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pybullet.createSoftBodyAnchor

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This commit is contained in:
Erwin Coumans
2019-11-19 19:20:08 -08:00
parent 431a71ebad
commit 96deb42aa5
12 changed files with 370 additions and 45 deletions
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src/BulletSoftBody/btSoftBodyHelpers.cpp
-37
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@@ -1500,43 +1500,6 @@ void btSoftBodyHelpers::getBarycentricWeights(const btVector3& a, const btVector
bary = btVector4(va6*v6, vb6*v6, vc6*v6, vd6*v6);
}
void btSoftBodyHelpers::readRenderMeshFromObj(const char* file, btSoftBody* psb)
{
std::ifstream fs;
fs.open(file);
std::string line;
btVector3 pos;
while (std::getline(fs, line))
{
std::stringstream ss(line);
if (line.length()>1)
{
if (line[0] == 'v' && line[1] != 't' && line[1] != 'n')
{
ss.ignore();
for (size_t i = 0; i < 3; i++)
ss >> pos[i];
btSoftBody::Node n;
n.m_x = pos;
psb->m_renderNodes.push_back(n);
}
else if (line[0] == 'f')
{
ss.ignore();
int id0, id1, id2;
ss >> id0;
ss >> id1;
ss >> id2;
btSoftBody::Face f;
f.m_n[0] = &psb->m_renderNodes[id0-1];
f.m_n[1] = &psb->m_renderNodes[id1-1];
f.m_n[2] = &psb->m_renderNodes[id2-1];
psb->m_renderFaces.push_back(f);
}
}
}
fs.close();
}
// Iterate through all render nodes to find the simulation tetrahedron that contains the render node and record the barycentric weights
// If the node is not inside any tetrahedron, assign it to the tetrahedron in which the node has the least negative barycentric weight