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Code Issues Releases Wiki Activity

allow createCollisionShape to load stl. Still, it is best to convert it to obj and use v-hacd for concave shapes.

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This commit is contained in:
Erwin Coumans 2020-04-20 20:59:32 -07:00
parent 01e8f363bf
commit 9cf93cebfd
2 changed files with 82 additions and 17 deletions
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92
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -4979,22 +4979,81 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
{
urdfColObj.m_geometry.m_meshFileType = out_type;
if (out_type == UrdfGeometry::FILE_STL)
if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags & GEOM_FORCE_CONCAVE_TRIMESH)
{
CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
glmesh = LoadMeshFromSTL(relativeFileName, fileIO);
}
if (out_type == UrdfGeometry::FILE_OBJ)
{
//create a convex hull for each shape, and store it in a btCompoundShape
CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
if (out_type == UrdfGeometry::FILE_STL)
{
CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
glmesh = LoadMeshFromSTL(relativeFileName, fileIO);
}
if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags & GEOM_FORCE_CONCAVE_TRIMESH)
if (out_type == UrdfGeometry::FILE_OBJ)
{
CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
glmesh = LoadMeshFromObj(relativeFileName, pathPrefix, fileIO);
}
else
if (glmesh)
{
if (compound == 0)
{
compound = worldImporter->createCompoundShape();
}
btTriangleMesh* meshInterface = new btTriangleMesh();
m_data->m_meshInterfaces.push_back(meshInterface);
for (int i = 0; i < glmesh->m_numIndices / 3; i++)
{
float* v0 = glmesh->m_vertices->at(glmesh->m_indices->at(i * 3)).xyzw;
float* v1 = glmesh->m_vertices->at(glmesh->m_indices->at(i * 3 + 1)).xyzw;
float* v2 = glmesh->m_vertices->at(glmesh->m_indices->at(i * 3 + 2)).xyzw;
meshInterface->addTriangle(
btVector3(v0[0], v0[1], v0[2])* meshScale,
btVector3(v1[0], v1[1], v1[2])* meshScale,
btVector3(v2[0], v2[1], v2[2])* meshScale);
}
btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface, true, true);
compound->addChildShape(childTransform, trimesh);
}
}
else
{
if (out_type == UrdfGeometry::FILE_STL)
{
CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
glmesh = LoadMeshFromSTL(relativeFileName, fileIO);
B3_PROFILE("createConvexHullFromShapes");
if (compound == 0)
{
compound = worldImporter->createCompoundShape();
}
btConvexHullShape* convexHull = worldImporter->createConvexHullShape();
convexHull->setMargin(m_data->m_defaultCollisionMargin);
for (int vv = 0; vv < glmesh->m_numvertices; vv++)
{
btVector3 pt(
glmesh->m_vertices->at(vv).xyzw[0],
glmesh->m_vertices->at(vv).xyzw[1],
glmesh->m_vertices->at(vv).xyzw[2]);
convexHull->addPoint(pt * meshScale, false);
}
if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags & GEOM_INITIALIZE_SAT_FEATURES)
{
convexHull->initializePolyhedralFeatures();
}
convexHull->recalcLocalAabb();
convexHull->optimizeConvexHull();
compound->addChildShape(childTransform, convexHull);
}
if (out_type == UrdfGeometry::FILE_OBJ)
{
//create a convex hull for each shape, and store it in a btCompoundShape
std::vector<tinyobj::shape_t> shapes;
tinyobj::attrib_t attribute;
std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO);
@ -5019,19 +5078,19 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
{
btVector3 pt;
pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 0],
attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 1],
attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 2]);
attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 1],
attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 2]);
convexHull->addPoint(pt * meshScale, false);
pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 0],
attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 1],
attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 2]);
attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 1],
attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 2]);
convexHull->addPoint(pt * meshScale, false);
pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 0],
attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 1],
attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 2]);
attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 1],
attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 2]);
convexHull->addPoint(pt * meshScale, false);
}
@ -5041,7 +5100,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
}
convexHull->recalcLocalAabb();
convexHull->optimizeConvexHull();
compound->addChildShape(childTransform, convexHull);
}
}
@ -5205,6 +5264,7 @@ static void gatherVertices(const btTransform& trans, const btCollisionShape* col
}
default:
{
printf("?\n");
}
}
}

7
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
View File

@ -444,7 +444,12 @@ static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPa
break;
}
case UrdfGeometry::FILE_STL:
glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str(), fileIO);
char relativeFileName[1024];
if (fileIO->findResourcePath(visual->m_geometry.m_meshFileName.c_str(), relativeFileName, 1024))
{
glmesh = LoadMeshFromSTL(relativeFileName, fileIO);
}
break;
case UrdfGeometry::FILE_COLLADA:
{