136 lines
4.8 KiB
Rust
136 lines
4.8 KiB
Rust
use kiss3d::loader::obj;
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use na::{Point3, Translation3};
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use rapier3d::cdl::bounding_volume::{self, BoundingVolume};
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use rapier3d::cdl::transformation::vhacd::{VHACDParameters, VHACD};
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use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
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use rapier3d::geometry::{ColliderBuilder, ColliderSet, SharedShape};
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use rapier_testbed3d::Testbed;
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use std::path::Path;
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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(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(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 mtl_path = Path::new("");
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let mut shapes = Vec::new();
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println!("Parsing and decomposing: {}", obj_path);
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let obj = obj::parse_file(&Path::new(&obj_path), &mtl_path, "");
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if let Ok(model) = obj {
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let meshes: Vec<_> = model
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.into_iter()
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.map(|mesh| mesh.1.to_trimesh().unwrap())
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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 mut aabb =
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bounding_volume::details::point_cloud_aabb(&deltas, &meshes[0].coords[..]);
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for mesh in meshes[1..].iter() {
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aabb.merge(&bounding_volume::details::point_cloud_aabb(
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&deltas,
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&mesh.coords[..],
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));
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}
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let center = aabb.center().coords;
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let diag = (aabb.maxs - aabb.mins).norm();
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for mut trimesh in meshes.into_iter() {
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trimesh.translate_by(&Translation3::from(-center));
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trimesh.scale_by_scalar(6.0 / diag);
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let params = VHACDParameters::default();
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let vertices = trimesh.coords;
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let indices: Vec<_> = trimesh
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.indices
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.unwrap_unified()
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.into_iter()
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.map(|idx| [idx.x, idx.y, idx.z])
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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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}
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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().translation(x, y, z).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(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(Point3::new(100.0, 100.0, 100.0), Point3::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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