private CompoundShape CreateCompoundShape(Hacd hacd, Vector3 localScaling)
{
var wavefrontWriter = new WavefrontWriter("file_convex.obj");
var convexDecomposition = new ConvexDecomposition(wavefrontWriter)
{
LocalScaling = localScaling
};
for (int c = 0; c < hacd.NClusters; c++)
{
int trianglesLen = hacd.GetNTrianglesCH(c) * 3;
if (trianglesLen == 0)
{
continue;
}
var triangles = new long[trianglesLen];
int nVertices = hacd.GetNPointsCH(c);
var points = new double[nVertices * 3];
hacd.GetCH(c, points, triangles);
var 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;
}
convexDecomposition.Result(verticesArray, triangles);
}
wavefrontWriter.Dispose();
// Combine convex shapes into a compound shape
var compoundShape = new CompoundShape();
for (int i = 0; i < convexDecomposition.ConvexShapes.Count; i++)
{
Vector3 centroid = convexDecomposition.ConvexCentroids[i];
var convexShape = convexDecomposition.ConvexShapes[i];
Matrix trans = Matrix.Translation(centroid);
if (_enableSat)
{
convexShape.InitializePolyhedralFeatures();
}
compoundShape.AddChildShape(trans, convexShape);
PhysicsHelper.CreateBody(1.0f, trans, convexShape, World);
}
return(compoundShape);
}
private CompoundShape CreateCompoundShape(Hacd hacd, Vector3 localScaling)
{
var wavefrontWriter = new WavefrontWriter("file_convex.obj");
var convexDecomposition = new ConvexDecomposition(wavefrontWriter)
{
LocalScaling = localScaling
};
for (int c = 0; c < hacd.NClusters; c++)
{
int trianglesLen = hacd.GetNTrianglesCH(c) * 3;
if (trianglesLen == 0)
{
continue;
}
Vector3[] points;
int[] triangles;
hacd.GetCH(c, out points, out triangles);
convexDecomposition.Result(points, triangles);
}
wavefrontWriter.Dispose();
// Combine convex shapes into a compound shape
var compoundShape = new CompoundShape();
for (int i = 0; i < convexDecomposition.ConvexShapes.Count; i++)
{
Vector3 centroid = convexDecomposition.ConvexCentroids[i];
var convexShape = convexDecomposition.ConvexShapes[i];
Matrix trans = Matrix.Translation(centroid);
if (_enableSat)
{
convexShape.InitializePolyhedralFeatures();
}
compoundShape.AddChildShape(trans, convexShape);
LocalCreateRigidBody(1.0f, trans, convexShape);
}
return(compoundShape);
}
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
}
protected override void OnInitializePhysics()
{
ManifoldPoint.ContactAdded += MyContactCallback;
SetupEmptyDynamicsWorld();
//CompoundCollisionAlgorithm.CompoundChildShapePairCallback = MyCompoundChildShapeCallback;
convexDecompositionObjectOffset = new Vector3(10, 0, 0);
// Load wavefront file
var wo = new WavefrontObj();
//string filename = UnityEngine.Application.dataPath + "/BulletUnity/Examples/Scripts/BulletSharpDemos/ConvexDecompositionDemo/data/file.obj";
UnityEngine.TextAsset bytes = (UnityEngine.TextAsset)UnityEngine.Resources.Load("file.obj");
System.IO.Stream byteStream = new System.IO.MemoryStream(bytes.bytes);
int tcount = wo.LoadObj(byteStream);
if (tcount == 0)
{
return;
}
// Convert file data to TriangleMesh
var trimesh = new TriangleMesh();
trimeshes.Add(trimesh);
Vector3 localScaling = new Vector3(6, 6, 6);
List <int> indices = wo.Indices;
List <Vector3> vertices = wo.Vertices;
int i;
for (i = 0; i < tcount; i++)
{
int index0 = indices[i * 3];
int index1 = indices[i * 3 + 1];
int index2 = indices[i * 3 + 2];
Vector3 vertex0 = vertices[index0] * localScaling;
Vector3 vertex1 = vertices[index1] * localScaling;
Vector3 vertex2 = vertices[index2] * localScaling;
trimesh.AddTriangleRef(ref vertex0, ref vertex1, ref vertex2);
}
// Create a hull approximation
ConvexHullShape convexShape;
using (var tmpConvexShape = new ConvexTriangleMeshShape(trimesh))
{
using (var hull = new ShapeHull(tmpConvexShape))
{
hull.BuildHull(tmpConvexShape.Margin);
convexShape = new ConvexHullShape(hull.Vertices);
}
}
if (sEnableSAT)
{
convexShape.InitializePolyhedralFeatures();
}
CollisionShapes.Add(convexShape);
// Add non-moving body to world
float mass = 1.0f;
LocalCreateRigidBody(mass, Matrix.Translation(0, 2, 14), convexShape);
const bool useQuantization = true;
var concaveShape = new BvhTriangleMeshShape(trimesh, useQuantization);
LocalCreateRigidBody(0, Matrix.Translation(convexDecompositionObjectOffset), concaveShape);
CollisionShapes.Add(concaveShape);
// HACD
var hacd = new Hacd();
hacd.SetPoints(wo.Vertices);
hacd.SetTriangles(wo.Indices);
hacd.CompacityWeight = 0.1;
hacd.VolumeWeight = 0.0;
// Recommended HACD parameters: 2 100 false false false
hacd.NClusters = 2; // minimum number of clusters
hacd.Concavity = 100; // maximum concavity
hacd.AddExtraDistPoints = false;
hacd.AddNeighboursDistPoints = false;
hacd.AddFacesPoints = false;
hacd.NVerticesPerCH = 100; // max of 100 vertices per convex-hull
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, this);
convexDecomposition.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.ConvexDecompResult(verticesArray, trianglesInt);
}
// Combine convex shapes into a compound shape
var compound = new CompoundShape();
for (i = 0; i < convexDecomposition.convexShapes.Count; i++)
{
Vector3 centroid = convexDecomposition.convexCentroids[i];
var convexShape2 = convexDecomposition.convexShapes[i];
Matrix trans = Matrix.Translation(centroid);
if (sEnableSAT)
{
convexShape2.InitializePolyhedralFeatures();
}
CollisionShapes.Add(convexShape2);
compound.AddChildShape(trans, convexShape2);
LocalCreateRigidBody(1.0f, trans, convexShape2);
}
CollisionShapes.Add(compound);
writer.Dispose();
outputFile.Dispose();
#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
}