133 lines
4.7 KiB
Rust
133 lines
4.7 KiB
Rust
use obj::raw::object::Polygon;
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use rapier3d::parry::bounding_volume;
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use rapier3d::prelude::*;
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use rapier_testbed3d::Testbed;
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use std::fs::File;
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use std::io::BufReader;
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/*
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* NOTE: The `r` macro is only here to convert from f64 to the `N` scalar type.
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* This simplifies experimentation with various scalar types (f32, fixed-point numbers, etc.)
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*/
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pub fn init_world(testbed: &mut Testbed) {
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/*
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* World
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*/
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let mut bodies = RigidBodySet::new();
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let mut colliders = ColliderSet::new();
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let joints = JointSet::new();
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/*
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* Ground
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*/
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let ground_size = 50.0;
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let ground_height = 0.1;
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let rigid_body = RigidBodyBuilder::new_static()
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.translation(vector![0.0, -ground_height, 0.0])
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.build();
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let handle = bodies.insert(rigid_body);
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let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
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colliders.insert_with_parent(collider, handle, &mut bodies);
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/*
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* Create the convex decompositions.
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*/
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let geoms = models();
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let ngeoms = geoms.len();
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let width = (ngeoms as f32).sqrt() as usize;
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let num_duplications = 4;
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let shift = 5.0f32;
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for (igeom, obj_path) in geoms.into_iter().enumerate() {
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let deltas = na::one();
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let mut shapes = Vec::new();
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println!("Parsing and decomposing: {}", obj_path);
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let input = BufReader::new(File::open(obj_path).unwrap());
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if let Ok(model) = obj::raw::parse_obj(input) {
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let mut vertices: Vec<_> = model
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.positions
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.iter()
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.map(|v| point![v.0, v.1, v.2])
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.collect();
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use std::iter::FromIterator;
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let indices: Vec<_> = model
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.polygons
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.into_iter()
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.flat_map(|p| match p {
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Polygon::P(idx) => idx.into_iter(),
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Polygon::PT(idx) => Vec::from_iter(idx.into_iter().map(|i| i.0)).into_iter(),
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Polygon::PN(idx) => Vec::from_iter(idx.into_iter().map(|i| i.0)).into_iter(),
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Polygon::PTN(idx) => Vec::from_iter(idx.into_iter().map(|i| i.0)).into_iter(),
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})
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.collect();
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// Compute the size of the model, to scale it and have similar size for everything.
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let aabb = bounding_volume::details::point_cloud_aabb(&deltas, &vertices);
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let center = aabb.center();
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let diag = (aabb.maxs - aabb.mins).norm();
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vertices
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.iter_mut()
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.for_each(|p| *p = (*p - center.coords) * 6.0 / diag);
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let indices: Vec<_> = indices
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.chunks(3)
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.map(|idx| [idx[0] as u32, idx[1] as u32, idx[2] as u32])
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.collect();
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let decomposed_shape = SharedShape::convex_decomposition(&vertices, &indices);
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shapes.push(decomposed_shape);
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// let compound = SharedShape::compound(compound_parts);
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for k in 1..num_duplications + 1 {
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let x = (igeom % width) as f32 * shift;
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let y = (igeom / width) as f32 * shift + 4.0;
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let z = k as f32 * shift;
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let body = RigidBodyBuilder::new_dynamic()
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.translation(vector![x, y, z])
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.build();
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let handle = bodies.insert(body);
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for shape in &shapes {
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let collider = ColliderBuilder::new(shape.clone()).build();
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colliders.insert_with_parent(collider, handle, &mut bodies);
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}
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}
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}
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}
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/*
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* Set up the testbed.
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*/
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testbed.set_world(bodies, colliders, joints);
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testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
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}
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fn models() -> Vec<String> {
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vec![
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"media/models/camel_decimated.obj".to_string(),
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"media/models/chair.obj".to_string(),
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"media/models/cup_decimated.obj".to_string(),
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"media/models/dilo_decimated.obj".to_string(),
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"media/models/feline_decimated.obj".to_string(),
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"media/models/genus3_decimated.obj".to_string(),
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"media/models/hand2_decimated.obj".to_string(),
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"media/models/hand_decimated.obj".to_string(),
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"media/models/hornbug.obj".to_string(),
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"media/models/octopus_decimated.obj".to_string(),
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"media/models/rabbit_decimated.obj".to_string(),
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// "media/models/rust_logo.obj".to_string(),
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"media/models/rust_logo_simplified.obj".to_string(),
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"media/models/screwdriver_decimated.obj".to_string(),
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"media/models/table.obj".to_string(),
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"media/models/tstTorusModel.obj".to_string(),
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// "media/models/tstTorusModel2.obj".to_string(),
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// "media/models/tstTorusModel3.obj".to_string(),
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]
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}
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