diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index ddb47954b..a1952169d 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -28,6 +28,7 @@ #include "../Importers/ImportURDFDemo/BulletUrdfImporter.h" #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h" #include "../Importers/ImportURDFDemo/URDF2Bullet.h" +#include "../Utils/b3BulletDefaultFileIO.h" #include "../CommonInterfaces/CommonMultiBodyBase.h" #include "../CommonInterfaces/CommonGraphicsAppInterface.h" #include "../CommonInterfaces/CommonParameterInterface.h" @@ -270,25 +271,26 @@ void GraspDeformable::initPhysics() } // create a soft block - if(1) - { - char relative_path[1024]; -// b3FileUtils::findFile("banana.vtk", relative_path, 1024); -// b3FileUtils::findFile("ball.vtk", relative_path, 1024); -// b3FileUtils::findFile("deformable_crumpled_napkin_sim.vtk", relative_path, 1024); -// b3FileUtils::findFile("single_tet.vtk", relative_path, 1024); -// b3FileUtils::findFile("tube.vtk", relative_path, 1024); -// b3FileUtils::findFile("torus.vtk", relative_path, 1024); -// b3FileUtils::findFile("paper_roll.vtk", relative_path, 1024); -// b3FileUtils::findFile("bread.vtk", relative_path, 1024); - b3FileUtils::findFile("ditto.vtk", relative_path, 1024); -// b3FileUtils::findFile("boot.vtk", relative_path, 1024); -// btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), -// TetraCube::getElements(), -// 0, -// TetraCube::getNodes(), -// false, true, true); - btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), relative_path); + if (1) + { + char absolute_path[1024]; + b3BulletDefaultFileIO fileio; + fileio.findResourcePath("ditto.vtk", absolute_path, 1024); + // fileio.findResourcePath("banana.vtk", absolute_path, 1024); + // fileio.findResourcePath("ball.vtk", absolute_path, 1024); + // fileio.findResourcePath("deformable_crumpled_napkin_sim.vtk", absolute_path, 1024); + // fileio.findResourcePath("single_tet.vtk", absolute_path, 1024); + // fileio.findResourcePath("tube.vtk", absolute_path, 1024); + // fileio.findResourcePath("torus.vtk", absolute_path, 1024); + // fileio.findResourcePath("paper_roll.vtk", absolute_path, 1024); + // fileio.findResourcePath("bread.vtk", absolute_path, 1024); + // fileio.findResourcePath("boot.vtk", absolute_path, 1024); + // btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), + // TetraCube::getElements(), + // 0, + // TetraCube::getNodes(), + // false, true, true); + btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), absolute_path); // psb->scale(btVector3(30, 30, 30)); // for banana psb->scale(btVector3(.7, .7, .7));