Voxel fracture experimentsvoxels

2 files changed, 174 insertions, 0 deletions

diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index e51e185..67147e3 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -35,6 +35,8 @@ mod joints3;
 // mod joints3;
 mod character_controller3;
 mod debug_internal_edges3;
+mod convex_voxel_decomposition3;
+mod debug_excentric_boxes3;
 mod keva3;
 mod locked_rotations3;
 mod newton_cradle3;
@@ -92,6 +94,10 @@ pub fn main() {
         ("Collision groups", collision_groups3::init_world),
         ("Compound", compound3::init_world),
         ("Convex decomposition", convex_decomposition3::init_world),
+        (
+            "Convex voxel decomposition",
+            convex_voxel_decomposition3::init_world,
+        ),
         ("Convex polyhedron", convex_polyhedron3::init_world),
         ("Damping", damping3::init_world),
         ("Domino", domino3::init_world),
@@ -123,6 +129,10 @@ pub fn main() {
         ("(Debug) triangle", debug_triangle3::init_world),
         ("(Debug) trimesh", debug_trimesh3::init_world),
         ("(Debug) cylinder", debug_cylinder3::init_world),
+        (
+            "(Debug) excentric boxes",
+            debug_excentric_boxes3::init_world,
+        ),
         ("(Debug) infinite fall", debug_infinite_fall3::init_world),
         ("(Debug) prismatic", debug_prismatic3::init_world),
         ("(Debug) rollback", debug_rollback3::init_world),
diff --git a/examples3d/convex_voxel_decomposition3.rs b/examples3d/convex_voxel_decomposition3.rs
new file mode 100644
index 0000000..d075b16
--- /dev/null
+++ b/examples3d/convex_voxel_decomposition3.rs
@@ -0,0 +1,164 @@
+use obj::raw::object::Polygon;
+use rapier3d::parry::bounding_volume;
+use rapier3d::parry::transformation::voxelization::FillMode;
+use rapier3d::prelude::*;
+use rapier_testbed3d::Testbed;
+use std::fs::File;
+use std::io::BufReader;
+
+const VOXEL_SIZE: Real = 0.25;
+/*
+ * NOTE: The `r` macro is only here to convert from f64 to the `N` scalar type.
+ * This simplifies experimentation with various scalar types (f32, fixed-point numbers, etc.)
+ */
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
+
+    /*
+     * Create a bowl for the ground
+     */
+    {
+        let obj_path = "assets/3d/bowl.obj";
+        let input = BufReader::new(File::open(obj_path).unwrap());
+
+        if let Ok(model) = obj::raw::parse_obj(input) {
+            let mut vertices: Vec<_> = model
+                .positions
+                .iter()
+                .map(|v| point![v.0, v.1, v.2])
+                .collect();
+            let indices: Vec<_> = model
+                .polygons
+                .into_iter()
+                .flat_map(|p| match p {
+                    Polygon::P(idx) => idx.into_iter(),
+                    Polygon::PT(idx) => Vec::from_iter(idx.into_iter().map(|i| i.0)).into_iter(),
+                    Polygon::PN(idx) => Vec::from_iter(idx.into_iter().map(|i| i.0)).into_iter(),
+                    Polygon::PTN(idx) => Vec::from_iter(idx.into_iter().map(|i| i.0)).into_iter(),
+                })
+                .collect();
+
+            // Compute the size of the model, to scale it and have similar size for everything.
+            let aabb = bounding_volume::details::local_point_cloud_aabb(&vertices);
+            let center = aabb.center();
+            let diag = (aabb.maxs - aabb.mins).norm();
+
+            vertices
+                .iter_mut()
+                .for_each(|p| *p = (*p - center.coords) * 0.2);
+
+            let indices: Vec<_> = indices
+                .chunks(3)
+                .map(|idx| [idx[0] as u32, idx[1] as u32, idx[2] as u32])
+                .collect();
+
+            let voxels =
+                SharedShape::voxelized_mesh(&vertices, &indices, VOXEL_SIZE, FillMode::default());
+            let collider = ColliderBuilder::new(voxels);
+            colliders.insert(collider);
+        }
+    }
+
+    /*
+     * Create the convex decompositions.
+     */
+    let geoms = models();
+    let ngeoms = geoms.len();
+    let width = (ngeoms as f32).sqrt() as usize;
+    let num_duplications = 1; // 4;
+    let shift = 7.0f32;
+
+    for (igeom, obj_path) in geoms.into_iter().enumerate() {
+        let deltas = Isometry::identity();
+
+        let mut shapes = Vec::new();
+        println!("Parsing and decomposing: {}", obj_path);
+
+        let input = BufReader::new(File::open(obj_path).unwrap());
+
+        if let Ok(model) = obj::raw::parse_obj(input) {
+            let mut vertices: Vec<_> = model
+                .positions
+                .iter()
+                .map(|v| point![v.0, v.1, v.2])
+                .collect();
+            let indices: Vec<_> = model
+                .polygons
+                .into_iter()
+                .flat_map(|p| match p {
+                    Polygon::P(idx) => idx.into_iter(),
+                    Polygon::PT(idx) => Vec::from_iter(idx.into_iter().map(|i| i.0)).into_iter(),
+                    Polygon::PN(idx) => Vec::from_iter(idx.into_iter().map(|i| i.0)).into_iter(),
+                    Polygon::PTN(idx) => Vec::from_iter(idx.into_iter().map(|i| i.0)).into_iter(),
+                })
+                .collect();
+
+            // Compute the size of the model, to scale it and have similar size for everything.
+            let aabb = bounding_volume::details::point_cloud_aabb(&deltas, &vertices);
+            let center = aabb.center();
+            let diag = (aabb.maxs - aabb.mins).norm();
+
+            vertices
+                .iter_mut()
+                .for_each(|p| *p = (*p - center.coords) * 6.0 / diag);
+
+            let indices: Vec<_> = indices
+                .chunks(3)
+                .map(|idx| [idx[0] as u32, idx[1] as u32, idx[2] as u32])
+                .collect();
+
+            let decomposed_shape =
+                SharedShape::voxelized_mesh(&vertices, &indices, VOXEL_SIZE, FillMode::default());
+            shapes.push(decomposed_shape);
+
+            for k in 1..num_duplications + 1 {
+                let x = (igeom % width) as f32 * shift - 3.0;
+                let y = (igeom / width) as f32 * shift + 4.0;
+                let z = k as f32 * shift - 3.0;
+
+                let body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]);
+                let handle = bodies.insert(body);
+
+                for shape in &shapes {
+                    let collider = ColliderBuilder::new(shape.clone());
+                    colliders.insert_with_parent(collider, handle, &mut bodies);
+                }
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
+    testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
+}
+
+fn models() -> Vec<String> {
+    vec![
+        // "assets/3d/camel_decimated.obj".to_string(),
+        "assets/3d/chair.obj".to_string(),
+        "assets/3d/cup_decimated.obj".to_string(),
+        "assets/3d/dilo_decimated.obj".to_string(),
+        "assets/3d/feline_decimated.obj".to_string(),
+        "assets/3d/genus3_decimated.obj".to_string(),
+        "assets/3d/hand2_decimated.obj".to_string(),
+        "assets/3d/hand_decimated.obj".to_string(),
+        "assets/3d/hornbug.obj".to_string(),
+        "assets/3d/octopus_decimated.obj".to_string(),
+        "assets/3d/rabbit_decimated.obj".to_string(),
+        // "assets/3d/rust_logo.obj".to_string(),
+        "assets/3d/rust_logo_simplified.obj".to_string(),
+        "assets/3d/screwdriver_decimated.obj".to_string(),
+        "assets/3d/table.obj".to_string(),
+        "assets/3d/tstTorusModel.obj".to_string(),
+        // "assets/3d/tstTorusModel2.obj".to_string(),
+        // "assets/3d/tstTorusModel3.obj".to_string(),
+    ]
+}