public override void ConvexDecompResult(ConvexResult result)
{
TriangleMesh trimesh = new TriangleMesh();
demo.trimeshes.Add(trimesh);
Vector3 localScaling = new Vector3(6.0f, 6.0f, 6.0f);
if (output == null)
{
return;
}
output.WriteLine("## Hull Piece {0} with {1} vertices and {2} triangles.", mHullCount, result.mHullVertices.Length, result.mHullIndices.Length / 3);
output.WriteLine("usemtl Material{0}", mBaseCount);
output.WriteLine("o Object{0}", mBaseCount);
foreach (Vector3 p in result.mHullVertices)
{
output.WriteLine(string.Format(floatFormat, "v {0:F9} {1:F9} {2:F9}", p.X, p.Y, p.Z));
}
//calc centroid, to shift vertices around center of mass
demo.centroid = Vector3.Zero;
AlignedVector3Array vertices = new AlignedVector3Array();
if (true)
{
foreach (Vector3 vertex in result.mHullVertices)
{
demo.centroid += vertex * localScaling;
}
}
demo.centroid /= (float)result.mHullVertices.Length;
if (true)
{
foreach (Vector3 vertex in result.mHullVertices)
{
vertices.Add(vertex * localScaling - demo.centroid);
}
}
if (true)
{
int[] src = result.mHullIndices;
for (int i = 0; i < src.Length; i += 3)
{
int index0 = src[i];
int index1 = src[i + 1];
int index2 = src[i + 2];
Vector3 vertex0 = result.mHullVertices[index0] * localScaling - demo.centroid;
Vector3 vertex1 = result.mHullVertices[index1] * localScaling - demo.centroid;
Vector3 vertex2 = result.mHullVertices[index2] * localScaling - demo.centroid;
trimesh.AddTriangle(vertex0, vertex1, vertex2);
index0 += mBaseCount;
index1 += mBaseCount;
index2 += mBaseCount;
output.WriteLine("f {0} {1} {2}", index0 + 1, index1 + 1, index2 + 1);
}
}
//this is a tools issue: due to collision margin, convex objects overlap, compensate for it here:
//#define SHRINK_OBJECT_INWARDS 1
#if SHRINK_OBJECT_INWARDS
float collisionMargin = 0.01f;
btAlignedObjectArray <btVector3> planeEquations;
btGeometryUtil::getPlaneEquationsFromVertices(vertices, planeEquations);
btAlignedObjectArray <btVector3> shiftedPlaneEquations;
for (int p = 0; p < planeEquations.size(); p++)
{
btVector3 plane = planeEquations[p];
plane[3] += collisionMargin;
shiftedPlaneEquations.push_back(plane);
}
btAlignedObjectArray <btVector3> shiftedVertices;
btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations, shiftedVertices);
btConvexHullShape *convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()), shiftedVertices.size());
#else //SHRINK_OBJECT_INWARDS
ConvexHullShape convexShape = new ConvexHullShape(vertices);
#endif
if (demo.sEnableSAT)
{
convexShape.InitializePolyhedralFeatures();
}
convexShape.Margin = 0.01f;
convexShapes.Add(convexShape);
convexCentroids.Add(demo.centroid);
demo.CollisionShapes.Add(convexShape);
mBaseCount += result.mHullVertices.Length; // advance the 'base index' counter.
}
public override void ConvexDecompResult(ConvexResult result)
{
TriangleMesh trimesh = new TriangleMesh();
demo.trimeshes.Add(trimesh);
Vector3 localScaling = new Vector3(6.0f, 6.0f, 6.0f);
if (output == null)
return;
output.WriteLine("## Hull Piece {0} with {1} vertices and {2} triangles.", mHullCount, result.mHullVertices.Length, result.mHullIndices.Length / 3);
output.WriteLine("usemtl Material{0}", mBaseCount);
output.WriteLine("o Object{0}", mBaseCount);
foreach (Vector3 p in result.mHullVertices)
{
output.WriteLine(string.Format(floatFormat, "v {0:F9} {1:F9} {2:F9}", p.X, p.Y, p.Z));
}
//calc centroid, to shift vertices around center of mass
demo.centroid = Vector3.Zero;
AlignedVector3Array vertices = new AlignedVector3Array();
if (true)
{
foreach (Vector3 vertex in result.mHullVertices)
{
demo.centroid += vertex * localScaling;
}
}
demo.centroid /= (float)result.mHullVertices.Length;
if (true)
{
foreach (Vector3 vertex in result.mHullVertices)
{
vertices.Add(vertex * localScaling - demo.centroid);
}
}
if (true)
{
int[] src = result.mHullIndices;
for (int i = 0; i < src.Length; i += 3)
{
int index0 = src[i];
int index1 = src[i + 1];
int index2 = src[i + 2];
Vector3 vertex0 = result.mHullVertices[index0] * localScaling - demo.centroid;
Vector3 vertex1 = result.mHullVertices[index1] * localScaling - demo.centroid;
Vector3 vertex2 = result.mHullVertices[index2] * localScaling - demo.centroid;
trimesh.AddTriangle(vertex0, vertex1, vertex2);
index0 += mBaseCount;
index1 += mBaseCount;
index2 += mBaseCount;
output.WriteLine("f {0} {1} {2}", index0 + 1, index1 + 1, index2 + 1);
}
}
//this is a tools issue: due to collision margin, convex objects overlap, compensate for it here:
//#define SHRINK_OBJECT_INWARDS 1
#if SHRINK_OBJECT_INWARDS
float collisionMargin = 0.01f;
btAlignedObjectArray<btVector3> planeEquations;
btGeometryUtil::getPlaneEquationsFromVertices(vertices,planeEquations);
btAlignedObjectArray<btVector3> shiftedPlaneEquations;
for (int p=0;p<planeEquations.size();p++)
{
btVector3 plane = planeEquations[p];
plane[3] += collisionMargin;
shiftedPlaneEquations.push_back(plane);
}
btAlignedObjectArray<btVector3> shiftedVertices;
btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices);
btConvexHullShape* convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size());
#else //SHRINK_OBJECT_INWARDS
ConvexHullShape convexShape = new ConvexHullShape(vertices);
#endif
if (demo.sEnableSAT)
{
convexShape.InitializePolyhedralFeatures();
}
convexShape.Margin = 0.01f;
convexShapes.Add(convexShape);
convexCentroids.Add(demo.centroid);
demo.CollisionShapes.Add(convexShape);
mBaseCount += result.mHullVertices.Length; // advance the 'base index' counter.
}
protected override void OnInitializePhysics()
{
ManifoldPoint.ContactAdded += MyContactCallback;
SetupEmptyDynamicsWorld();
WavefrontObj wo = new WavefrontObj();
int tcount = wo.LoadObj("data/file.obj");
if (tcount > 0)
{
TriangleMesh 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.AddTriangle(vertex0, vertex1, vertex2);
}
ConvexShape tmpConvexShape = new ConvexTriangleMeshShape(trimesh);
//create a hull approximation
ShapeHull hull = new ShapeHull(tmpConvexShape);
float margin = tmpConvexShape.Margin;
hull.BuildHull(margin);
tmpConvexShape.UserObject = hull;
ConvexHullShape convexShape = new ConvexHullShape();
foreach (Vector3 v in hull.Vertices)
{
convexShape.AddPoint(v);
}
if (sEnableSAT)
{
convexShape.InitializePolyhedralFeatures();
}
tmpConvexShape.Dispose();
//hull.Dispose();
CollisionShapes.Add(convexShape);
float mass = 1.0f;
LocalCreateRigidBody(mass, Matrix.Translation(0, 2, 14), convexShape);
const bool useQuantization = true;
CollisionShape concaveShape = new BvhTriangleMeshShape(trimesh, useQuantization);
LocalCreateRigidBody(0, Matrix.Translation(convexDecompositionObjectOffset), concaveShape);
CollisionShapes.Add(concaveShape);
// Bullet Convex Decomposition
FileStream outputFile = new FileStream("file_convex.obj", FileMode.Create, FileAccess.Write);
StreamWriter writer = new StreamWriter(outputFile);
DecompDesc desc = new DecompDesc
{
mVertices = wo.Vertices.ToArray(),
mTcount = tcount,
mIndices = wo.Indices.ToArray(),
mDepth = 5,
mCpercent = 5,
mPpercent = 15,
mMaxVertices = 16,
mSkinWidth = 0.0f
};
MyConvexDecomposition convexDecomposition = new MyConvexDecomposition(writer, this);
desc.mCallback = convexDecomposition;
// HACD
Hacd myHACD = new Hacd();
myHACD.SetPoints(wo.Vertices);
myHACD.SetTriangles(wo.Indices);
myHACD.CompacityWeight = 0.1;
myHACD.VolumeWeight = 0.0;
// HACD parameters
// Recommended parameters: 2 100 0 0 0 0
int nClusters = 2;
const double concavity = 100;
//bool invert = false;
const bool addExtraDistPoints = false;
const bool addNeighboursDistPoints = false;
const bool addFacesPoints = false;
myHACD.NClusters = nClusters; // minimum number of clusters
myHACD.VerticesPerConvexHull = 100; // max of 100 vertices per convex-hull
myHACD.Concavity = concavity; // maximum concavity
myHACD.AddExtraDistPoints = addExtraDistPoints;
myHACD.AddNeighboursDistPoints = addNeighboursDistPoints;
myHACD.AddFacesPoints = addFacesPoints;
myHACD.Compute();
nClusters = myHACD.NClusters;
myHACD.Save("output.wrl", false);
if (true)
{
CompoundShape compound = new CompoundShape();
CollisionShapes.Add(compound);
Matrix trans = Matrix.Identity;
for (int c = 0; c < nClusters; c++)
{
//generate convex result
Vector3[] points;
int[] triangles;
myHACD.GetCH(c, out points, out triangles);
ConvexResult r = new ConvexResult(points, triangles);
convexDecomposition.ConvexDecompResult(r);
}
for (i = 0; i < convexDecomposition.convexShapes.Count; i++)
{
Vector3 centroid = convexDecomposition.convexCentroids[i];
trans = Matrix.Translation(centroid);
ConvexHullShape convexShape2 = convexDecomposition.convexShapes[i] as ConvexHullShape;
compound.AddChildShape(trans, convexShape2);
RigidBody body = LocalCreateRigidBody(1.0f, trans, convexShape2);
}
#if true
mass = 10.0f;
trans = Matrix.Translation(-convexDecompositionObjectOffset);
RigidBody body2 = LocalCreateRigidBody(mass, trans, compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = 6;
trans = Matrix.Translation(-convexDecompositionObjectOffset);
body2 = LocalCreateRigidBody(mass, trans, compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = -6;
trans = Matrix.Translation(-convexDecompositionObjectOffset);
body2 = LocalCreateRigidBody(mass, trans, compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
#endif
}
writer.Dispose();
outputFile.Dispose();
}
}
protected override void OnInitializePhysics()
{
ManifoldPoint.ContactAdded += MyContactCallback;
SetupEmptyDynamicsWorld();
WavefrontObj wo = new WavefrontObj();
int tcount = wo.LoadObj("data/file.obj");
if (tcount > 0)
{
TriangleMesh 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.AddTriangle(vertex0, vertex1, vertex2);
}
ConvexShape tmpConvexShape = new ConvexTriangleMeshShape(trimesh);
//create a hull approximation
ShapeHull hull = new ShapeHull(tmpConvexShape);
float margin = tmpConvexShape.Margin;
hull.BuildHull(margin);
tmpConvexShape.UserObject = hull;
ConvexHullShape convexShape = new ConvexHullShape();
foreach (Vector3 v in hull.Vertices)
{
convexShape.AddPoint(v);
}
if (sEnableSAT)
{
convexShape.InitializePolyhedralFeatures();
}
tmpConvexShape.Dispose();
//hull.Dispose();
CollisionShapes.Add(convexShape);
float mass = 1.0f;
LocalCreateRigidBody(mass, Matrix.Translation(0, 2, 14), convexShape);
const bool useQuantization = true;
CollisionShape concaveShape = new BvhTriangleMeshShape(trimesh, useQuantization);
LocalCreateRigidBody(0, Matrix.Translation(convexDecompositionObjectOffset), concaveShape);
CollisionShapes.Add(concaveShape);
// Bullet Convex Decomposition
FileStream outputFile = new FileStream("file_convex.obj", FileMode.Create, FileAccess.Write);
StreamWriter writer = new StreamWriter(outputFile);
DecompDesc desc = new DecompDesc
{
mVertices = wo.Vertices.ToArray(),
mTcount = tcount,
mIndices = wo.Indices.ToArray(),
mDepth = 5,
mCpercent = 5,
mPpercent = 15,
mMaxVertices = 16,
mSkinWidth = 0.0f
};
MyConvexDecomposition convexDecomposition = new MyConvexDecomposition(writer, this);
desc.mCallback = convexDecomposition;
// HACD
Hacd myHACD = new Hacd();
myHACD.SetPoints(wo.Vertices);
myHACD.SetTriangles(wo.Indices);
myHACD.CompacityWeight = 0.1;
myHACD.VolumeWeight = 0.0;
// HACD parameters
// Recommended parameters: 2 100 0 0 0 0
int nClusters = 2;
const double concavity = 100;
//bool invert = false;
const bool addExtraDistPoints = false;
const bool addNeighboursDistPoints = false;
const bool addFacesPoints = false;
myHACD.NClusters = nClusters; // minimum number of clusters
myHACD.VerticesPerConvexHull = 100; // max of 100 vertices per convex-hull
myHACD.Concavity = concavity; // maximum concavity
myHACD.AddExtraDistPoints = addExtraDistPoints;
myHACD.AddNeighboursDistPoints = addNeighboursDistPoints;
myHACD.AddFacesPoints = addFacesPoints;
myHACD.Compute();
nClusters = myHACD.NClusters;
myHACD.Save("output.wrl", false);
if (true)
{
CompoundShape compound = new CompoundShape();
CollisionShapes.Add(compound);
Matrix trans = Matrix.Identity;
for (int c = 0; c < nClusters; c++)
{
//generate convex result
Vector3[] points;
int[] triangles;
myHACD.GetCH(c, out points, out triangles);
ConvexResult r = new ConvexResult(points, triangles);
convexDecomposition.ConvexDecompResult(r);
}
for (i = 0; i < convexDecomposition.convexShapes.Count; i++)
{
Vector3 centroid = convexDecomposition.convexCentroids[i];
trans = Matrix.Translation(centroid);
ConvexHullShape convexShape2 = convexDecomposition.convexShapes[i] as ConvexHullShape;
compound.AddChildShape(trans, convexShape2);
RigidBody body = LocalCreateRigidBody(1.0f, trans, convexShape2);
}
#if true
mass = 10.0f;
trans = Matrix.Translation(-convexDecompositionObjectOffset);
RigidBody body2 = LocalCreateRigidBody(mass, trans, compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = 6;
trans = Matrix.Translation(-convexDecompositionObjectOffset);
body2 = LocalCreateRigidBody(mass, trans, compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
convexDecompositionObjectOffset.Z = -6;
trans = Matrix.Translation(-convexDecompositionObjectOffset);
body2 = LocalCreateRigidBody(mass, trans, compound);
body2.CollisionFlags |= CollisionFlags.CustomMaterialCallback;
#endif
}
writer.Dispose();
outputFile.Dispose();
}
}
public abstract void ConvexDecompResult(ConvexResult result);
public ConvexResult(ConvexResult r)
{
mHullVertices = (Vector3[])r.mHullVertices.Clone();
mHullIndices = (int[])r.mHullIndices.Clone();
}
public abstract void ConvexDecompResult(ConvexResult result);
public ConvexResult(ConvexResult r)
{
mHullVertices = (Vector3[])r.mHullVertices.Clone();
mHullIndices = (int[])r.mHullIndices.Clone();
}
