Fixing the setting of fixed nodes via their indexes #149.

If a softbody is defined via .OBJ file, we can retrieve the original indexes from the mesh file to set the fixed nodes.
WPI-AIM · Dec 15, 2021 · 529ab34 · 529ab34
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commit 529ab34
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Showing 5 changed files with 55 additions and 16 deletions.
diff --git a/adf_loader/version_1_0/adf_loader_1_0.cpp b/adf_loader/version_1_0/adf_loader_1_0.cpp
@@ -1570,7 +1570,7 @@ bool ADFLoader_1_0::loadSoftBodyAttribs(YAML::Node *a_node, afSoftBodyAttributes
         }
         if (cfg_fixed_nodesNode.IsDefined()){
             for (uint i = 0 ; i < cfg_fixed_nodesNode.size() ; i++){
-                attribs->m_fixedNodes.push_back(i);
+                attribs->m_fixedNodes.push_back(cfg_fixed_nodesNode[i].as<int>());
             }
         }
         if(cfg_clustersNode.IsDefined()){

diff --git a/ambf_framework/afFramework.cpp b/ambf_framework/afFramework.cpp
@@ -3871,10 +3871,40 @@ bool afSoftBody::createFromAttribs(afSoftBodyAttributes *a_attribs)
         softBody->generateBendingConstraints(attribs.m_bendingConstraint);
     }
 
+
+    // If a vertexIdx Map is defined, we can retrieve the actual indices defined in the mesh file.
+    bool useOriginalIndexes = getVisualObject()->m_vtxIdxMap.size() > 0 ? true : false;
+
     for (uint i = 0 ; i < attribs.m_fixedNodes.size() ; i++){
         uint nodeIdx = attribs.m_fixedNodes[i];
         if ( nodeIdx < softBody->m_nodes.size()){
-            softBody->setMass(nodeIdx, 0);
+            if (useOriginalIndexes){
+                // Find the node's original vertex index
+                map<int, vector<int> >::iterator nIt = getVisualObject()->m_vtxIdxMap.find(nodeIdx);
+                if ( nIt != getVisualObject()->m_vtxIdxMap.end()){
+                    if (nIt->second.size() > 0){
+                        int remappedIdx = nIt->second[0];
+                        int j = 0;
+                        bool found = false;
+                        while (j < m_afVertexTree.size() && !found){
+                            for (int k = 0 ; k < m_afVertexTree[j].vertexIdx.size() ; k++){
+                                if (remappedIdx == m_afVertexTree[j].vertexIdx[k]){
+                                    //                                cerr << "Node Idx: " << nodeIdx
+                                    //                                     << " |  Original Vtx Idx: " << nIt->first
+                                    //                                     << " | Remapped Vtx Idx:  " << remappedIdx << endl;
+                                    softBody->setMass(nodeIdx, 0);
+                                    found = true;
+                                    break;
+                                }
+                            }
+                            j++;
+                        }
+                    }
+                }
+            }
+            else{
+                softBody->setMass(nodeIdx, 0);
+            }
         }
     }
 

diff --git a/external/chai3d/src/files/CFileModelOBJ.cpp b/external/chai3d/src/files/CFileModelOBJ.cpp
@@ -327,13 +327,6 @@ bool cLoadFileOBJ(cMultiMesh* a_object, const std::string& a_filename)
                             {
                                 indexTriangle = curMesh->newTriangle(indexV1,indexV2,indexV3);
                                 curMesh->m_triangles->computeNormal(indexTriangle, true);
-
-                                // This map keeps track of the vertex indices in the newly created mesh
-                                // as compared to original indices in obj file. These indices are later
-                                // used to add polylines without vertex duplication
-                                fileObj.m_vtxIdxMap[originalV1].push_back(curMesh->m_vertices->getNumElements() - 3);
-                                fileObj.m_vtxIdxMap[originalV2].push_back(curMesh->m_vertices->getNumElements() - 2);
-                                fileObj.m_vtxIdxMap[originalV3].push_back(curMesh->m_vertices->getNumElements() - 1);
                             }
                             else
                             {
@@ -363,6 +356,13 @@ bool cLoadFileOBJ(cMultiMesh* a_object, const std::string& a_filename)
                                 curMesh->m_vertices->setTexCoord(curMesh->m_triangles->getVertexIndex1(indexTriangle), face.m_pTexCoords[triangleVert-1]);
                                 curMesh->m_vertices->setTexCoord(curMesh->m_triangles->getVertexIndex2(indexTriangle), face.m_pTexCoords[triangleVert]);
                             }
+
+                            // This map keeps track of the vertex indices in the newly created mesh
+                            // as compared to original indices in obj file. These indices are later
+                            // used to add polylines without vertex duplication
+                            fileObj.m_vtxIdxMap[originalV1].push_back(indexV1);
+                            fileObj.m_vtxIdxMap[originalV2].push_back(indexV2);
+                            fileObj.m_vtxIdxMap[originalV3].push_back(indexV3);
                         }
                     }
                     else
@@ -393,11 +393,7 @@ bool cLoadFileOBJ(cMultiMesh* a_object, const std::string& a_filename)
                     cVector3d vertex = fileObj.m_pVertices[j];
                     int vertexIdx = mesh->newVertex(vertex, cVector3d(1,0,0), cVector3d(0,0,0), color);
                     j++;
-
-
-                    // This map keeps track of the vertex indices in the newly created mesh
-                    // as compared to original indices in obj file. These indices are later
-                    // used to add polylines without vertex duplication
+                    // These indices are later used to add polylines without vertex duplication
                     fileObj.m_vtxIdxMap[j].push_back(vertexIdx);
                 }
 
@@ -413,10 +409,19 @@ bool cLoadFileOBJ(cMultiMesh* a_object, const std::string& a_filename)
                         mesh->setUseVertexColors(false);
                     }
                 }
-
             }
         }
 
+        // Remove duplicates from vtxIdxMap
+        std::map<int, std::vector<int> >::iterator vIt;
+
+        for (vIt = fileObj.m_vtxIdxMap.begin() ; vIt != fileObj.m_vtxIdxMap.end() ; ++vIt){
+            sort( vIt->second.begin(), vIt->second.end() );
+            vIt->second.erase( unique( vIt->second.begin(), vIt->second.end() ), vIt->second.end() );
+        }
+
+        a_object->m_vtxIdxMap = fileObj.m_vtxIdxMap;
+
         // Add line data if present
         // get main mesh
         cMesh* curMesh = a_object->getMesh(0);

diff --git a/external/chai3d/src/files/CFileModelOBJ.h b/external/chai3d/src/files/CFileModelOBJ.h
@@ -324,7 +324,7 @@ class cOBJModel
     //! List of lines.
     std::vector< std::vector<int> > m_pLines;
 
-    //! Mapping original vertex indices to regenerated indices in CHAI-3D
+    //! Map of original vertex indices (defined in the mesh file) to regenerated indices in CHAI-3D
     std::map<int, std::vector<int> > m_vtxIdxMap;
 
     //! List of colors.

diff --git a/external/chai3d/src/world/CMultiMesh.h b/external/chai3d/src/world/CMultiMesh.h
@@ -48,6 +48,7 @@
 //------------------------------------------------------------------------------
 #include "world/CMesh.h"
 //------------------------------------------------------------------------------
+#include<map>
 
 //------------------------------------------------------------------------------
 namespace chai3d {
@@ -462,6 +463,9 @@ class cMultiMesh : public cGenericObject
     //! Array of meshes.
     std::vector<cMesh*> *m_meshes;
 
+    //! Map of original vertex indices (defined in the mesh file) to regenerated indices in CHAI-3D
+    std::map<int, std::vector<int> > m_vtxIdxMap;
+
 };
 
 //------------------------------------------------------------------------------