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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2019-08-14 21:14:56 -07:00
parent 88d1788ee5 6feb1b25db
commit f09cefabe8
54 changed files with 5626 additions and 871 deletions
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40
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4861,7 +4861,8 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
else
{
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, out_found_filename.c_str(),"",fileIO);
tinyobj::attrib_t attribute;
std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO);
//shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale);
//static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale)
@@ -4882,20 +4883,20 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
for (int f = 0; f < faceCount; f += 3)
{
btVector3 pt;
pt.setValue(shape.mesh.positions[shape.mesh.indices[f] * 3 + 0],
shape.mesh.positions[shape.mesh.indices[f] * 3 + 1],
shape.mesh.positions[shape.mesh.indices[f] * 3 + 2]);
pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 0],
attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 1],
attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 2]);
convexHull->addPoint(pt * meshScale, false);
pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0],
shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1],
shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]);
pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 0],
attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 1],
attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 2]);
convexHull->addPoint(pt * meshScale, false);
pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0],
shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1],
shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]);
pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 0],
attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 1],
attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 2]);
convexHull->addPoint(pt * meshScale, false);
}
@@ -7958,8 +7959,8 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_FAILED;
bool hasStatus = true;
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
double scale = 0.1;
double mass = 0.1;
double scale = 1;
double mass = 1;
double collisionMargin = 0.02;
const LoadSoftBodyArgs& loadSoftBodyArgs = clientCmd.m_loadSoftBodyArguments;
if (m_data->m_verboseOutput)
@@ -8012,23 +8013,24 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
std::string out_found_filename;
int out_type;
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);
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, out_found_filename.c_str(),"",fileIO);
tinyobj::attrib_t attribute;
std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO);
if (!shapes.empty())
{
const tinyobj::shape_t& shape = shapes[0];
btAlignedObjectArray<btScalar> vertices;
btAlignedObjectArray<int> indices;
for (int i = 0; i < shape.mesh.positions.size(); i++)
for (int i = 0; i < attribute.vertices.size(); i++)
{
vertices.push_back(shape.mesh.positions[i]);
vertices.push_back(attribute.vertices[i]);
}
for (int i = 0; i < shape.mesh.indices.size(); i++)
{
indices.push_back(shape.mesh.indices[i]);
indices.push_back(shape.mesh.indices[i].vertex_index);
}
int numTris = indices.size() / 3;
int numTris = shape.mesh.indices.size() / 3;
if (numTris > 0)
{
btSoftBody* psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
@@ -8041,9 +8043,9 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
//turn on softbody vs softbody collision
psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
psb->randomizeConstraints();
psb->scale(btVector3(scale, scale, scale));
psb->rotate(initialOrn);
psb->translate(initialPos);
psb->scale(btVector3(scale, scale, scale));
psb->setTotalMass(mass, true);
psb->getCollisionShape()->setMargin(collisionMargin);