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Diffstat (limited to 'examples3d/convex_voxel_decomposition3.rs')
| -rw-r--r-- | examples3d/convex_voxel_decomposition3.rs | 164 |
1 files changed, 164 insertions, 0 deletions
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(), + ] +} |