(0);
bool render_mesh_is_sim_mesh = true;
int out_type(0);
bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
if (out_type == UrdfGeometry::FILE_OBJ)
{
foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type);
render_mesh_is_sim_mesh = !foundFile;
}
if (render_mesh_is_sim_mesh)
{
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_sim_filename.c_str(), "", fileIO);
std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO);
if (!shapes.empty())
{
const tinyobj::shape_t& shape = shapes[0];
@@ -8158,13 +8143,13 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
}
#endif
}
else if (out_sim_type == UrdfGeometry::FILE_VTK)
else if (out_type == UrdfGeometry::FILE_VTK)
{
#ifndef SKIP_DEFORMABLE_BODY
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld)
{
psb = btSoftBodyHelpers::CreateFromVtkFile(deformWorld->getWorldInfo(), out_found_sim_filename.c_str());
psb = btSoftBodyHelpers::CreateFromVtkFile(deformWorld->getWorldInfo(), out_found_filename.c_str());
btScalar corotated_mu, corotated_lambda;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE)
{
@@ -8193,6 +8178,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
deformWorld->addForce(psb, springForce);
m_data->m_lf.push_back(springForce);
}
}
#endif
}
@@ -8201,15 +8187,31 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
{
#ifndef SKIP_DEFORMABLE_BODY
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
bool foundRenderMesh = false;
if (deformWorld)
{
if (!render_mesh_is_sim_mesh)
{
// load render mesh
btSoftBodyHelpers::readRenderMeshFromObj(out_found_filename.c_str(), psb);
btSoftBodyHelpers::interpolateBarycentricWeights(psb);
}
else
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_RENDER_MESH)
{
int out_render_type(0);
std::string out_found_render_filename;
char relativeRenderFileName[1024];
char pathRenderPrefix[1024];
pathRenderPrefix[0] = 0;
if (fileIO->findResourcePath(loadSoftBodyArgs.m_renderFileName, relativeRenderFileName, 1024))
{
b3FileUtils::extractPath(relativeRenderFileName, pathRenderPrefix, 1024);
}
foundRenderMesh = UrdfFindMeshFile(fileIO, pathRenderPrefix, relativeRenderFileName, error_message_prefix, &out_found_render_filename, &out_render_type);
// load render mesh
if (foundRenderMesh)
{
btSoftBodyHelpers::readRenderMeshFromObj(out_found_render_filename.c_str(), psb);
btSoftBodyHelpers::interpolateBarycentricWeights(psb);
}
}
if (!foundRenderMesh)
{
psb->m_renderNodes.resize(0);
}