From e2006599a8fa90090393ff4fed326ee78fd7c0b7 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Wed, 20 Jan 2021 15:15:03 +0100
Subject: Add 3D convex decomposition example.

---
 examples3d/Cargo.toml                             |    1 +
 examples3d/all_examples3.rs                       |    2 +
 examples3d/convex_decomposition3.rs               |  134 +
 examples3d/media/models/camel_decimated.obj       | 3004 ++++++++++++++++++++
 examples3d/media/models/chair.obj                 |  760 +++++
 examples3d/media/models/cup_decimated.obj         | 3000 ++++++++++++++++++++
 examples3d/media/models/dilo_decimated.obj        | 3004 ++++++++++++++++++++
 examples3d/media/models/feline_decimated.obj      | 3000 ++++++++++++++++++++
 examples3d/media/models/genus3_decimated.obj      | 2998 ++++++++++++++++++++
 examples3d/media/models/hand2_decimated.obj       | 3055 ++++++++++++++++++++
 examples3d/media/models/hand_decimated.obj        | 3071 +++++++++++++++++++++
 examples3d/media/models/hornbug.obj               | 2857 +++++++++++++++++++
 examples3d/media/models/octopus_decimated.obj     | 3010 ++++++++++++++++++++
 examples3d/media/models/rabbit_decimated.obj      | 3003 ++++++++++++++++++++
 examples3d/media/models/rust_logo_simplified.obj  | 1265 +++++++++
 examples3d/media/models/screwdriver_decimated.obj | 3004 ++++++++++++++++++++
 examples3d/media/models/table.obj                 |  142 +
 examples3d/media/models/tstTorusModel.obj         |  866 ++++++
 examples3d/media/models/tstTorusModel2.obj        |  866 ++++++
 examples3d/media/models/tstTorusModel3.obj        |  866 ++++++
 src/dynamics/mod.rs                               |    2 +-
 src/geometry/collider.rs                          |    8 +-
 src_testbed/objects/convex.rs                     |   13 +-
 src_testbed/physx_backend.rs                      |    1 -
 24 files changed, 37924 insertions(+), 8 deletions(-)
 create mode 100644 examples3d/convex_decomposition3.rs
 create mode 100644 examples3d/media/models/camel_decimated.obj
 create mode 100644 examples3d/media/models/chair.obj
 create mode 100644 examples3d/media/models/cup_decimated.obj
 create mode 100644 examples3d/media/models/dilo_decimated.obj
 create mode 100644 examples3d/media/models/feline_decimated.obj
 create mode 100644 examples3d/media/models/genus3_decimated.obj
 create mode 100644 examples3d/media/models/hand2_decimated.obj
 create mode 100644 examples3d/media/models/hand_decimated.obj
 create mode 100644 examples3d/media/models/hornbug.obj
 create mode 100644 examples3d/media/models/octopus_decimated.obj
 create mode 100644 examples3d/media/models/rabbit_decimated.obj
 create mode 100644 examples3d/media/models/rust_logo_simplified.obj
 create mode 100644 examples3d/media/models/screwdriver_decimated.obj
 create mode 100644 examples3d/media/models/table.obj
 create mode 100644 examples3d/media/models/tstTorusModel.obj
 create mode 100644 examples3d/media/models/tstTorusModel2.obj
 create mode 100644 examples3d/media/models/tstTorusModel3.obj

diff --git a/examples3d/Cargo.toml b/examples3d/Cargo.toml
index 1f9cba3..3f1d3f0 100644
--- a/examples3d/Cargo.toml
+++ b/examples3d/Cargo.toml
@@ -15,6 +15,7 @@ enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
 rand       = "0.7"
 Inflector  = "0.11"
 nalgebra   = "0.24"
+kiss3d     = "0.29"
 
 [dependencies.rapier_testbed3d]
 path = "../build/rapier_testbed3d"
diff --git a/examples3d/all_examples3.rs b/examples3d/all_examples3.rs
index d9e6aff..ff5a3e8 100644
--- a/examples3d/all_examples3.rs
+++ b/examples3d/all_examples3.rs
@@ -12,6 +12,7 @@ use std::cmp::Ordering;
 
 mod collision_groups3;
 mod compound3;
+mod convex_decomposition3;
 mod damping3;
 mod debug_add_remove_collider3;
 mod debug_boxes3;
@@ -74,6 +75,7 @@ pub fn main() {
         ("Primitives", primitives3::init_world),
         ("Collision groups", collision_groups3::init_world),
         ("Compound", compound3::init_world),
+        ("Convex decomposition", convex_decomposition3::init_world),
         ("Damping", damping3::init_world),
         ("Domino", domino3::init_world),
         ("Heightfield", heightfield3::init_world),
diff --git a/examples3d/convex_decomposition3.rs b/examples3d/convex_decomposition3.rs
new file mode 100644
index 0000000..2e35f43
--- /dev/null
+++ b/examples3d/convex_decomposition3.rs
@@ -0,0 +1,134 @@
+use kiss3d::loader::obj;
+use na::{Isometry3, Point3, Translation3};
+use rapier3d::cdl::bounding_volume::{self, BoundingVolume};
+use rapier3d::cdl::transformation::vhacd::{VHACDParameters, VHACD};
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet, ColliderShape};
+use rapier_testbed3d::Testbed;
+use std::path::Path;
+
+/*
+ * 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 joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 50.0;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(0.0, -ground_height, 0.0)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    colliders.insert(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 = na::one();
+        let mtl_path = Path::new("");
+
+        let mut compound_parts = Vec::new();
+        println!("Parsing and decomposing: {}", obj_path);
+        let obj = obj::parse_file(&Path::new(&obj_path), &mtl_path, "");
+
+        if let Ok(model) = obj {
+            let meshes: Vec<_> = model
+                .into_iter()
+                .map(|mesh| mesh.1.to_trimesh().unwrap())
+                .collect();
+
+            // Compute the size of the model, to scale it and have similar size for everything.
+            let mut aabb =
+                bounding_volume::details::point_cloud_aabb(&deltas, &meshes[0].coords[..]);
+
+            for mesh in meshes[1..].iter() {
+                aabb.merge(&bounding_volume::details::point_cloud_aabb(
+                    &deltas,
+                    &mesh.coords[..],
+                ));
+            }
+
+            let center = aabb.center().coords;
+            let diag = (aabb.maxs - aabb.mins).norm();
+
+            for mut trimesh in meshes.into_iter() {
+                trimesh.translate_by(&Translation3::from(-center));
+                trimesh.scale_by_scalar(6.0 / diag);
+
+                let params = VHACDParameters::default();
+                let vertices = &trimesh.coords;
+                let indices = &trimesh.indices.unwrap_unified();
+                let vhacd = VHACD::decompose(&params, vertices, indices, true);
+
+                for (vertices, indices) in vhacd.compute_exact_convex_hulls(vertices, indices) {
+                    if let Some(convex) = ColliderShape::convex_mesh(vertices, &indices) {
+                        compound_parts.push(convex);
+                    }
+                }
+            }
+
+            // let compound = ColliderShape::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::new_dynamic().translation(x, y, z).build();
+                let handle = bodies.insert(body);
+
+                for part in &compound_parts {
+                    let collider = ColliderBuilder::new(part.clone()).build();
+                    colliders.insert(collider, handle, &mut bodies);
+                }
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+}
+
+fn models() -> Vec<String> {
+    vec![
+        "media/models/camel_decimated.obj".to_string(),
+        "media/models/chair.obj".to_string(),
+        "media/models/cup_decimated.obj".to_string(),
+        "media/models/dilo_decimated.obj".to_string(),
+        "media/models/feline_decimated.obj".to_string(),
+        "media/models/genus3_decimated.obj".to_string(),
+        "media/models/hand2_decimated.obj".to_string(),
+        "media/models/hand_decimated.obj".to_string(),
+        "media/models/hornbug.obj".to_string(),
+        "media/models/octopus_decimated.obj".to_string(),
+        "media/models/rabbit_decimated.obj".to_string(),
+        "media/models/rust_logo.obj".to_string(),
+        "media/models/rust_logo_simplified.obj".to_string(),
+        "media/models/screwdriver_decimated.obj".to_string(),
+        "media/models/table.obj".to_string(),
+        "media/models/tstTorusModel.obj".to_string(),
+        // "media/models/tstTorusModel2.obj".to_string(),
+        // "media/models/tstTorusModel3.obj".to_string(),
+    ]
+}
diff --git a/examples3d/media/models/camel_decimated.obj b/examples3d/media/models/camel_decimated.obj
new file mode 100644
index 0000000..f63ad44
--- /dev/null
+++ b/examples3d/media/models/camel_decimated.obj
@@ -0,0 +1,3004 @@
+# 1002
+# 2000
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