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Code Issues Releases Wiki Activity

load render mesh from command

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This commit is contained in:
Xuchen Han 2019-11-17 00:01:52 -08:00
parent f5400b40d2
commit 6c34c91ca7
4 changed files with 50 additions and 27 deletions
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18
examples/SharedMemory/PhysicsClientC_API.cpp
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@ -338,6 +338,24 @@ B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle
return 0;
}
B3_SHARED_API int b3LoadSoftBodyAddRenderMesh(b3SharedMemoryCommandHandle commandHandle, const char* filename)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
int len = strlen(filename);
if (len < MAX_FILENAME_LENGTH)
{
strcpy(command->m_loadSoftBodyArguments.m_renderFileName, filename);
}
else
{
command->m_loadSoftBodyArguments.m_renderFileName[0] = 0;
}
command->m_updateFlags |= LOAD_SOFT_BODY_RENDER_MESH;
return 0;
}
B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

3
examples/SharedMemory/PhysicsClientC_API.h
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@ -375,7 +375,6 @@ extern "C"
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand2(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API int b3InitResetSimulationSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
///Load a robot from a URDF file. Status type will CMD_URDF_LOADING_COMPLETED.
///Access the robot from the unique body index, through b3GetStatusBodyIndex(statusHandle);
B3_SHARED_API b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName);
@ -634,7 +633,9 @@ extern "C"
B3_SHARED_API int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin);
B3_SHARED_API int b3LoadSoftBodySetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX, double startPosY, double startPosZ);
B3_SHARED_API int b3LoadSoftBodySetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX, double startOrnY, double startOrnZ, double startOrnW);
B3_SHARED_API int b3LoadSoftBodyAddRenderMesh(b3SharedMemoryCommandHandle commandHandle, const char* filename);
B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda);
B3_SHARED_API int b3LoadSoftBodyAddCorotatedForce(b3SharedMemoryCommandHandle commandHandle, double corotatedMu, double corotatedLambda);
B3_SHARED_API int b3LoadSoftBodyAddNeoHookeanForce(b3SharedMemoryCommandHandle commandHandle, double NeoHookeanMu, double NeoHookeanLambda, double NeoHookeanDamping);
B3_SHARED_API int b3LoadSoftBodyAddMassSpringForce(b3SharedMemoryCommandHandle commandHandle, double springElasticStiffness , double springDampingStiffness);
B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ);

54
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -8087,29 +8087,14 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
const std::string& error_message_prefix = "";
std::string out_found_filename;
std::string out_found_sim_filename;
int out_type(0), out_sim_type(0);
bool render_mesh_is_sim_mesh = true;
int out_type(0);
bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
if (out_type == UrdfGeometry::FILE_OBJ)
{
foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, 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;
tinyobj::attrib_t attribute;
std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO);
std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO);
if (!shapes.empty())
{
const tinyobj::shape_t& shape = shapes[0];
@ -8158,13 +8143,13 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
}
#endif
}
else if (out_sim_type == UrdfGeometry::FILE_VTK)
else if (out_type == UrdfGeometry::FILE_VTK)
{
#ifndef SKIP_DEFORMABLE_BODY
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
if (deformWorld)
{
psb = btSoftBodyHelpers::CreateFromVtkFile(deformWorld->getWorldInfo(), out_found_sim_filename.c_str());
psb = btSoftBodyHelpers::CreateFromVtkFile(deformWorld->getWorldInfo(), out_found_filename.c_str());
btScalar corotated_mu, corotated_lambda;
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE)
{
@ -8193,6 +8178,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
deformWorld->addForce(psb, springForce);
m_data->m_lf.push_back(springForce);
}
}
#endif
}
@ -8201,15 +8187,31 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
{
#ifndef SKIP_DEFORMABLE_BODY
btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
bool foundRenderMesh = false;
if (deformWorld)
{
if (!render_mesh_is_sim_mesh)
{
// load render mesh
btSoftBodyHelpers::readRenderMeshFromObj(out_found_filename.c_str(), psb);
btSoftBodyHelpers::interpolateBarycentricWeights(psb);
}
else
if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_RENDER_MESH)
{
int out_render_type(0);
std::string out_found_render_filename;
char relativeRenderFileName[1024];
char pathRenderPrefix[1024];
pathRenderPrefix[0] = 0;
if (fileIO->findResourcePath(loadSoftBodyArgs.m_renderFileName, relativeRenderFileName, 1024))
{
b3FileUtils::extractPath(relativeRenderFileName, pathRenderPrefix, 1024);
}
foundRenderMesh = UrdfFindMeshFile(fileIO, pathRenderPrefix, relativeRenderFileName, error_message_prefix, &out_found_render_filename, &out_render_type);
// load render mesh
if (foundRenderMesh)
{
btSoftBodyHelpers::readRenderMeshFromObj(out_found_render_filename.c_str(), psb);
btSoftBodyHelpers::interpolateBarycentricWeights(psb);
}
}
if (!foundRenderMesh)
{
psb->m_renderNodes.resize(0);
}

2
examples/SharedMemory/SharedMemoryCommands.h
View File

@ -505,6 +505,7 @@ enum EnumLoadSoftBodyUpdateFlags
LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12,
LOAD_SOFT_BODY_USE_SELF_COLLISION = 1<<13,
LOAD_SOFT_BODY_USE_FACE_CONTACT = 1<<14,
LOAD_SOFT_BODY_RENDER_MESH = 1<<15,
};
enum EnumSimParamInternalSimFlags
@ -535,6 +536,7 @@ struct LoadSoftBodyArgs
double m_NeoHookeanLambda;
double m_NeoHookeanDamping;
int m_useFaceContact;
char m_renderFileName[MAX_FILENAME_LENGTH];
};
struct b3LoadSoftBodyResultArgs