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format files
This commit is contained in:
Chuyuan Kelly Fu
@@ -29,236 +29,233 @@
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class LoadDeformed : public CommonDeformableBodyBase
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{
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int steps;
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btSoftBody* psb;
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char filename;
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int reset_frame;
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float sim_time;
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int steps;
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btSoftBody* psb;
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char filename;
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int reset_frame;
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float sim_time;
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public:
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LoadDeformed(struct GUIHelperInterface* helper)
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: CommonDeformableBodyBase(helper)
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{
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steps = 0;
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psb = nullptr;
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reset_frame = 0;
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sim_time=0;
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}
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virtual ~LoadDeformed()
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{
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}
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void initPhysics();
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LoadDeformed(struct GUIHelperInterface* helper)
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: CommonDeformableBodyBase(helper)
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{
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steps = 0;
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psb = nullptr;
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reset_frame = 0;
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sim_time = 0;
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}
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virtual ~LoadDeformed()
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{
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}
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void initPhysics();
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void exitPhysics();
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void exitPhysics();
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void resetCamera()
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{
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float dist = 2;
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float pitch = -45;
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float yaw = 100;
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float targetPos[3] = {0, 0, 0};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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void stepSimulation(float deltaTime)
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{
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steps ++;
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sim_time+=deltaTime;
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//// int seconds = 1/deltaTime;
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if(0){
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// if (reset_frame==0 && steps<100){
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//// printf("steps %d, seconds %d, steps/seconds %d\n", steps,seconds,steps/seconds);
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char filename[100];
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sprintf(filename, "%s_%d_%d.txt", "states", reset_frame, steps);
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btSoftBodyHelpers::writeState(filename, psb);
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}
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if(sim_time+reset_frame*0.05>=5) exit(0);
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float internalTimeStep = 1. / 240.f;
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// float internalTimeStep = 0.1f;
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m_dynamicsWorld->stepSimulation(deltaTime, deltaTime/internalTimeStep, internalTimeStep);
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}
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void addCloth(const btVector3& origin);
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virtual void renderScene()
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{
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CommonDeformableBodyBase::renderScene();
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btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
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for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
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{
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btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
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{
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btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
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btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
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}
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}
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}
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void resetCamera()
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{
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float dist = 2;
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float pitch = -45;
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float yaw = 100;
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float targetPos[3] = {0, 0, 0};
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m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
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}
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void stepSimulation(float deltaTime)
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{
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steps++;
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sim_time += deltaTime;
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//// int seconds = 1/deltaTime;
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if (0)
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{
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// if (reset_frame==0 && steps<100){
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//// printf("steps %d, seconds %d, steps/seconds %d\n", steps,seconds,steps/seconds);
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char filename[100];
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sprintf(filename, "%s_%d_%d.txt", "states", reset_frame, steps);
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btSoftBodyHelpers::writeState(filename, psb);
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}
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if (sim_time + reset_frame * 0.05 >= 5) exit(0);
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float internalTimeStep = 1. / 240.f;
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// float internalTimeStep = 0.1f;
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m_dynamicsWorld->stepSimulation(deltaTime, deltaTime / internalTimeStep, internalTimeStep);
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}
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void addCloth(const btVector3& origin);
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virtual void renderScene()
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{
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CommonDeformableBodyBase::renderScene();
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btDeformableMultiBodyDynamicsWorld* deformableWorld = getDeformableDynamicsWorld();
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for (int i = 0; i < deformableWorld->getSoftBodyArray().size(); i++)
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{
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btSoftBody* psb = (btSoftBody*)deformableWorld->getSoftBodyArray()[i];
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{
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btSoftBodyHelpers::DrawFrame(psb, deformableWorld->getDebugDrawer());
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btSoftBodyHelpers::Draw(psb, deformableWorld->getDebugDrawer(), deformableWorld->getDrawFlags());
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}
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}
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}
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};
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void LoadDeformed::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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m_guiHelper->setUpAxis(1);
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
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///collision configuration contains default setup for memory, collision setup
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m_collisionConfiguration = new btSoftBodyRigidBodyCollisionConfiguration();
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
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m_broadphase = new btDbvtBroadphase();
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btDeformableBodySolver* deformableBodySolver = new btDeformableBodySolver();
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btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
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sol->setDeformableSolver(deformableBodySolver);
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m_solver = sol;
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btDeformableMultiBodyConstraintSolver* sol = new btDeformableMultiBodyConstraintSolver();
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sol->setDeformableSolver(deformableBodySolver);
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m_solver = sol;
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m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
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btVector3 gravity = btVector3(0, -9.8, 0);
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m_dynamicsWorld->setGravity(gravity);
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getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
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getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
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m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, sol, m_collisionConfiguration, deformableBodySolver);
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btVector3 gravity = btVector3(0, -9.8, 0);
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m_dynamicsWorld->setGravity(gravity);
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getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
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getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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{
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///create a ground
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(2.5), btScalar(150.)));
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groundShape->setMargin(0.02);
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0, -3.5, 0));
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groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass, localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setFriction(4);
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//add the ground to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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}
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addCloth(btVector3(0, 1, 0));
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getDeformableDynamicsWorld()->setImplicit(false);
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getDeformableDynamicsWorld()->setLineSearch(false);
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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{
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///create a ground
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(150.), btScalar(2.5), btScalar(150.)));
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groundShape->setMargin(0.02);
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0, -3.5, 0));
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groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0, 0, 0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass, localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass, myMotionState, groundShape, localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setFriction(4);
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//add the ground to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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}
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addCloth(btVector3(0, 1, 0));
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getDeformableDynamicsWorld()->setImplicit(false);
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getDeformableDynamicsWorld()->setLineSearch(false);
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void LoadDeformed::addCloth(const btVector3& origin)
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// create a piece of cloth
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{
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const btScalar s = 0.6;
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const btScalar h = 0;
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psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -2*s),
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btVector3(+s, h, -2*s),
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btVector3(-s, h, +2*s),
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btVector3(+s, h, +2*s),
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15,30,
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0, true, 0.0);
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psb->getCollisionShape()->setMargin(0.02);
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psb->generateBendingConstraints(2);
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psb->setTotalMass(.5);
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psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
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psb->m_cfg.kCHR = 1; // collision hardness with rigid body
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psb->m_cfg.kDF = 0.1;
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psb->rotate(btQuaternion(0, SIMD_PI / 2, 0));
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btTransform clothTransform;
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clothTransform.setIdentity();
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clothTransform.setOrigin(btVector3(0,0.2,0)+origin);
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psb->transform(clothTransform);
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b3BulletDefaultFileIO fileio;
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char absolute_path[1024];
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char filename[100];
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sprintf(filename, "/Users/fuchuyuan/Documents/mybullet/build_cmake/examples/ExampleBrowser/states_0_%d.txt", reset_frame);
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fileio.findResourcePath(filename, absolute_path, 1024);
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btAlignedObjectArray<btVector3> qs;
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btAlignedObjectArray<btVector3> vs;
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btSoftBodyHelpers:: loadDeformableState(qs, vs, absolute_path, &fileio);
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if(reset_frame>0)
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psb->updateState(qs,vs);
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psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
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psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
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psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
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// psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
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psb->setCollisionFlags(0);
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psb->setCacheBarycenter(true);
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getDeformableDynamicsWorld()->addSoftBody(psb);
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psb->setSelfCollision(false);
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btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2,0.2, true);
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psb->setSpringStiffness(4);
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getDeformableDynamicsWorld()->addForce(psb, mass_spring);
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m_forces.push_back(mass_spring);
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btVector3 gravity = btVector3(0, -9.8, 0);
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btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
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getDeformableDynamicsWorld()->addForce(psb, gravity_force);
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// getDeformableDynamicsWorld()->setUseProjection(true);
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m_forces.push_back(gravity_force);
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const btScalar s = 0.6;
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const btScalar h = 0;
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psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -2 * s),
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btVector3(+s, h, -2 * s),
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btVector3(-s, h, +2 * s),
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btVector3(+s, h, +2 * s),
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15, 30,
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0, true, 0.0);
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psb->getCollisionShape()->setMargin(0.02);
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psb->generateBendingConstraints(2);
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psb->setTotalMass(.5);
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psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
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psb->m_cfg.kCHR = 1; // collision hardness with rigid body
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psb->m_cfg.kDF = 0.1;
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psb->rotate(btQuaternion(0, SIMD_PI / 2, 0));
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btTransform clothTransform;
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clothTransform.setIdentity();
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clothTransform.setOrigin(btVector3(0, 0.2, 0) + origin);
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psb->transform(clothTransform);
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b3BulletDefaultFileIO fileio;
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char absolute_path[1024];
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char filename[100];
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sprintf(filename, "/Users/fuchuyuan/Documents/mybullet/build_cmake/examples/ExampleBrowser/states_0_%d.txt", reset_frame);
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fileio.findResourcePath(filename, absolute_path, 1024);
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btAlignedObjectArray<btVector3> qs;
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btAlignedObjectArray<btVector3> vs;
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btSoftBodyHelpers::loadDeformableState(qs, vs, absolute_path, &fileio);
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if (reset_frame > 0)
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psb->updateState(qs, vs);
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psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
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psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
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psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
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// psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDN;
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psb->setCollisionFlags(0);
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psb->setCacheBarycenter(true);
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getDeformableDynamicsWorld()->addSoftBody(psb);
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psb->setSelfCollision(false);
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btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(2, 0.2, true);
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psb->setSpringStiffness(4);
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getDeformableDynamicsWorld()->addForce(psb, mass_spring);
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m_forces.push_back(mass_spring);
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btVector3 gravity = btVector3(0, -9.8, 0);
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btDeformableGravityForce* gravity_force = new btDeformableGravityForce(gravity);
|
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getDeformableDynamicsWorld()->addForce(psb, gravity_force);
|
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// getDeformableDynamicsWorld()->setUseProjection(true);
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m_forces.push_back(gravity_force);
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}
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void LoadDeformed::exitPhysics()
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{
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//cleanup in the reverse order of creation/initialization
|
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removePickingConstraint();
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//remove the rigidbodies from the dynamics world and delete them
|
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int i;
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||||
for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
if (body && body->getMotionState())
|
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{
|
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delete body->getMotionState();
|
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}
|
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m_dynamicsWorld->removeCollisionObject(obj);
|
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delete obj;
|
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}
|
||||
// delete forces
|
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for (int j = 0; j < m_forces.size(); j++)
|
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{
|
||||
btDeformableLagrangianForce* force = m_forces[j];
|
||||
delete force;
|
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}
|
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m_forces.clear();
|
||||
|
||||
//delete collision shapes
|
||||
for (int j = 0; j < m_collisionShapes.size(); j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
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delete shape;
|
||||
}
|
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m_collisionShapes.clear();
|
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//cleanup in the reverse order of creation/initialization
|
||||
removePickingConstraint();
|
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//remove the rigidbodies from the dynamics world and delete them
|
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int i;
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for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
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delete body->getMotionState();
|
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}
|
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m_dynamicsWorld->removeCollisionObject(obj);
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delete obj;
|
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}
|
||||
// delete forces
|
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for (int j = 0; j < m_forces.size(); j++)
|
||||
{
|
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btDeformableLagrangianForce* force = m_forces[j];
|
||||
delete force;
|
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}
|
||||
m_forces.clear();
|
||||
|
||||
delete m_dynamicsWorld;
|
||||
//delete collision shapes
|
||||
for (int j = 0; j < m_collisionShapes.size(); j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
delete shape;
|
||||
}
|
||||
m_collisionShapes.clear();
|
||||
|
||||
delete m_solver;
|
||||
delete m_dynamicsWorld;
|
||||
|
||||
delete m_broadphase;
|
||||
delete m_solver;
|
||||
|
||||
delete m_dispatcher;
|
||||
delete m_broadphase;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
}
|
||||
|
||||
|
||||
|
||||
class CommonExampleInterface* LoadDeformedCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new LoadDeformed(options.m_guiHelper);
|
||||
return new LoadDeformed(options.m_guiHelper);
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -1483,18 +1483,19 @@ void btSoftBody::randomizeConstraints()
|
||||
#undef NEXTRAND
|
||||
}
|
||||
|
||||
|
||||
void btSoftBody::updateState(const btAlignedObjectArray<btVector3>& q, const btAlignedObjectArray<btVector3>& v){
|
||||
int node_count =m_nodes.size();
|
||||
btAssert(node_count == q.size());
|
||||
btAssert(node_count == v.size());
|
||||
for (int i = 0; i<node_count; i++){
|
||||
Node& n = m_nodes[i];
|
||||
n.m_x = q[i];
|
||||
n.m_q = q[i];
|
||||
n.m_v = v[i];
|
||||
n.m_vn = v[i];
|
||||
}
|
||||
void btSoftBody::updateState(const btAlignedObjectArray<btVector3>& q, const btAlignedObjectArray<btVector3>& v)
|
||||
{
|
||||
int node_count = m_nodes.size();
|
||||
btAssert(node_count == q.size());
|
||||
btAssert(node_count == v.size());
|
||||
for (int i = 0; i < node_count; i++)
|
||||
{
|
||||
Node& n = m_nodes[i];
|
||||
n.m_x = q[i];
|
||||
n.m_q = q[i];
|
||||
n.m_v = v[i];
|
||||
n.m_vn = v[i];
|
||||
}
|
||||
}
|
||||
|
||||
//
|
||||
@@ -2835,7 +2836,7 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
|
||||
btScalar dst;
|
||||
btGjkEpaSolver2::sResults results;
|
||||
|
||||
// #define USE_QUADRATURE 1
|
||||
// #define USE_QUADRATURE 1
|
||||
|
||||
// use collision quadrature point
|
||||
#ifdef USE_QUADRATURE
|
||||
|
||||
@@ -298,7 +298,7 @@ public:
|
||||
};
|
||||
struct RenderFace
|
||||
{
|
||||
RenderNode* m_n[3]; // Node pointers
|
||||
RenderNode* m_n[3]; // Node pointers
|
||||
};
|
||||
|
||||
/* Face */
|
||||
@@ -786,7 +786,7 @@ public:
|
||||
typedef btAlignedObjectArray<Cluster*> tClusterArray;
|
||||
typedef btAlignedObjectArray<Note> tNoteArray;
|
||||
typedef btAlignedObjectArray<Node> tNodeArray;
|
||||
typedef btAlignedObjectArray< RenderNode> tRenderNodeArray;
|
||||
typedef btAlignedObjectArray<RenderNode> tRenderNodeArray;
|
||||
typedef btAlignedObjectArray<btDbvtNode*> tLeafArray;
|
||||
typedef btAlignedObjectArray<Link> tLinkArray;
|
||||
typedef btAlignedObjectArray<Face> tFaceArray;
|
||||
@@ -813,7 +813,7 @@ public:
|
||||
tRenderNodeArray m_renderNodes; // Render Nodes
|
||||
tLinkArray m_links; // Links
|
||||
tFaceArray m_faces; // Faces
|
||||
tRenderFaceArray m_renderFaces; // Faces
|
||||
tRenderFaceArray m_renderFaces; // Faces
|
||||
tTetraArray m_tetras; // Tetras
|
||||
btAlignedObjectArray<TetraScratch> m_tetraScratches;
|
||||
btAlignedObjectArray<TetraScratch> m_tetraScratchesTn;
|
||||
@@ -1051,9 +1051,9 @@ public:
|
||||
Material* mat = 0);
|
||||
/* Randomize constraints to reduce solver bias */
|
||||
void randomizeConstraints();
|
||||
|
||||
void updateState(const btAlignedObjectArray<btVector3>& qs, const btAlignedObjectArray<btVector3>& vs);
|
||||
|
||||
|
||||
void updateState(const btAlignedObjectArray<btVector3>& qs, const btAlignedObjectArray<btVector3>& vs);
|
||||
|
||||
/* Release clusters */
|
||||
void releaseCluster(int index);
|
||||
void releaseClusters();
|
||||
|
||||
@@ -1489,168 +1489,166 @@ void btSoftBodyHelpers::writeObj(const char* filename, const btSoftBody* psb)
|
||||
|
||||
static inline bool isSpace(const char c)
|
||||
{
|
||||
return (c == ' ') || (c == '\t');
|
||||
return (c == ' ') || (c == '\t');
|
||||
}
|
||||
static inline bool isNewLine(const char c)
|
||||
{
|
||||
return (c == '\r') || (c == '\n') || (c == '\0');
|
||||
return (c == '\r') || (c == '\n') || (c == '\0');
|
||||
}
|
||||
static inline float parseFloat(const char*& token)
|
||||
{
|
||||
token += strspn(token, " \t");
|
||||
float f = (float)atof(token);
|
||||
token += strcspn(token, " \t\r");
|
||||
return f;
|
||||
token += strspn(token, " \t");
|
||||
float f = (float)atof(token);
|
||||
token += strcspn(token, " \t\r");
|
||||
return f;
|
||||
}
|
||||
static inline void parseFloat3(
|
||||
float& x, float& y, float& z,
|
||||
const char*& token)
|
||||
float& x, float& y, float& z,
|
||||
const char*& token)
|
||||
{
|
||||
x = parseFloat(token);
|
||||
y = parseFloat(token);
|
||||
z = parseFloat(token);
|
||||
x = parseFloat(token);
|
||||
y = parseFloat(token);
|
||||
z = parseFloat(token);
|
||||
}
|
||||
|
||||
void btSoftBodyHelpers::writeState(const char* file, const btSoftBody* psb)
|
||||
{
|
||||
std::ofstream fs;
|
||||
fs.open(file);
|
||||
btAssert(fs);
|
||||
fs << std::scientific << std::setprecision(16);
|
||||
|
||||
void btSoftBodyHelpers:: writeState(const char* file, const btSoftBody* psb){
|
||||
std::ofstream fs;
|
||||
fs.open(file);
|
||||
btAssert(fs);
|
||||
fs<< std::scientific<<std::setprecision(16);
|
||||
// Only write out for trimesh, directly write out all the nodes and faces.xs
|
||||
for (int i = 0; i < psb->m_nodes.size(); ++i)
|
||||
{
|
||||
fs << "q";
|
||||
for (int d = 0; d < 3; d++)
|
||||
{
|
||||
fs << " " << psb->m_nodes[i].m_q[d];
|
||||
}
|
||||
fs << "\n";
|
||||
}
|
||||
|
||||
// Only write out for trimesh, directly write out all the nodes and faces.xs
|
||||
for (int i = 0; i < psb->m_nodes.size(); ++i)
|
||||
{
|
||||
fs << "q";
|
||||
for (int d = 0; d < 3; d++)
|
||||
{
|
||||
fs << " " << psb->m_nodes[i].m_q[d];
|
||||
}
|
||||
fs << "\n";
|
||||
}
|
||||
|
||||
for (int i = 0; i < psb->m_nodes.size(); ++i)
|
||||
{
|
||||
fs << "v";
|
||||
for (int d = 0; d < 3; d++)
|
||||
{
|
||||
fs << " " << psb->m_nodes[i].m_v[d];
|
||||
}
|
||||
fs << "\n";
|
||||
}
|
||||
fs.close();
|
||||
for (int i = 0; i < psb->m_nodes.size(); ++i)
|
||||
{
|
||||
fs << "v";
|
||||
for (int d = 0; d < 3; d++)
|
||||
{
|
||||
fs << " " << psb->m_nodes[i].m_v[d];
|
||||
}
|
||||
fs << "\n";
|
||||
}
|
||||
fs.close();
|
||||
}
|
||||
|
||||
std::string btSoftBodyHelpers::loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO)
|
||||
{
|
||||
{
|
||||
qs.clear();
|
||||
vs.clear();
|
||||
std::string tmp = filename;
|
||||
std::stringstream err;
|
||||
#ifdef USE_STREAM
|
||||
std::ifstream ifs(filename);
|
||||
if (!ifs)
|
||||
{
|
||||
err << "Cannot open file [" << filename << "]" << std::endl;
|
||||
return err.str();
|
||||
}
|
||||
#else
|
||||
int fileHandle = fileIO->fileOpen(filename, "r");
|
||||
if (fileHandle < 0)
|
||||
{
|
||||
err << "Cannot open file [" << filename << "]" << std::endl;
|
||||
return err.str();
|
||||
}
|
||||
#endif
|
||||
|
||||
std::string btSoftBodyHelpers:: loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO){
|
||||
{
|
||||
qs.clear();
|
||||
vs.clear();
|
||||
std::string tmp = filename;
|
||||
std::stringstream err;
|
||||
#ifdef USE_STREAM
|
||||
std::ifstream ifs(filename);
|
||||
if (!ifs)
|
||||
{
|
||||
err << "Cannot open file [" << filename << "]" << std::endl;
|
||||
return err.str();
|
||||
}
|
||||
#else
|
||||
int fileHandle = fileIO->fileOpen(filename, "r");
|
||||
if (fileHandle < 0)
|
||||
{
|
||||
err << "Cannot open file [" << filename << "]" << std::endl;
|
||||
return err.str();
|
||||
}
|
||||
#endif
|
||||
std::string name;
|
||||
|
||||
std::string name;
|
||||
int maxchars = 8192; // Alloc enough size.
|
||||
std::vector<char> buf(maxchars); // Alloc enough size.
|
||||
std::string linebuf;
|
||||
linebuf.reserve(maxchars);
|
||||
|
||||
#ifdef USE_STREAM
|
||||
while (ifs.peek() != -1)
|
||||
#else
|
||||
char* line = 0;
|
||||
do
|
||||
#endif
|
||||
{
|
||||
linebuf.resize(0);
|
||||
#ifdef USE_STREAM
|
||||
safeGetline(ifs, linebuf);
|
||||
#else
|
||||
char tmpBuf[1024];
|
||||
line = fileIO->readLine(fileHandle, tmpBuf, 1024);
|
||||
if (line)
|
||||
{
|
||||
linebuf = line;
|
||||
}
|
||||
#endif
|
||||
// Trim newline '\r\n' or '\r'
|
||||
if (linebuf.size() > 0)
|
||||
{
|
||||
if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
|
||||
}
|
||||
if (linebuf.size() > 0)
|
||||
{
|
||||
if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
|
||||
}
|
||||
|
||||
int maxchars = 8192; // Alloc enough size.
|
||||
std::vector<char> buf(maxchars); // Alloc enough size.
|
||||
std::string linebuf;
|
||||
linebuf.reserve(maxchars);
|
||||
// Skip if empty line.
|
||||
if (linebuf.empty())
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
||||
#ifdef USE_STREAM
|
||||
while (ifs.peek() != -1)
|
||||
#else
|
||||
char* line = 0;
|
||||
do
|
||||
#endif
|
||||
{
|
||||
linebuf.resize(0);
|
||||
#ifdef USE_STREAM
|
||||
safeGetline(ifs, linebuf);
|
||||
#else
|
||||
char tmpBuf[1024];
|
||||
line = fileIO->readLine(fileHandle, tmpBuf, 1024);
|
||||
if (line)
|
||||
{
|
||||
linebuf = line;
|
||||
}
|
||||
#endif
|
||||
// Trim newline '\r\n' or '\r'
|
||||
if (linebuf.size() > 0)
|
||||
{
|
||||
if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
|
||||
}
|
||||
if (linebuf.size() > 0)
|
||||
{
|
||||
if (linebuf[linebuf.size() - 1] == '\n') linebuf.erase(linebuf.size() - 1);
|
||||
}
|
||||
// Skip leading space.
|
||||
const char* token = linebuf.c_str();
|
||||
token += strspn(token, " \t");
|
||||
|
||||
// Skip if empty line.
|
||||
if (linebuf.empty())
|
||||
{
|
||||
continue;
|
||||
}
|
||||
assert(token);
|
||||
if (token[0] == '\0') continue; // empty line
|
||||
|
||||
// Skip leading space.
|
||||
const char* token = linebuf.c_str();
|
||||
token += strspn(token, " \t");
|
||||
if (token[0] == '#') continue; // comment line
|
||||
|
||||
assert(token);
|
||||
if (token[0] == '\0') continue; // empty line
|
||||
// q
|
||||
if (token[0] == 'q' && isSpace((token[1])))
|
||||
{
|
||||
token += 2;
|
||||
float x, y, z;
|
||||
parseFloat3(x, y, z, token);
|
||||
qs.push_back(btVector3(x, y, z));
|
||||
continue;
|
||||
}
|
||||
|
||||
if (token[0] == '#') continue; // comment line
|
||||
// v
|
||||
if (token[0] == 'v' && isSpace((token[1])))
|
||||
{
|
||||
token += 3;
|
||||
float x, y, z;
|
||||
parseFloat3(x, y, z, token);
|
||||
vs.push_back(btVector3(x, y, z));
|
||||
continue;
|
||||
}
|
||||
|
||||
// q
|
||||
if (token[0] == 'q' && isSpace((token[1])))
|
||||
{
|
||||
token += 2;
|
||||
float x, y, z;
|
||||
parseFloat3(x, y, z, token);
|
||||
qs.push_back(btVector3(x,y,z));
|
||||
continue;
|
||||
}
|
||||
// Ignore unknown command.
|
||||
}
|
||||
#ifndef USE_STREAM
|
||||
while (line)
|
||||
;
|
||||
#endif
|
||||
|
||||
// v
|
||||
if (token[0] == 'v' && isSpace((token[1])))
|
||||
{
|
||||
token += 3;
|
||||
float x, y, z;
|
||||
parseFloat3(x, y, z, token);
|
||||
vs.push_back(btVector3(x,y,z));
|
||||
continue;
|
||||
}
|
||||
|
||||
// Ignore unknown command.
|
||||
}
|
||||
#ifndef USE_STREAM
|
||||
while (line)
|
||||
;
|
||||
#endif
|
||||
|
||||
if (fileHandle >= 0)
|
||||
{
|
||||
fileIO->fileClose(fileHandle);
|
||||
}
|
||||
return err.str();
|
||||
}
|
||||
if (fileHandle >= 0)
|
||||
{
|
||||
fileIO->fileClose(fileHandle);
|
||||
}
|
||||
return err.str();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void btSoftBodyHelpers::duplicateFaces(const char* filename, const btSoftBody* psb)
|
||||
{
|
||||
std::ifstream fs_read;
|
||||
|
||||
@@ -146,10 +146,10 @@ struct btSoftBodyHelpers
|
||||
static btSoftBody* CreateFromVtkFile(btSoftBodyWorldInfo& worldInfo, const char* vtk_file);
|
||||
|
||||
static void writeObj(const char* file, const btSoftBody* psb);
|
||||
|
||||
static void writeState(const char* file, const btSoftBody* psb);
|
||||
|
||||
static std::string loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO);
|
||||
|
||||
static void writeState(const char* file, const btSoftBody* psb);
|
||||
|
||||
static std::string loadDeformableState(btAlignedObjectArray<btVector3>& qs, btAlignedObjectArray<btVector3>& vs, const char* filename, CommonFileIOInterface* fileIO);
|
||||
|
||||
static void getBarycentricWeights(const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, const btVector3& p, btVector4& bary);
|
||||
|
||||
|
||||
Reference in New Issue
Block a user