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modify loadSoftBody to enable separate render mesh from simulation mesh

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This commit is contained in:
Xuchen Han
2019-09-16 17:40:17 -07:00
committed by Xuchen Han
parent 1bc75cc833
commit f813cb1c88
1 changed files with 176 additions and 153 deletions
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47
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -7989,6 +7989,9 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
} }
{ {
btSoftBody* psb = NULL;
btScalar spring_elastic_stiffness, spring_damping_stiffness;
CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface()); CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
char relativeFileName[1024]; char relativeFileName[1024];
char pathPrefix[1024]; char pathPrefix[1024];
@@ -7997,20 +8000,38 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
{ {
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024); b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
} }
// add _sim.vtk postfix
char relativeSimFileName[1024];
char sim_file_ending[9] = "_sim.vtk";
strncpy(relativeSimFileName, relativeFileName, strlen(relativeFileName));
strncpy(relativeSimFileName + strlen(relativeFileName)-4, sim_file_ending, sizeof(sim_file_ending));
const std::string& error_message_prefix = ""; const std::string& error_message_prefix = "";
std::string out_found_filename; std::string out_found_filename;
int out_type=0; std::string out_found_sim_filename;
int out_type, out_sim_type;
bool render_mesh_is_sim_mesh = true;
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;
if (foundFile)
{
btScalar spring_elastic_stiffness, spring_damping_stiffness;
if (out_type == UrdfGeometry::FILE_OBJ) if (out_type == UrdfGeometry::FILE_OBJ)
{
bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeSimFileName, 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; std::vector<tinyobj::shape_t> shapes;
tinyobj::attrib_t attribute; tinyobj::attrib_t attribute;
std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO); std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO);
if (!shapes.empty()) if (!shapes.empty())
{ {
const tinyobj::shape_t& shape = shapes[0]; const tinyobj::shape_t& shape = shapes[0];
@@ -8039,10 +8060,10 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
} }
#endif #endif
} }
else if (out_type == UrdfGeometry::FILE_VTK) else if (out_sim_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_sim_filename.c_str());
btScalar corotated_mu, corotated_lambda; btScalar corotated_mu, corotated_lambda;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE) if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE)
{ {
@@ -8070,16 +8091,18 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
if (psb != NULL) if (psb != NULL)
{ {
#ifndef SKIP_DEFORMABLE_BODY #ifndef SKIP_DEFORMABLE_BODY
if (!render_mesh_is_sim_mesh)
{
// load render mesh
btSoftBodyHelpers::readRenderMeshFromObj(out_found_filename.c_str(), psb);
btSoftBodyHelpers::interpolateBarycentricWeights(psb);
}
btVector3 gravity = m_data->m_dynamicsWorld->getGravity(); btVector3 gravity = m_data->m_dynamicsWorld->getGravity();
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE) if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE)
{ {
m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity)); m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity));
} }
btScalar collision_hardness = 1; btScalar collision_hardness = 1;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_COLLISION_HARDNESS)
{
collision_hardness = loadSoftBodyArgs.m_collisionHardness;
}
psb->m_cfg.kKHR = collision_hardness; psb->m_cfg.kKHR = collision_hardness;
psb->m_cfg.kCHR = collision_hardness; psb->m_cfg.kCHR = collision_hardness;