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clean up the binary files loader, so that it can work with files without the non-rigid modes

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This commit is contained in:
jingyuc
2021-11-14 02:17:22 -05:00
parent c2072b5538
commit 676221fb3e
6 changed files with 30 additions and 71 deletions
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1
.gitignore vendored
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@@ -40,4 +40,3 @@ CTestTestFile.cmake
.vscode/
.idea/
cmake-build-debug/
examples/pybullet/gym/pybullet.cpython-37m-darwin.so

2
examples/ReducedDeformableDemo/ConservationTest.cpp
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@@ -30,7 +30,7 @@
static btScalar damping_alpha = 0.0;
static btScalar damping_beta = 0.0;
static int start_mode = 6;
static int num_modes = 78;
static int num_modes = 20;
class ConservationTest : public CommonDeformableBodyBase
{

2
examples/ReducedDeformableDemo/ModeVisualizer.cpp
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@@ -28,7 +28,7 @@
static int start_mode = 6;
static int num_modes = 78;
static int num_modes = 20;
static btScalar visualize_mode = 0;
static btScalar frequency_scale = 1;

6
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp
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@@ -66,9 +66,9 @@ void btReducedSoftBody::setMassProps(const tDenseArray& mass_array)
btScalar total_mass = 0;
for (int i = 0; i < m_nFull; ++i)
{
m_nodalMass[i] = m_rhoScale * mass_array[3 * i];
m_nodes[i].m_im = mass_array[3 * i] > 0 ? 1.0 / (m_rhoScale * mass_array[3 * i]) : 0;
total_mass += m_rhoScale * mass_array[3 * i];
m_nodalMass[i] = m_rhoScale * mass_array[i];
m_nodes[i].m_im = mass_array[i] > 0 ? 1.0 / (m_rhoScale * mass_array[i]) : 0;
total_mass += m_rhoScale * mass_array[i];
}
// total rigid body mass
m_mass = total_mass;

82
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.cpp
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@@ -155,21 +155,21 @@ void btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(btReducedSoftB
{
// read in eigenmodes, stiffness and mass matrices
std::string eigenvalues_file = std::string(file_path) + "eigenvalues.bin";
btReducedSoftBodyHelpers::readBinary(rsb->m_eigenvalues, rsb->m_startMode, rsb->m_nReduced, 3 * rsb->m_nFull, eigenvalues_file.c_str());
btReducedSoftBodyHelpers::readBinaryVec(rsb->m_eigenvalues, rsb->m_nReduced, eigenvalues_file.c_str());
std::string Kr_file = std::string(file_path) + "K_r_diag_mat.bin";
btReducedSoftBodyHelpers::readBinary(rsb->m_Kr, rsb->m_startMode, rsb->m_nReduced, 3 * rsb->m_nFull, Kr_file.c_str());
btReducedSoftBodyHelpers::readBinaryVec(rsb->m_Kr, rsb->m_nReduced, Kr_file.c_str());
std::string Mr_file = std::string(file_path) + "M_r_diag_mat.bin";
btReducedSoftBodyHelpers::readBinary(rsb->m_Mr, rsb->m_startMode, rsb->m_nReduced, 3 * rsb->m_nFull, Mr_file.c_str());
btReducedSoftBodyHelpers::readBinaryVec(rsb->m_Mr, rsb->m_nReduced, Mr_file.c_str());
std::string modes_file = std::string(file_path) + "modes.bin";
btReducedSoftBodyHelpers::readBinaryModes(rsb->m_modes, rsb->m_startMode, rsb->m_nReduced, 3 * rsb->m_nFull, modes_file.c_str()); // default to 3D
btReducedSoftBodyHelpers::readBinaryMat(rsb->m_modes, rsb->m_nReduced, 3 * rsb->m_nFull, modes_file.c_str());
// read in full nodal mass
std::string M_file = std::string(file_path) + "M_diag_mat.bin";
btAlignedObjectArray<btScalar> mass_array;
btReducedSoftBodyHelpers::readBinary(mass_array, 0, 3 * rsb->m_nFull, 3 * rsb->m_nFull, M_file.c_str());
btReducedSoftBodyHelpers::readBinaryVec(mass_array, rsb->m_nFull, M_file.c_str());
rsb->setMassProps(mass_array);
// calculate the inertia tensor in the local frame
@@ -183,90 +183,52 @@ void btReducedSoftBodyHelpers::readReducedDeformableInfoFromFiles(btReducedSoftB
rsb->internalInitialization();
}
// read in binary files
void btReducedSoftBodyHelpers::readBinary(btReducedSoftBody::tDenseArray& vec,
const unsigned int n_start, // starting index
const unsigned int n_modes, // #entries read
const unsigned int n_full, // array size
const char* file)
// read in a vector from the binary file
void btReducedSoftBodyHelpers::readBinaryVec(btReducedSoftBody::tDenseArray& vec,
const unsigned int n_size, // #entries read
const char* file)
{
std::ifstream f_in(file, std::ios::in | std::ios::binary);
// first get size
unsigned int size;
f_in.read((char*)&size, sizeof(uint32_t));
// btAssert(size == n_full); //TODO: check here
btAssert(size >= n_size); // make sure the #requested mode is smaller than the #available modes
// read data
vec.resize(n_modes);
vec.resize(n_size);
double temp;
for (unsigned int i = 0; i < n_start + n_modes; ++i)
for (unsigned int i = 0; i < n_size; ++i)
{
f_in.read((char*)&temp, sizeof(double));
if (i >= n_start)
vec[i - n_start] = btScalar(temp);
vec[i] = btScalar(temp);
}
f_in.close();
}
// read in a matrix from the binary file
void btReducedSoftBodyHelpers::readBinaryMat(btReducedSoftBody::tDenseMatrix& mat,
const unsigned int n_start, // starting mode index
const unsigned int n_modes, // #modes, outer array size
const unsigned int n_full, // inner array size
const char* file)
const unsigned int n_modes, // #modes, outer array size
const unsigned int n_full, // inner array size
const char* file)
{
std::ifstream f_in(file, std::ios::in | std::ios::binary);
// first get size
unsigned int v_size;
f_in.read((char*)&v_size, sizeof(uint32_t));
// btAssert(v_size == n_full * n_full); //TODO: check here
btAssert(v_size >= n_modes * n_full); // make sure the #requested mode is smaller than the #available modes
// read data
mat.resize(n_modes);
for (int i = 0; i < n_start + n_modes; ++i)
for (int i = 0; i < n_modes; ++i)
{
for (int j = 0; j < n_full; ++j)
{
double temp;
f_in.read((char*)&temp, sizeof(double));
if (i >= n_start && j >= n_start && i < n_start + n_modes && j < n_start + n_modes)
{
if (mat[i - n_start].size() != n_modes)
mat[i - n_start].resize(n_modes);
mat[i - n_start][j - n_start] = btScalar(temp);
}
}
}
f_in.close();
}
void btReducedSoftBodyHelpers::readBinaryModes(btReducedSoftBody::tDenseMatrix& mat,
const unsigned int n_start, // starting mode index
const unsigned int n_modes, // #modes, outer array size
const unsigned int n_full, // inner array size
const char* file)
{
std::ifstream f_in(file, std::ios::in | std::ios::binary);
// first get size
unsigned int v_size;
f_in.read((char*)&v_size, sizeof(uint32_t));
// btAssert(v_size == n_full * n_full); //TODO: check here
// read data
mat.resize(n_modes);
for (int i = 0; i < n_start + n_modes; ++i)
{
for (int j = 0; j < n_full; ++j)
{
double temp;
f_in.read((char*)&temp, sizeof(double));
if (i >= n_start)
{
if (mat[i - n_start].size() != n_full)
mat[i - n_start].resize(n_full);
mat[i - n_start][j] = btScalar(temp);
}
if (mat[i].size() != n_modes)
mat[i].resize(n_full);
mat[i][j] = btScalar(temp);
}
}
f_in.close();

8
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBodyHelpers.h
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@@ -17,12 +17,10 @@ struct btReducedSoftBodyHelpers
// read in all reduced files
static void readReducedDeformableInfoFromFiles(btReducedSoftBody* rsb, const char* file_path, const btVector3& half_extents = btVector3(0, 0, 0));
// read in a binary vector
static void readBinary(btReducedSoftBody::tDenseArray& vec, const unsigned int n_start, const unsigned int n_modes, const unsigned int n_full, const char* file);
static void readBinaryVec(btReducedSoftBody::tDenseArray& vec, const unsigned int n_size, const char* file);
// read in a binary matrix
static void readBinaryMat(btReducedSoftBody::tDenseMatrix& mat, const unsigned int n_start, const unsigned int n_modes, const unsigned int n_full, const char* file);
// read in modes file (different version of read in matrix)
static void readBinaryModes(btReducedSoftBody::tDenseMatrix& mat, const unsigned int n_start, const unsigned int n_modes, const unsigned int n_full, const char* file);
static void readBinaryMat(btReducedSoftBody::tDenseMatrix& mat, const unsigned int n_modes, const unsigned int n_full, const char* file);
// calculate the local inertia tensor for a box shape reduced deformable object
static void calculateLocalInertia(btVector3& inertia, const btScalar mass, const btVector3& half_extents, const btVector3& margin);
};