diff options
| -rw-r--r-- | examples3d/all_examples3.rs | 2 | ||||
| -rw-r--r-- | examples3d/convex_decomposition3.rs | 125 | ||||
| -rw-r--r-- | examples3d/dynamic_trimesh3.rs | 131 |
3 files changed, 134 insertions, 124 deletions
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs index 1525c4c..4c4d962 100644 --- a/examples3d/all_examples3.rs +++ b/examples3d/all_examples3.rs @@ -31,6 +31,7 @@ mod debug_thin_cube_on_mesh3; mod debug_triangle3; mod debug_trimesh3; mod domino3; +mod dynamic_trimesh3; mod fountain3; mod heightfield3; mod joints3; @@ -104,6 +105,7 @@ pub fn main() { ("Convex polyhedron", convex_polyhedron3::init_world), ("Damping", damping3::init_world), ("Domino", domino3::init_world), + ("Dynamic trimeshes", dynamic_trimesh3::init_world), ("Heightfield", heightfield3::init_world), ("Impulse Joints", joints3::init_world_with_joints), ("Joint Motor Position", joint_motor_position3::init_world), diff --git a/examples3d/convex_decomposition3.rs b/examples3d/convex_decomposition3.rs index 0863430..eeaa682 100644 --- a/examples3d/convex_decomposition3.rs +++ b/examples3d/convex_decomposition3.rs @@ -1,128 +1,5 @@ -use obj::raw::object::Polygon; -use rapier3d::parry::bounding_volume; -use rapier3d::prelude::*; use rapier_testbed3d::Testbed; -use std::fs::File; -use std::io::BufReader; -/* - * 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(); - - /* - * Ground - */ - let ground_size = 50.0; - let ground_height = 0.1; - - let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); - let handle = bodies.insert(rigid_body); - let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); - colliders.insert_with_parent(collider, handle, &mut bodies); - - /* - * Create the convex decompositions. - */ - let geoms = models(); - let ngeoms = geoms.len(); - let width = (ngeoms as f32).sqrt() as usize; - let num_duplications = 4; - let shift = 5.0f32; - - 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::convex_decomposition(&vertices, &indices); - shapes.push(decomposed_shape); - - // let compound = SharedShape::compound(compound_parts); - - for k in 1..num_duplications + 1 { - let x = (igeom % width) as f32 * shift; - let y = (igeom / width) as f32 * shift + 4.0; - let z = k as f32 * shift; - - 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(), - ] + crate::dynamic_trimesh3::do_init_world(testbed, true); } diff --git a/examples3d/dynamic_trimesh3.rs b/examples3d/dynamic_trimesh3.rs new file mode 100644 index 0000000..529b723 --- /dev/null +++ b/examples3d/dynamic_trimesh3.rs @@ -0,0 +1,131 @@ +use obj::raw::object::Polygon; +use rapier3d::parry::bounding_volume; +use rapier3d::prelude::*; +use rapier_testbed3d::Testbed; +use std::fs::File; +use std::io::BufReader; + +pub fn init_world(testbed: &mut Testbed) { + do_init_world(testbed, false); +} + +pub fn do_init_world(testbed: &mut Testbed, use_convex_decomposition: bool) { + /* + * World + */ + let mut bodies = RigidBodySet::new(); + let mut colliders = ColliderSet::new(); + let impulse_joints = ImpulseJointSet::new(); + let multibody_joints = MultibodyJointSet::new(); + + /* + * Ground + */ + let ground_size = 50.0; + let ground_height = 0.1; + + let rigid_body = RigidBodyBuilder::fixed().translation(vector![0.0, -ground_height, 0.0]); + let handle = bodies.insert(rigid_body); + let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size); + colliders.insert_with_parent(collider, handle, &mut bodies); + + /* + * Create the convex decompositions. + */ + let geoms = models(); + let ngeoms = geoms.len(); + let width = (ngeoms as f32).sqrt() as usize; + let num_duplications = 4; + let shift = 5.0f32; + + 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 = if use_convex_decomposition { + SharedShape::convex_decomposition(&vertices, &indices) + } else { + SharedShape::trimesh_with_flags(vertices, indices, TriMeshFlags::FIX_INTERNAL_EDGES) + }; + shapes.push(decomposed_shape); + + // let compound = SharedShape::compound(compound_parts); + + for k in 1..num_duplications + 1 { + let x = (igeom % width) as f32 * shift; + let y = (igeom / width) as f32 * shift + 4.0; + let z = k as f32 * shift; + + let body = RigidBodyBuilder::dynamic().translation(vector![x, y, z]); + let handle = bodies.insert(body); + + for shape in &shapes { + let collider = ColliderBuilder::new(shape.clone()).collision_skin(0.02); + 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_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(), + ] +} |