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Merge pull request #3 from fuchuyuan/pathfix

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update example to use absolute path
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Xuchen Han 2019-10-31 15:15:38 -07:00 committed by GitHub
commit 457ed0e735
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1 changed files with 21 additions and 19 deletions
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40
examples/DeformableDemo/GraspDeformable.cpp
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@ -28,6 +28,7 @@
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h" #include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h" #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h" #include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../Utils/b3BulletDefaultFileIO.h"
#include "../CommonInterfaces/CommonMultiBodyBase.h" #include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "../CommonInterfaces/CommonGraphicsAppInterface.h" #include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "../CommonInterfaces/CommonParameterInterface.h" #include "../CommonInterfaces/CommonParameterInterface.h"
@ -270,25 +271,26 @@ void GraspDeformable::initPhysics()
} }
// create a soft block // create a soft block
if(1) if (1)
{ {
char relative_path[1024]; char absolute_path[1024];
// b3FileUtils::findFile("banana.vtk", relative_path, 1024); b3BulletDefaultFileIO fileio;
// b3FileUtils::findFile("ball.vtk", relative_path, 1024); fileio.findResourcePath("ditto.vtk", absolute_path, 1024);
// b3FileUtils::findFile("deformable_crumpled_napkin_sim.vtk", relative_path, 1024); // fileio.findResourcePath("banana.vtk", absolute_path, 1024);
// b3FileUtils::findFile("single_tet.vtk", relative_path, 1024); // fileio.findResourcePath("ball.vtk", absolute_path, 1024);
// b3FileUtils::findFile("tube.vtk", relative_path, 1024); // fileio.findResourcePath("deformable_crumpled_napkin_sim.vtk", absolute_path, 1024);
// b3FileUtils::findFile("torus.vtk", relative_path, 1024); // fileio.findResourcePath("single_tet.vtk", absolute_path, 1024);
// b3FileUtils::findFile("paper_roll.vtk", relative_path, 1024); // fileio.findResourcePath("tube.vtk", absolute_path, 1024);
// b3FileUtils::findFile("bread.vtk", relative_path, 1024); // fileio.findResourcePath("torus.vtk", absolute_path, 1024);
b3FileUtils::findFile("ditto.vtk", relative_path, 1024); // fileio.findResourcePath("paper_roll.vtk", absolute_path, 1024);
// b3FileUtils::findFile("boot.vtk", relative_path, 1024); // fileio.findResourcePath("bread.vtk", absolute_path, 1024);
// btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(), // fileio.findResourcePath("boot.vtk", absolute_path, 1024);
// TetraCube::getElements(), // btSoftBody* psb = btSoftBodyHelpers::CreateFromTetGenData(getDeformableDynamicsWorld()->getWorldInfo(),
// 0, // TetraCube::getElements(),
// TetraCube::getNodes(), // 0,
// false, true, true); // TetraCube::getNodes(),
btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), relative_path); // false, true, true);
btSoftBody* psb = btSoftBodyHelpers::CreateFromVtkFile(getDeformableDynamicsWorld()->getWorldInfo(), absolute_path);
// psb->scale(btVector3(30, 30, 30)); // for banana // psb->scale(btVector3(30, 30, 30)); // for banana
psb->scale(btVector3(.7, .7, .7)); psb->scale(btVector3(.7, .7, .7));