public ConvexDecompositionDemoSimulation(bool enableSat)
{
_enableSat = enableSat;
CollisionConfiguration = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConfiguration);
Broadphase = new AxisSweep3(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000));
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, null, CollisionConfiguration);
CreateGround();
ManifoldPoint.ContactAdded += MyContactCallback;
//CompoundCollisionAlgorithm.CompoundChildShapePairCallback = MyCompoundChildShapeCallback;
string path = Path.Combine("data", "file.obj");
var wavefrontModel = WavefrontObj.Load(path);
if (wavefrontModel.Indices.Count == 0)
{
return;
}
var localScaling = new Vector3(6, 6, 6);
_triangleMesh = CreateTriangleMesh(wavefrontModel.Indices, wavefrontModel.Vertices, localScaling);
// Convex hull approximation
ConvexHullShape convexShape = CreateHullApproximation(_triangleMesh);
float mass = 1.0f;
PhysicsHelper.CreateBody(mass, Matrix.Translation(0, 2, 14), convexShape, World);
// Non-moving body
var objectOffset = new Vector3(10, 0, 0);
const bool useQuantization = true;
var concaveShape = new BvhTriangleMeshShape(_triangleMesh, useQuantization);
PhysicsHelper.CreateStaticBody(Matrix.Translation(objectOffset), concaveShape, World);
Hacd hacd = ComputeHacd(wavefrontModel);
hacd.Save("output.wrl", false);
var compoundShape = CreateCompoundShape(hacd, localScaling);
mass = 10.0f;
objectOffset = new Vector3(-10, 0, -6);
var body2 = PhysicsHelper.CreateBody(mass, Matrix.Translation(objectOffset), compoundShape, World);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
objectOffset.Z += 6;
body2 = PhysicsHelper.CreateBody(mass, Matrix.Translation(objectOffset), compoundShape, World);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
objectOffset.Z += 6;
body2 = PhysicsHelper.CreateBody(mass, Matrix.Translation(objectOffset), compoundShape, World);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
}
protected override void OnInitializePhysics()
{
ManifoldPoint.ContactAdded += MyContactCallback;
SetupEmptyDynamicsWorld();
//CompoundCollisionAlgorithm.CompoundChildShapePairCallback = MyCompoundChildShapeCallback;
string path = Path.Combine("data", "file.obj");
var wavefrontModel = WavefrontObj.Load(path);
if (wavefrontModel.Indices.Count == 0)
{
return;
}
var localScaling = new Vector3(6, 6, 6);
_triangleMesh = CreateTriangleMesh(wavefrontModel.Indices, wavefrontModel.Vertices, localScaling);
// Convex hull approximation
ConvexHullShape convexShape = CreateHullApproximation(_triangleMesh);
float mass = 1.0f;
LocalCreateRigidBody(mass, Matrix.Translation(0, 2, 14), convexShape);
// Non-moving body
var objectOffset = new Vector3(10, 0, 0);
const bool useQuantization = true;
var concaveShape = new BvhTriangleMeshShape(_triangleMesh, useQuantization);
LocalCreateRigidBody(0, Matrix.Translation(objectOffset), concaveShape);
Hacd hacd = ComputeHacd(wavefrontModel);
hacd.Save("output.wrl", false);
var compoundShape = CreateCompoundShape(hacd, localScaling);
mass = 10.0f;
objectOffset = new Vector3(-10, 0, -6);
var body2 = LocalCreateRigidBody(mass, Matrix.Translation(objectOffset), compoundShape);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
objectOffset.Z += 6;
body2 = LocalCreateRigidBody(mass, Matrix.Translation(objectOffset), compoundShape);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
objectOffset.Z += 6;
body2 = LocalCreateRigidBody(mass, Matrix.Translation(objectOffset), compoundShape);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
}
protected override void OnInitializePhysics()
{
ManifoldPoint.ContactAdded += MyContactCallback;
SetupEmptyDynamicsWorld();
CreateGround();
//CompoundCollisionAlgorithm.CompoundChildShapePairCallback = MyCompoundChildShapeCallback;
var wo = WavefrontObj.Load("data/file.obj");
if (wo.Indices.Count == 0)
{
return;
}
var localScaling = new Vector3(6, 6, 6);
triangleMesh = CreateTriangleMesh(wo.Indices, wo.Vertices, localScaling);
// Convex hull approximation
ConvexHullShape convexShape = CreateHullApproximation(triangleMesh);
CollisionShapes.Add(convexShape);
float mass = 1.0f;
LocalCreateRigidBody(mass, Matrix.Translation(0, 2, 14), convexShape);
// Non-moving body
Vector3 convexDecompositionObjectOffset = new Vector3(10, 0, 0);
const bool useQuantization = true;
var concaveShape = new BvhTriangleMeshShape(triangleMesh, useQuantization);
CollisionShapes.Add(concaveShape);
LocalCreateRigidBody(0, Matrix.Translation(convexDecompositionObjectOffset), concaveShape);
var hacd = new Hacd()
{
VerticesPerConvexHull = 100,
CompacityWeight = 0.1,
VolumeWeight = 0,
// Recommended HACD parameters
NClusters = 2,
Concavity = 100,
AddExtraDistPoints = false,
AddFacesPoints = false,
AddNeighboursDistPoints = false
};
hacd.SetPoints(wo.Vertices);
hacd.SetTriangles(wo.Indices);
hacd.Compute();
hacd.Save("output.wrl", false);
// Generate convex result
var outputFile = new FileStream("file_convex.obj", FileMode.Create, FileAccess.Write);
var writer = new StreamWriter(outputFile);
var convexDecomposition = new ConvexDecomposition(writer)
{
LocalScaling = localScaling
};
for (int c = 0; c < hacd.NClusters; c++)
{
int nVertices = hacd.GetNPointsCH(c);
int trianglesLen = hacd.GetNTrianglesCH(c) * 3;
double[] points = new double[nVertices * 3];
long[] triangles = new long[trianglesLen];
hacd.GetCH(c, points, triangles);
if (trianglesLen == 0)
{
continue;
}
Vector3[] verticesArray = new Vector3[nVertices];
int vi3 = 0;
for (int vi = 0; vi < nVertices; vi++)
{
verticesArray[vi] = new Vector3(
(float)points[vi3], (float)points[vi3 + 1], (float)points[vi3 + 2]);
vi3 += 3;
}
int[] trianglesInt = new int[trianglesLen];
for (int ti = 0; ti < trianglesLen; ti++)
{
trianglesInt[ti] = (int)triangles[ti];
}
convexDecomposition.Result(verticesArray, trianglesInt);
}
writer.Dispose();
outputFile.Dispose();
// Combine convex shapes into a compound shape
var compound = new CompoundShape();
for (int i = 0; i < convexDecomposition.convexShapes.Count; i++)
{
Vector3 centroid = convexDecomposition.convexCentroids[i];
var convexShape2 = convexDecomposition.convexShapes[i];
Matrix trans = Matrix.Translation(centroid);
if (enableSat)
{
convexShape2.InitializePolyhedralFeatures();
}
CollisionShapes.Add(convexShape2);
compound.AddChildShape(trans, convexShape2);
LocalCreateRigidBody(1.0f, trans, convexShape2);
}
CollisionShapes.Add(compound);
#if true
mass = 10.0f;
var body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = 6;
body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = -6;
body2 = LocalCreateRigidBody(mass, Matrix.Translation(-convexDecompositionObjectOffset), compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
#endif
}