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/* -------------------------------------------------------------------------- *
* Simbody(tm) Adhoc test: Look at polygonal mesh *
* -------------------------------------------------------------------------- *
* This is part of the SimTK biosimulation toolkit originating from *
* Simbios, the NIH National Center for Physics-Based Simulation of *
* Biological Structures at Stanford, funded under the NIH Roadmap for *
* Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
* *
* Portions copyright (c) 2014 Stanford University and the Authors. *
* Authors: Michael Sherman *
* Contributors: *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); you may *
* not use this file except in compliance with the License. You may obtain a *
* copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* -------------------------------------------------------------------------- */
/* Simbody LookAtPolygonalMesh
Utility that exercises PolygonalMesh's load-from-file methods and then
displays the resulting mesh in the visualizer. It will also try to turn
the mesh into ContactGeometry and report any problems that occur. */
#include "Simbody.h"
#include <cassert>
#include <iostream>
using std::cout; using std::endl;
using namespace SimTK;
class ShowMesh : public DecorationGenerator {
public:
ShowMesh() {}
// This is a shallow reference to the supplied mesh.
void setMesh(const PolygonalMesh& mesh) {m_mesh=mesh;}
void generateDecorations(const State& state,
Array_<DecorativeGeometry>& geometry) override
{
const Real TextScale = 0.1;
DecorativeText info; info.setIsScreenText(true);
info.setText("Faces/vertices: " + String(m_mesh.getNumFaces())
+ "/" + String(m_mesh.getNumVertices()));
geometry.push_back(info);
if (!m_mesh.getNumFaces())
return;
DecorativeMesh dmesh(m_mesh);
geometry.push_back(DecorativeMesh(dmesh)
.setOpacity(.8).setColor(Cyan));
geometry.push_back(DecorativeMesh(dmesh)
.setRepresentation(DecorativeGeometry::DrawWireframe)
.setLineThickness(3)
.setColor(Black));
}
private:
PolygonalMesh m_mesh;
};
int main() {
try {
// Create a system containing only Ground.
MultibodySystem system;
SimbodyMatterSubsystem matter(system);
system.setUseUniformBackground(true); // no ground plane in display
system.realizeTopology();
Visualizer viz(system);
viz.setCameraClippingPlanes(.01, 100);
ShowMesh* sp = new ShowMesh();
viz.addDecorationGenerator(sp);
viz.report(system.getDefaultState()); // show default shape
// The Visualizer caches meshes by their addresses so won't update
// properly if memory gets reused in a modified mesh. Since there's a
// human in the loop here we can just keep all the meshes around until
// termination; that way there is no danger of reuse.
Array_<PolygonalMesh> meshes;
meshes.push_back(PolygonalMesh::createSphereMesh(1.,3));
sp->setMesh(meshes.back());
viz.report(system.getDefaultState());
viz.zoomCameraToShowAllGeometry();
std::string line, cwd = Pathname::getCurrentWorkingDirectory();
std::cout << "Current working directory: " << cwd << std::endl;
std::cout << "Change working directory (ENTER to keep): ";
std::getline(std::cin, line);
if (!line.empty()) cwd = line;
while(true) {
viz.report(system.getDefaultState());
viz.zoomCameraToShowAllGeometry();
meshes.push_back(); // make a new empty mesh
PolygonalMesh& mesh = meshes.back();
printf("mesh file name (or 'end'): ");
std::getline(std::cin, line);
if (line=="end")
break;
std::string dir,fn,ext;
bool isAbsolutePath;
Pathname::deconstructPathname(line,isAbsolutePath,dir,fn,ext);
if (!isAbsolutePath) line = cwd + "/" + line;
if (!Pathname::fileExists(line)) {
if (!line.empty()) printf("'%s' doesn't exist\n", line.c_str());
sp->setMesh(mesh);
continue;
}
try {
mesh.loadFile(line);
} catch(const std::exception& e) {
cout << "File loader error: " << e.what() << "\n";
mesh.clear();
}
sp->setMesh(mesh);
try {
ContactGeometry::TriangleMesh tri(mesh);
printf("*** Works as contact mesh! ***\n");
} catch(const std::exception& e) {
cout << "XXX Can't make contact mesh: " << e.what() << "\n";
}
}
} catch (const std::exception& e) {
cout << "EXCEPTION: " << e.what() << "\n";
}
}
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