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add guard agaist non-manifold geometry in vtk files

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This commit is contained in:
Xuchen Han 2020-04-09 11:16:28 -07:00
parent 196d0645b1
commit 5498c575c8
2 changed files with 23 additions and 0 deletions
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15
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -8281,6 +8281,11 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
if (softWorld) if (softWorld)
{ {
psb = btSoftBodyHelpers::CreateFromTriMesh(softWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); psb = btSoftBodyHelpers::CreateFromTriMesh(softWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
if (!psb)
{
printf("Load deformable failed\n");
return false;
}
} }
} }
{ {
@ -8288,6 +8293,11 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
if (deformWorld) if (deformWorld)
{ {
psb = btSoftBodyHelpers::CreateFromTriMesh(deformWorld->getWorldInfo(), &vertices[0], &indices[0], numTris); psb = btSoftBodyHelpers::CreateFromTriMesh(deformWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
if (!psb)
{
printf("Load deformable failed\n");
return false;
}
} }
} }
} }
@ -8312,6 +8322,11 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
if (deformWorld) if (deformWorld)
{ {
psb = btSoftBodyHelpers::CreateFromVtkFile(deformWorld->getWorldInfo(), out_found_sim_filename.c_str()); psb = btSoftBodyHelpers::CreateFromVtkFile(deformWorld->getWorldInfo(), out_found_sim_filename.c_str());
if (!psb)
{
printf("Load deformable failed\n");
return false;
}
btScalar corotated_mu(0.), corotated_lambda(0.); btScalar corotated_mu(0.), corotated_lambda(0.);
corotated_mu = deformable.m_corotatedCoefficients.mu; corotated_mu = deformable.m_corotatedCoefficients.mu;
corotated_lambda = deformable.m_corotatedCoefficients.lambda; corotated_lambda = deformable.m_corotatedCoefficients.lambda;

8
src/BulletSoftBody/btSoftBodyHelpers.cpp
View File

@ -1300,6 +1300,14 @@ btSoftBody* btSoftBodyHelpers::CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo,
} }
else if (reading_tets) else if (reading_tets)
{ {
int d;
ss >> d;
if (d != 4)
{
printf("Load deformable failed: Only Tetrahedra are supported in VTK file.\n");
fs.close();
return 0;
}
ss.ignore(128, ' '); // ignore "4" ss.ignore(128, ' '); // ignore "4"
Index tet; Index tet;
tet.resize(4); tet.resize(4);