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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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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+15
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@@ -8281,6 +8281,11 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
if (softWorld)
{
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)
{
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)
{
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.);
corotated_mu = deformable.m_corotatedCoefficients.mu;
corotated_lambda = deformable.m_corotatedCoefficients.lambda;