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Add 3D convex decomposition example.

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This commit is contained in:
Crozet Sébastien
2021-01-20 15:15:03 +01:00
parent 87b56c38b6
commit e2006599a8
24 changed files with 37924 additions and 8 deletions
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1
examples3d/Cargo.toml
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@@ -15,6 +15,7 @@ enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
rand = "0.7"
Inflector = "0.11"
nalgebra = "0.24"
kiss3d = "0.29"
[dependencies.rapier_testbed3d]
path = "../build/rapier_testbed3d"

2
examples3d/all_examples3.rs
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@@ -12,6 +12,7 @@ use std::cmp::Ordering;
mod collision_groups3;
mod compound3;
mod convex_decomposition3;
mod damping3;
mod debug_add_remove_collider3;
mod debug_boxes3;
@@ -74,6 +75,7 @@ pub fn main() {
("Primitives", primitives3::init_world),
("Collision groups", collision_groups3::init_world),
("Compound", compound3::init_world),
("Convex decomposition", convex_decomposition3::init_world),
("Damping", damping3::init_world),
("Domino", domino3::init_world),
("Heightfield", heightfield3::init_world),

134
examples3d/convex_decomposition3.rs Normal file
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@@ -0,0 +1,134 @@
use kiss3d::loader::obj;
use na::{Isometry3, Point3, Translation3};
use rapier3d::cdl::bounding_volume::{self, BoundingVolume};
use rapier3d::cdl::transformation::vhacd::{VHACDParameters, VHACD};
use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
use rapier3d::geometry::{ColliderBuilder, ColliderSet, ColliderShape};
use rapier_testbed3d::Testbed;
use std::path::Path;
/*
* NOTE: The `r` macro is only here to convert from f64 to the `N` scalar type.
* This simplifies experimentation with various scalar types (f32, fixed-point numbers, etc.)
*/
pub fn init_world(testbed: &mut Testbed) {
/*
* World
*/
let mut bodies = RigidBodySet::new();
let mut colliders = ColliderSet::new();
let joints = JointSet::new();
/*
* Ground
*/
let ground_size = 50.0;
let ground_height = 0.1;
let rigid_body = RigidBodyBuilder::new_static()
.translation(0.0, -ground_height, 0.0)
.build();
let handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
colliders.insert(collider, handle, &mut bodies);
/*
* Create the convex decompositions.
*/
let geoms = models();
let ngeoms = geoms.len();
let width = (ngeoms as f32).sqrt() as usize;
let num_duplications = 4;
let shift = 5.0f32;
for (igeom, obj_path) in geoms.into_iter().enumerate() {
let deltas = na::one();
let mtl_path = Path::new("");
let mut compound_parts = Vec::new();
println!("Parsing and decomposing: {}", obj_path);
let obj = obj::parse_file(&Path::new(&obj_path), &mtl_path, "");
if let Ok(model) = obj {
let meshes: Vec<_> = model
.into_iter()
.map(|mesh| mesh.1.to_trimesh().unwrap())
.collect();
// Compute the size of the model, to scale it and have similar size for everything.
let mut aabb =
bounding_volume::details::point_cloud_aabb(&deltas, &meshes[0].coords[..]);
for mesh in meshes[1..].iter() {
aabb.merge(&bounding_volume::details::point_cloud_aabb(
&deltas,
&mesh.coords[..],
));
}
let center = aabb.center().coords;
let diag = (aabb.maxs - aabb.mins).norm();
for mut trimesh in meshes.into_iter() {
trimesh.translate_by(&Translation3::from(-center));
trimesh.scale_by_scalar(6.0 / diag);
let params = VHACDParameters::default();
let vertices = &trimesh.coords;
let indices = &trimesh.indices.unwrap_unified();
let vhacd = VHACD::decompose(&params, vertices, indices, true);
for (vertices, indices) in vhacd.compute_exact_convex_hulls(vertices, indices) {
if let Some(convex) = ColliderShape::convex_mesh(vertices, &indices) {
compound_parts.push(convex);
}
}
}
// let compound = ColliderShape::compound(compound_parts);
for k in 1..num_duplications + 1 {
let x = (igeom % width) as f32 * shift;
let y = (igeom / width) as f32 * shift + 4.0;
let z = k as f32 * shift;
let body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
let handle = bodies.insert(body);
for part in &compound_parts {
let collider = ColliderBuilder::new(part.clone()).build();
colliders.insert(collider, handle, &mut bodies);
}
}
}
}
/*
* Set up the testbed.
*/
testbed.set_world(bodies, colliders, joints);
testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
}
fn models() -> Vec<String> {
vec![
"media/models/camel_decimated.obj".to_string(),
"media/models/chair.obj".to_string(),
"media/models/cup_decimated.obj".to_string(),
"media/models/dilo_decimated.obj".to_string(),
"media/models/feline_decimated.obj".to_string(),
"media/models/genus3_decimated.obj".to_string(),
"media/models/hand2_decimated.obj".to_string(),
"media/models/hand_decimated.obj".to_string(),
"media/models/hornbug.obj".to_string(),
"media/models/octopus_decimated.obj".to_string(),
"media/models/rabbit_decimated.obj".to_string(),
"media/models/rust_logo.obj".to_string(),
"media/models/rust_logo_simplified.obj".to_string(),
"media/models/screwdriver_decimated.obj".to_string(),
"media/models/table.obj".to_string(),
"media/models/tstTorusModel.obj".to_string(),
// "media/models/tstTorusModel2.obj".to_string(),
// "media/models/tstTorusModel3.obj".to_string(),
]
}

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examples3d/media/models/camel_decimated.obj Normal file
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examples3d/media/models/chair.obj Normal file
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v -10.062900 35.355598 -6.175700
v -10.738400 37.876801 -3.565500
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2
src/dynamics/mod.rs
View File

@@ -9,7 +9,7 @@ pub use self::joint::{
};
pub use self::rigid_body::{ActivationStatus, BodyStatus, RigidBody, RigidBodyBuilder};
pub use self::rigid_body_set::{BodyPair, RigidBodyHandle, RigidBodySet};
pub use cdl::shape::MassProperties;
pub use cdl::mass_properties::MassProperties;
// #[cfg(not(feature = "parallel"))]
pub(crate) use self::joint::JointGraphEdge;
pub(crate) use self::rigid_body::RigidBodyChanges;

8
src/geometry/collider.rs
View File

@@ -140,7 +140,7 @@ impl ColliderShape {
}
#[cfg(feature = "dim3")]
pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[usize]) -> Option<Self> {
pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[Point3<u32>]) -> Option<Self> {
ConvexPolyhedron::from_convex_mesh(points, indices).map(|ch| ColliderShape(Arc::new(ch)))
}
@@ -174,7 +174,7 @@ impl ColliderShape {
#[cfg(feature = "dim3")]
pub fn round_convex_mesh(
points: Vec<Point<Real>>,
indices: &[usize],
indices: &[Point<u32>],
border_radius: Real,
) -> Option<Self> {
ConvexPolyhedron::from_convex_mesh(points, indices).map(|ch| {
@@ -578,14 +578,14 @@ impl ColliderBuilder {
}
#[cfg(feature = "dim3")]
pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[usize]) -> Option<Self> {
pub fn convex_mesh(points: Vec<Point<Real>>, indices: &[Point3<u32>]) -> Option<Self> {
ColliderShape::convex_mesh(points, indices).map(|cp| Self::new(cp))
}
#[cfg(feature = "dim3")]
pub fn round_convex_mesh(
points: Vec<Point<Real>>,
indices: &[usize],
indices: &[Point<u32>],
border_radius: Real,
) -> Option<Self> {
ColliderShape::round_convex_mesh(points, indices, border_radius).map(|cp| Self::new(cp))

13
src_testbed/objects/convex.rs
View File

@@ -31,8 +31,17 @@ impl Convex {
let node = {
use std::cell::RefCell;
use std::rc::Rc;
let is = indices.into_iter().map(na::convert).collect();
let mesh = kiss3d::resource::Mesh::new(vertices, is, None, None, false);
let mut mesh_vertices = Vec::new();
let mut mesh_indices = Vec::new();
for idx in indices {
let i = mesh_vertices.len() as u16;
mesh_vertices.push(vertices[idx.x as usize]);
mesh_vertices.push(vertices[idx.y as usize]);
mesh_vertices.push(vertices[idx.z as usize]);
mesh_indices.push(Point3::new(i, i + 1, i + 2));
}
let mesh = kiss3d::resource::Mesh::new(mesh_vertices, mesh_indices, None, None, false);
window.add_mesh(Rc::new(RefCell::new(mesh)), na::Vector3::from_element(1.0))
};

1
src_testbed/physx_backend.rs
View File

@@ -12,7 +12,6 @@ use physx::foundation::DefaultAllocator;
use physx::prelude::*;
use physx::scene::FrictionType;
use physx::traits::Class;
use physx::triangle_mesh::TriangleMesh;
use physx_sys::{
PxBitAndByte, PxConvexFlags, PxConvexMeshGeometryFlags, PxHeightFieldSample,
PxMeshGeometryFlags, PxMeshScale_new, PxRigidActor,