Esempio n. 1
0
        public int process(DecompDesc desc)
        {
            int ret = 0;

            MAXDEPTH        = (int)desc.mDepth;
            CONCAVE_PERCENT = desc.mCpercent;
            MERGE_PERCENT   = desc.mPpercent;

            ConvexDecomposition.calcConvexDecomposition(desc.mVertices, desc.mIndices, ConvexDecompResult, 0f, 0, MAXDEPTH, CONCAVE_PERCENT, MERGE_PERCENT);

            while (combineHulls()) // keep combinging hulls until I can't combine any more...
            {
                ;
            }

            int i;

            for (i = 0; i < mChulls.Count; i++)
            {
                CHull cr = mChulls[i];

                // before we hand it back to the application, we need to regenerate the hull based on the
                // limits given by the user.

                ConvexResult c = cr.mResult; // the high resolution hull...

                HullResult result = new HullResult();
                HullDesc   hdesc  = new HullDesc();

                hdesc.SetHullFlag(HullFlag.QF_TRIANGLES);

                hdesc.Vertices    = c.HullVertices;
                hdesc.MaxVertices = desc.mMaxVertices; // maximum number of vertices allowed in the output

                if (desc.mSkinWidth != 0f)
                {
                    hdesc.SkinWidth = desc.mSkinWidth;
                    hdesc.SetHullFlag(HullFlag.QF_SKIN_WIDTH); // do skin width computation.
                }

                HullError ret2 = HullUtils.CreateConvexHull(hdesc, ref result);

                if (ret2 == HullError.QE_OK)
                {
                    ConvexResult r = new ConvexResult(result.OutputVertices, result.Indices);

                    r.mHullVolume = Concavity.computeMeshVolume(result.OutputVertices, result.Indices); // the volume of the hull.

                    // compute the best fit OBB
                    //computeBestFitOBB(result.mNumOutputVertices, result.mOutputVertices, sizeof(float) * 3, r.mOBBSides, r.mOBBTransform);

                    //r.mOBBVolume = r.mOBBSides[0] * r.mOBBSides[1] * r.mOBBSides[2]; // compute the OBB volume.

                    //fm_getTranslation(r.mOBBTransform, r.mOBBCenter); // get the translation component of the 4x4 matrix.

                    //fm_matrixToQuat(r.mOBBTransform, r.mOBBOrientation); // extract the orientation as a quaternion.

                    //r.mSphereRadius = computeBoundingSphere(result.mNumOutputVertices, result.mOutputVertices, r.mSphereCenter);
                    //r.mSphereVolume = fm_sphereVolume(r.mSphereRadius);

                    mCallback(r);
                }

                result = null;
                cr.Dispose();
            }

            ret = mChulls.Count;

            mChulls.Clear();

            return(ret);
        }
Esempio n. 2
0
        public int process(DecompDesc desc)
        {
            int ret = 0;

            MAXDEPTH = (int)desc.mDepth;
            CONCAVE_PERCENT = desc.mCpercent;
            MERGE_PERCENT = desc.mPpercent;

            ConvexDecomposition.calcConvexDecomposition(desc.mVertices, desc.mIndices, ConvexDecompResult, 0f, 0, MAXDEPTH, CONCAVE_PERCENT, MERGE_PERCENT);

            while (combineHulls()) // keep combinging hulls until I can't combine any more...
                ;

            int i;
            for (i = 0; i < mChulls.Count; i++)
            {
                CHull cr = mChulls[i];

                // before we hand it back to the application, we need to regenerate the hull based on the
                // limits given by the user.

                ConvexResult c = cr.mResult; // the high resolution hull...

                HullResult result = new HullResult();
                HullDesc hdesc = new HullDesc();

                hdesc.SetHullFlag(HullFlag.QF_TRIANGLES);

                hdesc.Vertices = c.HullVertices;
                hdesc.MaxVertices = desc.mMaxVertices; // maximum number of vertices allowed in the output

                if (desc.mSkinWidth != 0f)
                {
                    hdesc.SkinWidth = desc.mSkinWidth;
                    hdesc.SetHullFlag(HullFlag.QF_SKIN_WIDTH); // do skin width computation.
                }

                HullError ret2 = HullUtils.CreateConvexHull(hdesc, ref result);

                if (ret2 == HullError.QE_OK)
                {
                    ConvexResult r = new ConvexResult(result.OutputVertices, result.Indices);

                    r.mHullVolume = Concavity.computeMeshVolume(result.OutputVertices, result.Indices); // the volume of the hull.

                    // compute the best fit OBB
                    //computeBestFitOBB(result.mNumOutputVertices, result.mOutputVertices, sizeof(float) * 3, r.mOBBSides, r.mOBBTransform);

                    //r.mOBBVolume = r.mOBBSides[0] * r.mOBBSides[1] * r.mOBBSides[2]; // compute the OBB volume.

                    //fm_getTranslation(r.mOBBTransform, r.mOBBCenter); // get the translation component of the 4x4 matrix.

                    //fm_matrixToQuat(r.mOBBTransform, r.mOBBOrientation); // extract the orientation as a quaternion.

                    //r.mSphereRadius = computeBoundingSphere(result.mNumOutputVertices, result.mOutputVertices, r.mSphereCenter);
                    //r.mSphereVolume = fm_sphereVolume(r.mSphereRadius);

                    mCallback(r);
                }

                result = null;
                cr.Dispose();
            }

            ret = mChulls.Count;

            mChulls.Clear();

            return ret;
        }
Esempio n. 3
0
    private BulletShape CreatePhysicalHull(BSScene physicsScene, BSPhysObject prim, System.UInt64 newHullKey,
                                            PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
    {
        BulletShape newShape = new BulletShape();

        IMesh meshData = null;
        List<List<OMV.Vector3>> allHulls = null;
        lock (physicsScene.mesher)
        {
            // Pass true for physicalness as this prevents the creation of bounding box which is not needed
            meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */, false, false);

            // If we should use the asset's hull info, fetch it out of the locked mesher
            if (meshData != null && BSParam.ShouldUseAssetHulls)
            {
                Meshmerizer realMesher = physicsScene.mesher as Meshmerizer;
                if (realMesher != null)
                {
                    allHulls = realMesher.GetConvexHulls(size);
                }
                if (allHulls == null)
                {
                    physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,noAssetHull", prim.LocalID);
                }
            }
        }

        // If there is hull data in the mesh asset, build the hull from that
        if (allHulls != null && BSParam.ShouldUseAssetHulls)
        {
            int hullCount = allHulls.Count;
            shapeInfo.HullCount = hullCount;
            int totalVertices = 1;      // include one for the count of the hulls
            // Using the structure described for HACD hulls, create the memory sturcture
            //     to pass the hull data to the creater.
            foreach (List<OMV.Vector3> hullVerts in allHulls)
            {
                totalVertices += 4;                     // add four for the vertex count and centroid
                totalVertices += hullVerts.Count * 3;   // one vertex is three dimensions
            }
            float[] convHulls = new float[totalVertices];

            convHulls[0] = (float)hullCount;
            int jj = 1;
            int hullIndex = 0;
            foreach (List<OMV.Vector3> hullVerts in allHulls)
            {
                convHulls[jj + 0] = hullVerts.Count;
                convHulls[jj + 1] = 0f;   // centroid x,y,z
                convHulls[jj + 2] = 0f;
                convHulls[jj + 3] = 0f;
                jj += 4;
                foreach (OMV.Vector3 oneVert in hullVerts)
                {
                    convHulls[jj + 0] = oneVert.X;
                    convHulls[jj + 1] = oneVert.Y;
                    convHulls[jj + 2] = oneVert.Z;
                    jj += 3;
                }
                shapeInfo.SetVerticesPerHull(hullIndex, hullVerts.Count);
                hullIndex++;
            }

            // create the hull data structure in Bullet
            newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls);

            physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,hulls={1},totVert={2},shape={3}",
                                        prim.LocalID, hullCount, totalVertices, newShape);
        }

        // If no hull specified in the asset and we should use Bullet's HACD approximation...
        if (!newShape.HasPhysicalShape && BSParam.ShouldUseBulletHACD)
        {
            // Build the hull shape from an existing mesh shape.
            // The mesh should have already been created in Bullet.
            physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,entry", prim.LocalID);
            BSShape meshShape = BSShapeMesh.GetReference(physicsScene, true, prim);

            if (meshShape.physShapeInfo.HasPhysicalShape)
            {
                HACDParams parms = new HACDParams();
                parms.maxVerticesPerHull = BSParam.BHullMaxVerticesPerHull;
                parms.minClusters = BSParam.BHullMinClusters;
                parms.compacityWeight = BSParam.BHullCompacityWeight;
                parms.volumeWeight = BSParam.BHullVolumeWeight;
                parms.concavity = BSParam.BHullConcavity;
                parms.addExtraDistPoints = BSParam.NumericBool(BSParam.BHullAddExtraDistPoints);
                parms.addNeighboursDistPoints = BSParam.NumericBool(BSParam.BHullAddNeighboursDistPoints);
                parms.addFacesPoints = BSParam.NumericBool(BSParam.BHullAddFacesPoints);
                parms.shouldAdjustCollisionMargin = BSParam.NumericBool(BSParam.BHullShouldAdjustCollisionMargin);
                parms.whichHACD = 0;    // Use the HACD routine that comes with Bullet

                physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape);
                newShape = physicsScene.PE.BuildHullShapeFromMesh(physicsScene.World, meshShape.physShapeInfo, parms);
                physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,shape={1}", prim.LocalID, newShape);

                // Now done with the mesh shape.
                shapeInfo.HullCount = 1;
                BSShapeMesh maybeMesh = meshShape as BSShapeMesh;
                if (maybeMesh != null)
                    shapeInfo.SetVerticesPerHull(0, maybeMesh.shapeInfo.Vertices);
                meshShape.Dereference(physicsScene);
            }
            physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
        }

        // If no other hull specifications, use our HACD hull approximation.
        if (!newShape.HasPhysicalShape && meshData != null)
        {
            if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
            {
                // Release the fetched asset data once it has been used.
                pbs.SculptData = new byte[0];
                prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown;
            }

            int[] indices = meshData.getIndexListAsInt();
            List<OMV.Vector3> vertices = meshData.getVertexList();

            //format conversion from IMesh format to DecompDesc format
            List<int> convIndices = new List<int>();
            List<float3> convVertices = new List<float3>();
            for (int ii = 0; ii < indices.GetLength(0); ii++)
            {
                convIndices.Add(indices[ii]);
            }
            foreach (OMV.Vector3 vv in vertices)
            {
                convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
            }

            uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit;
            if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes)
            {
                // Simple primitive shapes we know are convex so they are better implemented with
                //    fewer hulls.
                // Check for simple shape (prim without cuts) and reduce split parameter if so.
                if (BSShapeCollection.PrimHasNoCuts(pbs))
                {
                    maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes;
                }
            }

            // setup and do convex hull conversion
            m_hulls = new List<ConvexResult>();
            DecompDesc dcomp = new DecompDesc();
            dcomp.mIndices = convIndices;
            dcomp.mVertices = convVertices;
            dcomp.mDepth = maxDepthSplit;
            dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent;
            dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent;
            dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices;
            dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth;
            ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
            // create the hull into the _hulls variable
            convexBuilder.process(dcomp);

            physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}",
                                BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count);

            // Convert the vertices and indices for passing to unmanaged.
            // The hull information is passed as a large floating point array.
            // The format is:
            //  convHulls[0] = number of hulls
            //  convHulls[1] = number of vertices in first hull
            //  convHulls[2] = hull centroid X coordinate
            //  convHulls[3] = hull centroid Y coordinate
            //  convHulls[4] = hull centroid Z coordinate
            //  convHulls[5] = first hull vertex X
            //  convHulls[6] = first hull vertex Y
            //  convHulls[7] = first hull vertex Z
            //  convHulls[8] = second hull vertex X
            //  ...
            //  convHulls[n] = number of vertices in second hull
            //  convHulls[n+1] = second hull centroid X coordinate
            //  ...
            //
            // TODO: is is very inefficient. Someday change the convex hull generator to return
            //   data structures that do not need to be converted in order to pass to Bullet.
            //   And maybe put the values directly into pinned memory rather than marshaling.
            int hullCount = m_hulls.Count;
            int totalVertices = 1;          // include one for the count of the hulls
            foreach (ConvexResult cr in m_hulls)
            {
                totalVertices += 4;                         // add four for the vertex count and centroid
                totalVertices += cr.HullIndices.Count * 3;  // we pass just triangles
            }
            float[] convHulls = new float[totalVertices];

            convHulls[0] = (float)hullCount;
            int jj = 1;
            foreach (ConvexResult cr in m_hulls)
            {
                // copy vertices for index access
                float3[] verts = new float3[cr.HullVertices.Count];
                int kk = 0;
                foreach (float3 ff in cr.HullVertices)
                {
                    verts[kk++] = ff;
                }

                // add to the array one hull's worth of data
                convHulls[jj++] = cr.HullIndices.Count;
                convHulls[jj++] = 0f;   // centroid x,y,z
                convHulls[jj++] = 0f;
                convHulls[jj++] = 0f;
                foreach (int ind in cr.HullIndices)
                {
                    convHulls[jj++] = verts[ind].x;
                    convHulls[jj++] = verts[ind].y;
                    convHulls[jj++] = verts[ind].z;
                }
            }
            // create the hull data structure in Bullet
            newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls);
        }
        newShape.shapeKey = newHullKey;
        return newShape;
    }