From 36a2f306f638d6935bf53201c72214f75541330a Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Thu, 31 Oct 2019 14:31:51 -0700 Subject: [PATCH 1/2] update example to use absolute path --- examples/DeformableDemo/GraspDeformable.cpp | 40 +++++++++++---------- 1 file changed, 21 insertions(+), 19 deletions(-) diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index ddb47954b..d96394435 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) + { + // 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); + char absolute_path[1024]; + b3BulletDefaultFileIO fileio; + fileio.findResourcePath("ditto.vtk", absolute_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(), absolute_path); // psb->scale(btVector3(30, 30, 30)); // for banana psb->scale(btVector3(.7, .7, .7)); From 7f310e6124b1152cc3e3e6e7b3350df9e4b50eb1 Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Thu, 31 Oct 2019 15:07:10 -0700 Subject: [PATCH 2/2] make consistent for other models --- examples/DeformableDemo/GraspDeformable.cpp | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/examples/DeformableDemo/GraspDeformable.cpp b/examples/DeformableDemo/GraspDeformable.cpp index d96394435..a1952169d 100644 --- a/examples/DeformableDemo/GraspDeformable.cpp +++ b/examples/DeformableDemo/GraspDeformable.cpp @@ -273,18 +273,18 @@ void GraspDeformable::initPhysics() // create a soft block if (1) { - // 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); char absolute_path[1024]; b3BulletDefaultFileIO fileio; fileio.findResourcePath("ditto.vtk", absolute_path, 1024); - // b3FileUtils::findFile("boot.vtk", relative_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,