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This commit is contained in:
Xuchen Han
@@ -8125,94 +8125,90 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
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{
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collisionMargin = clientCmd.m_loadSoftBodyArguments.m_collisionMargin;
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}
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btScalar spring_bending_stiffness = 0;
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btScalar spring_bending_stiffness = 0;
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{
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btSoftBody* psb = NULL;
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btSoftBody* psb = NULL;
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CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
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char relativeFileName[1024];
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char pathPrefix[1024];
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pathPrefix[0] = 0;
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if (fileIO->findResourcePath(loadSoftBodyArgs.m_fileName, relativeFileName, 1024))
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{
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b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
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}
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const std::string& error_message_prefix = "";
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std::string out_found_filename, out_found_sim_filename;
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int out_type(0), out_sim_type(0);
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CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
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char relativeFileName[1024];
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char pathPrefix[1024];
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pathPrefix[0] = 0;
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if (fileIO->findResourcePath(loadSoftBodyArgs.m_fileName, relativeFileName, 1024))
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{
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b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
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}
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const std::string& error_message_prefix = "";
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std::string out_found_filename, out_found_sim_filename;
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int out_type(0), out_sim_type(0);
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bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SIM_MESH)
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{
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bool foundSimMesh = UrdfFindMeshFile(fileIO, pathPrefix, loadSoftBodyArgs.m_simFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type);
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}
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else
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{
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out_sim_type = out_type;
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out_found_sim_filename = out_found_filename;
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}
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if (out_sim_type == UrdfGeometry::FILE_OBJ)
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{
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std::vector<tinyobj::shape_t> shapes;
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tinyobj::attrib_t attribute;
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std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO);
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if (!shapes.empty())
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{
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const tinyobj::shape_t& shape = shapes[0];
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btAlignedObjectArray<btScalar> vertices;
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btAlignedObjectArray<int> indices;
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for (int i = 0; i < attribute.vertices.size(); i++)
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{
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vertices.push_back(attribute.vertices[i]);
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}
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for (int i = 0; i < shape.mesh.indices.size(); i++)
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{
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indices.push_back(shape.mesh.indices[i].vertex_index);
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}
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int numTris = shape.mesh.indices.size() / 3;
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if (numTris > 0)
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{
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bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SIM_MESH)
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{
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bool foundSimMesh = UrdfFindMeshFile(fileIO, pathPrefix, loadSoftBodyArgs.m_simFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type);
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}
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else
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{
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out_sim_type = out_type;
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out_found_sim_filename = out_found_filename;
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}
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if (out_sim_type == UrdfGeometry::FILE_OBJ)
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{
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std::vector<tinyobj::shape_t> shapes;
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tinyobj::attrib_t attribute;
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std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO);
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if (!shapes.empty())
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{
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const tinyobj::shape_t& shape = shapes[0];
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btAlignedObjectArray<btScalar> vertices;
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btAlignedObjectArray<int> indices;
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for (int i = 0; i < attribute.vertices.size(); i++)
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{
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vertices.push_back(attribute.vertices[i]);
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}
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for (int i = 0; i < shape.mesh.indices.size(); i++)
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{
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indices.push_back(shape.mesh.indices[i].vertex_index);
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}
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int numTris = shape.mesh.indices.size() / 3;
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if (numTris > 0)
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{
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btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
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if (softWorld)
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{
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psb = btSoftBodyHelpers::CreateFromTriMesh(softWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
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btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
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if (softWorld)
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{
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psb = btSoftBodyHelpers::CreateFromTriMesh(softWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
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}
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}
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{
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btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
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if (deformWorld)
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{
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psb = btSoftBodyHelpers::CreateFromTriMesh(deformWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
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}
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}
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}
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{
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btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
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if (deformWorld)
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{
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psb = btSoftBodyHelpers::CreateFromTriMesh(deformWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
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}
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}
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}
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}
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}
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#ifndef SKIP_DEFORMABLE_BODY
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btScalar spring_elastic_stiffness, spring_damping_stiffness;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
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{
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btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
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if (deformWorld)
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
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{
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spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
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spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
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{
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spring_bending_stiffness = clientCmd.m_loadSoftBodyArguments.m_springBendingStiffness;
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}
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btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true, spring_bending_stiffness);
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deformWorld->addForce(psb, springForce);
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m_data->m_lf.push_back(springForce);
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btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
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if (deformWorld)
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{
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spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
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spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
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{
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spring_bending_stiffness = clientCmd.m_loadSoftBodyArguments.m_springBendingStiffness;
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}
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btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true, spring_bending_stiffness);
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deformWorld->addForce(psb, springForce);
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m_data->m_lf.push_back(springForce);
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}
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}
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}
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#endif
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}
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else if (out_sim_type == UrdfGeometry::FILE_VTK)
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{
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}
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else if (out_sim_type == UrdfGeometry::FILE_VTK)
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{
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#ifndef SKIP_DEFORMABLE_BODY
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btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
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if (deformWorld)
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@@ -8237,125 +8233,121 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
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deformWorld->addForce(psb, neohookeanForce);
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m_data->m_lf.push_back(neohookeanForce);
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}
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btScalar spring_elastic_stiffness, spring_damping_stiffness;
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btScalar spring_elastic_stiffness, spring_damping_stiffness;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
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{
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spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
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spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
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{
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spring_bending_stiffness = clientCmd.m_loadSoftBodyArguments.m_springBendingStiffness;
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}
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
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{
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spring_bending_stiffness = clientCmd.m_loadSoftBodyArguments.m_springBendingStiffness;
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}
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btDeformableLagrangianForce* springForce = new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true, spring_bending_stiffness);
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deformWorld->addForce(psb, springForce);
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m_data->m_lf.push_back(springForce);
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}
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}
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#endif
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}
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if (psb != NULL)
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{
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#ifndef SKIP_DEFORMABLE_BODY
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btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
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btDeformableMultiBodyDynamicsWorld* deformWorld = getDeformableWorld();
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if (deformWorld)
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{
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// load render mesh
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if (out_found_sim_filename != out_found_filename)
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{
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// load render mesh
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{
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tinyobj::attrib_t attribute;
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std::vector<tinyobj::shape_t> shapes;
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std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), pathPrefix, m_data->m_pluginManager.getFileIOInterface());
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// load render mesh
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if (out_found_sim_filename != out_found_filename)
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{
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// load render mesh
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{
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tinyobj::attrib_t attribute;
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std::vector<tinyobj::shape_t> shapes;
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for (int s = 0; s < (int)shapes.size(); s++)
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{
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tinyobj::shape_t& shape = shapes[s];
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int faceCount = shape.mesh.indices.size();
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int vertexCount = attribute.vertices.size()/3;
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for (int v=0;v<vertexCount;v++)
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{
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btSoftBody::Node n;
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n.m_x = btVector3(attribute.vertices[3*v],attribute.vertices[3*v+1],attribute.vertices[3*v+2]);
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psb->m_renderNodes.push_back(n);
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}
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std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), pathPrefix, m_data->m_pluginManager.getFileIOInterface());
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for (int f = 0; f < faceCount; f += 3)
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{
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if (f < 0 && f >= int(shape.mesh.indices.size()))
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{
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continue;
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}
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tinyobj::index_t v_0 = shape.mesh.indices[f];
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tinyobj::index_t v_1 = shape.mesh.indices[f + 1];
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tinyobj::index_t v_2 = shape.mesh.indices[f + 2];
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btSoftBody::Face ff;
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ff.m_n[0] = &psb->m_renderNodes[v_0.vertex_index];
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ff.m_n[1] = &psb->m_renderNodes[v_1.vertex_index];
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ff.m_n[2] = &psb->m_renderNodes[v_2.vertex_index];
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psb->m_renderFaces.push_back(ff);
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}
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}
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}
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if (out_sim_type == UrdfGeometry::FILE_VTK)
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{
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btSoftBodyHelpers::interpolateBarycentricWeights(psb);
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}
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else if (out_sim_type == UrdfGeometry::FILE_OBJ)
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for (int s = 0; s < (int)shapes.size(); s++)
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{
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btSoftBodyHelpers::extrapolateBarycentricWeights(psb);
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tinyobj::shape_t& shape = shapes[s];
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int faceCount = shape.mesh.indices.size();
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int vertexCount = attribute.vertices.size()/3;
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for (int v=0;v<vertexCount;v++)
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{
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btSoftBody::Node n;
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n.m_x = btVector3(attribute.vertices[3*v],attribute.vertices[3*v+1],attribute.vertices[3*v+2]);
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psb->m_renderNodes.push_back(n);
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}
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for (int f = 0; f < faceCount; f += 3)
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{
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if (f < 0 && f >= int(shape.mesh.indices.size()))
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{
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continue;
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}
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tinyobj::index_t v_0 = shape.mesh.indices[f];
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tinyobj::index_t v_1 = shape.mesh.indices[f + 1];
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tinyobj::index_t v_2 = shape.mesh.indices[f + 2];
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btSoftBody::Face ff;
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ff.m_n[0] = &psb->m_renderNodes[v_0.vertex_index];
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ff.m_n[1] = &psb->m_renderNodes[v_1.vertex_index];
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ff.m_n[2] = &psb->m_renderNodes[v_2.vertex_index];
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psb->m_renderFaces.push_back(ff);
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}
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}
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}
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else
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{
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psb->m_renderNodes.resize(0);
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}
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btVector3 gravity = m_data->m_dynamicsWorld->getGravity();
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btDeformableLagrangianForce* gravityForce = new btDeformableGravityForce(gravity);
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deformWorld->addForce(psb, gravityForce);
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m_data->m_lf.push_back(gravityForce);
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btScalar collision_hardness = 1;
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psb->m_cfg.kKHR = collision_hardness;
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psb->m_cfg.kCHR = collision_hardness;
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}
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if (out_sim_type == UrdfGeometry::FILE_VTK)
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{
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btSoftBodyHelpers::interpolateBarycentricWeights(psb);
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}
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else if (out_sim_type == UrdfGeometry::FILE_OBJ)
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{
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btSoftBodyHelpers::extrapolateBarycentricWeights(psb);
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}
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}
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else
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{
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psb->m_renderNodes.resize(0);
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}
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btVector3 gravity = m_data->m_dynamicsWorld->getGravity();
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btDeformableLagrangianForce* gravityForce = new btDeformableGravityForce(gravity);
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deformWorld->addForce(psb, gravityForce);
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m_data->m_lf.push_back(gravityForce);
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btScalar collision_hardness = 1;
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psb->m_cfg.kKHR = collision_hardness;
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psb->m_cfg.kCHR = collision_hardness;
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btScalar friction_coeff = 0;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT)
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{
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friction_coeff = loadSoftBodyArgs.m_frictionCoeff;
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}
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psb->m_cfg.kDF = friction_coeff;
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bool use_bending_spring = false;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
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{
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use_bending_spring = loadSoftBodyArgs.m_useBendingSprings;
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if (use_bending_spring)
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{
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psb->generateBendingConstraints(2);
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}
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}
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btSoftBody::Material* pm = psb->appendMaterial();
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pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
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// turn on the collision flag for deformable
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// collision between deformable and rigid
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psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
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// collion between deformable and deformable and self-collision
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psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
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psb->setCollisionFlags(0);
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psb->setTotalMass(mass);
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bool use_self_collision = false;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_USE_SELF_COLLISION)
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{
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use_self_collision = loadSoftBodyArgs.m_useSelfCollision;
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}
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psb->setSelfCollision(use_self_collision);
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btScalar friction_coeff = 0;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT)
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{
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friction_coeff = loadSoftBodyArgs.m_frictionCoeff;
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}
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psb->m_cfg.kDF = friction_coeff;
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bool use_bending_spring = false;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
|
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{
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use_bending_spring = loadSoftBodyArgs.m_useBendingSprings;
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if (use_bending_spring)
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{
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psb->generateBendingConstraints(2);
|
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}
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}
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btSoftBody::Material* pm = psb->appendMaterial();
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pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
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// turn on the collision flag for deformable
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// collision between deformable and rigid
|
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psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
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// collion between deformable and deformable and self-collision
|
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psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
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psb->setCollisionFlags(0);
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psb->setTotalMass(mass);
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bool use_self_collision = false;
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if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_USE_SELF_COLLISION)
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{
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use_self_collision = loadSoftBodyArgs.m_useSelfCollision;
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}
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psb->setSelfCollision(use_self_collision);
|
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}
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#endif//SKIP_DEFORMABLE_BODY
|
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#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
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||||
|
||||
btSoftMultiBodyDynamicsWorld* softWorld = getSoftWorld();
|
||||
if (softWorld)
|
||||
{
|
||||
@@ -8429,12 +8421,11 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
|
||||
|
||||
serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId;
|
||||
serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_COMPLETED;
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||||
int pos = strlen(relativeFileName)-1;
|
||||
while(pos>=0 && relativeFileName[pos]!='/') { pos--;}
|
||||
btAssert(strlen(relativeFileName)-pos-5>0);
|
||||
std::string object_name (std::string(relativeFileName).substr(pos+1, strlen(relativeFileName)- 5 - pos));
|
||||
bodyHandle->m_bodyName = object_name;
|
||||
|
||||
int pos = strlen(relativeFileName)-1;
|
||||
while(pos>=0 && relativeFileName[pos]!='/') { pos--;}
|
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btAssert(strlen(relativeFileName)-pos-5>0);
|
||||
std::string object_name (std::string(relativeFileName).substr(pos+1, strlen(relativeFileName)- 5 - pos));
|
||||
bodyHandle->m_bodyName = object_name;
|
||||
|
||||
int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
|
||||
serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
|
||||
|
||||
Reference in New Issue
Block a user