SimTK::ContactGeometry::TriangleMesh* ContactMesh::
loadMesh(const std::string& filename) const
{
SimTK::PolygonalMesh mesh;
std::ifstream file;
assert (_model);
const std::string& savedCwd = IO::getCwd();
bool restoreDirectory = false;
if ((_model->getInputFileName()!="")
&& (_model->getInputFileName()!="Unassigned")) {
std::string parentDirectory = IO::getParentDirectory(
_model->getInputFileName());
IO::chDir(parentDirectory);
restoreDirectory=true;
}
file.open(filename.c_str());
if (file.fail()){
if (restoreDirectory) IO::chDir(savedCwd);
throw Exception("Error loading mesh file: "+filename+". "
"The file should exist in same folder with model.\n "
"Loading is aborted.");
}
file.close();
mesh.loadFile(filename);
if (restoreDirectory) IO::chDir(savedCwd);
return new SimTK::ContactGeometry::TriangleMesh(mesh);
}
ContactMesh::ContactMesh(const std::string& filename,
const SimTK::Vec3& location,
const SimTK::Vec3& orientation,
const PhysicalFrame& frame) :
ContactGeometry(location, orientation, frame)
{
setNull();
constructProperties();
setFilename(filename);
if (filename != ""){
std::ifstream file;
file.open(filename.c_str());
if (file.fail())
throw Exception("Error loading mesh file: "+filename+". The file should exist in same folder with model.\n Model loading is aborted.");
file.close();
SimTK::PolygonalMesh mesh;
mesh.loadFile(filename);
_geometry.reset(new SimTK::ContactGeometry::TriangleMesh(mesh));
}
}
void Mesh::extendFinalizeFromProperties() {
if (!isObjectUpToDateWithProperties()) {
const Component* rootModel = nullptr;
if (!hasParent()) {
std::clog << "Mesh " << get_mesh_file() << " not connected to model..ignoring\n";
return; // Orphan Mesh not part of a model yet
}
const Component* parent = &getParent();
while (parent != nullptr) {
if (dynamic_cast<const Model*>(parent) != nullptr) {
rootModel = parent;
break;
}
if (parent->hasParent())
parent = &(parent->getParent()); // traverse up Component tree
else
break; // can't traverse up.
}
if (rootModel == nullptr) {
std::clog << "Mesh " << get_mesh_file() << " not connected to model..ignoring\n";
return; // Orphan Mesh not descendent of a model
}
// Current interface to Visualizer calls generateDecorations on every frame.
// On first time through, load file and create DecorativeMeshFile and cache it
// so we don't load files from disk during live drawing/rendering.
const std::string& file = get_mesh_file();
bool isAbsolutePath; string directory, fileName, extension;
SimTK::Pathname::deconstructPathname(file,
isAbsolutePath, directory, fileName, extension);
const string lowerExtension = SimTK::String::toLower(extension);
if (lowerExtension != ".vtp" && lowerExtension != ".obj" && lowerExtension != ".stl") {
std::clog << "ModelVisualizer ignoring '" << file
<< "'; only .vtp .stl and .obj files currently supported.\n";
return;
}
// File is a .vtp or .obj. See if we can find it.
Array_<string> attempts;
const Model& model = dynamic_cast<const Model&>(*rootModel);
bool foundIt = ModelVisualizer::findGeometryFile(model, file, isAbsolutePath, attempts);
if (!foundIt) {
std::clog << "ModelVisualizer couldn't find file '" << file
<< "'; tried\n";
for (unsigned i = 0; i < attempts.size(); ++i)
std::clog << " " << attempts[i] << "\n";
if (!isAbsolutePath &&
!Pathname::environmentVariableExists("OPENSIM_HOME"))
std::clog << "Set environment variable OPENSIM_HOME "
<< "to search $OPENSIM_HOME/Geometry.\n";
return;
}
SimTK::PolygonalMesh pmesh;
try {
std::ifstream objFile;
objFile.open(attempts.back().c_str());
pmesh.loadFile(attempts.back().c_str());
// objFile closes when destructed
}
catch (const std::exception& e) {
std::clog << "Visualizer couldn't read "
<< attempts.back() << " because:\n"
<< e.what() << "\n";
return;
}
cachedMesh.reset(new DecorativeMeshFile(attempts.back().c_str()));
}
}