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Add filename as an argument in the softbody loading function.

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This commit is contained in:
yunfeibai
2018-01-07 19:56:46 -08:00
parent d077bdec07
commit d3bc98e245
7 changed files with 41 additions and 18 deletions
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4
examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
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@@ -1143,7 +1143,7 @@ void b3RobotSimulatorClientAPI::submitProfileTiming(const std::string& profileN
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
}
void b3RobotSimulatorClientAPI::loadSoftBody(double scale, double mass, double collisionMargin)
void b3RobotSimulatorClientAPI::loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin)
{
if (!isConnected())
{
@@ -1151,7 +1151,7 @@ void b3RobotSimulatorClientAPI::loadSoftBody(double scale, double mass, double c
return;
}
b3SharedMemoryCommandHandle command = b3LoadSoftBodyCommandInit(m_data->m_physicsClientHandle);
b3SharedMemoryCommandHandle command = b3LoadSoftBodyCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
b3LoadSoftBodySetScale(command, scale);
b3LoadSoftBodySetMass(command, mass);
b3LoadSoftBodySetCollisionMargin(command, collisionMargin);

2
examples/RobotSimulator/b3RobotSimulatorClientAPI.h
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@@ -229,7 +229,7 @@ public:
//////////////// INTERNAL
void loadSoftBody(double scale, double mass, double collisionMargin);
void loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin);
//setGuiHelper is only used when embedded in existing example browser
void setGuiHelper(struct GUIHelperInterface* guiHelper);

4
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -336,7 +336,7 @@ public:
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
m_robotSim.loadSoftBody(0.1,0.1,0.02);
m_robotSim.loadSoftBody("bunny.obj",0.1,0.1,0.02);
b3JointInfo revoluteJoint1;
revoluteJoint1.m_parentFrame[0] = -0.055;
@@ -412,7 +412,7 @@ public:
m_robotSim.loadURDF("plane.urdf", args);
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
m_robotSim.loadSoftBody(0.3,10.0,0.1);
m_robotSim.loadSoftBody("bunny.obj",0.3,10.0,0.1);
}
}
virtual void exitPhysics()

25
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -256,18 +256,31 @@ B3_SHARED_API void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle command
}
}
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadSoftBodyCommandInit(b3PhysicsClientHandle physClient)
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadSoftBodyCommandInit(b3PhysicsClientHandle physClient, const char* fileName)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_LOAD_SOFT_BODY;
command->m_updateFlags = 0;
if (cl->canSubmitCommand())
{
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_LOAD_SOFT_BODY;
int len = strlen(fileName);
if (len < MAX_FILENAME_LENGTH)
{
strcpy(command->m_loadSoftBodyArguments.m_fileName, fileName);
}
else
{
command->m_loadSoftBodyArguments.m_fileName[0] = 0;
}
command->m_updateFlags = LOAD_SOFT_BODY_FILE_NAME;
return (b3SharedMemoryCommandHandle) command;
return (b3SharedMemoryCommandHandle) command;
}
return 0;
}
B3_SHARED_API int b3LoadSoftBodySetScale(b3SharedMemoryCommandHandle commandHandle, double scale)

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -512,7 +512,7 @@ B3_SHARED_API void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandl
B3_SHARED_API void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[/*3*/], int flag);
///experiments of robots interacting with non-rigid objects (such as btSoftBody)
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadSoftBodyCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadSoftBodyCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
B3_SHARED_API int b3LoadSoftBodySetScale(b3SharedMemoryCommandHandle commandHandle, double scale);
B3_SHARED_API int b3LoadSoftBodySetMass(b3SharedMemoryCommandHandle commandHandle, double mass);
B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin);

10
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -5668,6 +5668,14 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
double scale = 0.1;
double mass = 0.1;
double collisionMargin = 0.02;
const LoadSoftBodyArgs& loadSoftBodyArgs = clientCmd.m_loadSoftBodyArguments;
if (m_data->m_verboseOutput)
{
b3Printf("Processed CMD_LOAD_SOFT_BODY:%s", loadSoftBodyArgs.m_fileName);
}
btAssert((clientCmd.m_updateFlags & LOAD_SOFT_BODY_FILE_NAME) !=0);
btAssert(loadSoftBodyArgs.m_fileName);
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_UPDATE_SCALE)
{
scale = clientCmd.m_loadSoftBodyArguments.m_scale;
@@ -5693,7 +5701,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
char relativeFileName[1024];
char pathPrefix[1024];
pathPrefix[0] = 0;
if (b3ResourcePath::findResourcePath("bunny.obj", relativeFileName, 1024))
if (b3ResourcePath::findResourcePath(loadSoftBodyArgs.m_fileName, relativeFileName, 1024))
{
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
}

8
examples/SharedMemory/SharedMemoryCommands.h
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@@ -430,9 +430,10 @@ enum EnumSimParamUpdateFlags
enum EnumLoadSoftBodyUpdateFlags
{
LOAD_SOFT_BODY_UPDATE_SCALE=1,
LOAD_SOFT_BODY_UPDATE_MASS=2,
LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN=4
LOAD_SOFT_BODY_FILE_NAME=1,
LOAD_SOFT_BODY_UPDATE_SCALE=2,
LOAD_SOFT_BODY_UPDATE_MASS=4,
LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN=8
};
enum EnumSimParamInternalSimFlags
@@ -446,6 +447,7 @@ enum EnumSimParamInternalSimFlags
struct LoadSoftBodyArgs
{
char m_fileName[MAX_FILENAME_LENGTH];
double m_scale;
double m_mass;
double m_collisionMargin;