void PhysicWorld::initGround(const char* filename)
{
ConvexDecomposition::WavefrontObj wo;
btVector3 centroid=btVector3(0,0,0);
btVector3 convexDecompositionObjectOffset(10,0,0);
unsigned int tcount = wo.loadObj(filename);
#ifdef USE_PARALLEL_DISPATCHER
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
#endif //USE_PARALLEL_DISPATCHER
class MyConvexDecomposition : public ConvexDecomposition::ConvexDecompInterface
{
PhysicWorld* world;
btVector3 centroid;
public:
btAlignedObjectArray<btConvexHullShape*> m_convexShapes;
btAlignedObjectArray<btVector3> m_convexCentroids;
MyConvexDecomposition (FILE* outputFile,PhysicWorld* worldPhysic,btVector3& centre)
:world(worldPhysic),
mBaseCount(0),
mHullCount(0),
mOutputFile(outputFile),
centroid(centre)
{
}
virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
{
btTriangleMesh* trimesh = new btTriangleMesh();
world->m_trimeshes.push_back(trimesh);
btVector3 localScaling(6.f,6.f,6.f);
//export data to .obj
printf("ConvexResult. ");
if (mOutputFile)
{
fprintf(mOutputFile,"## Hull Piece %d with %d vertices and %d triangles.\r\n", mHullCount, result.mHullVcount, result.mHullTcount );
fprintf(mOutputFile,"usemtl Material%i\r\n",mBaseCount);
fprintf(mOutputFile,"o Object%i\r\n",mBaseCount);
for (unsigned int i=0; i<result.mHullVcount; i++)
{
const float *p = &result.mHullVertices[i*3];
fprintf(mOutputFile,"v %0.9f %0.9f %0.9f\r\n", p[0], p[1], p[2] );
}
//calc centroid, to shift vertices around center of mass
centroid.setValue(0,0,0);
btAlignedObjectArray<btVector3> vertices;
if ( 1 )
{
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
vertex *= localScaling;
centroid += vertex;
}
}
centroid *= 1.f/(float(result.mHullVcount) );
if ( 1 )
{
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
vertex *= localScaling;
vertex -= centroid ;
vertices.push_back(vertex);
}
}
if ( 1 )
{
const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullTcount; i++)
{
unsigned int index0 = *src++;
unsigned int index1 = *src++;
unsigned int index2 = *src++;
btVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
btVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
btVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
vertex0 *= localScaling;
vertex1 *= localScaling;
vertex2 *= localScaling;
vertex0 -= centroid;
vertex1 -= centroid;
vertex2 -= centroid;
trimesh->addTriangle(vertex0,vertex1,vertex2);
index0+=mBaseCount;
index1+=mBaseCount;
index2+=mBaseCount;
fprintf(mOutputFile,"f %d %d %d\r\n", index0+1, index1+1, index2+1 );
}
}
float mass = 1.f;
//float collisionMargin = 0.01f;
//this is a tools issue: due to collision margin, convex objects overlap, compensate for it here:
//#define SHRINK_OBJECT_INWARDS 1
#ifdef SHRINK_OBJECT_INWARDS
std::vector<btVector3> planeEquations;
btGeometryUtil::getPlaneEquationsFromVertices(vertices,planeEquations);
std::vector<btVector3> shiftedPlaneEquations;
for (int p=0;p<planeEquations.size();p++)
{
btVector3 plane = planeEquations[p];
plane[3] += 5*collisionMargin;
shiftedPlaneEquations.push_back(plane);
}
std::vector<btVector3> shiftedVertices;
btGeometryUtil::getVerticesFromPlaneEquations(shiftedPlaneEquations,shiftedVertices);
btConvexHullShape* convexShape = new btConvexHullShape(&(shiftedVertices[0].getX()),shiftedVertices.size());
#else //SHRINK_OBJECT_INWARDS
btConvexHullShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
#endif
convexShape->setMargin(btScalar(0.01));
m_convexShapes.push_back(convexShape);
m_convexCentroids.push_back(centroid);
world->m_collisionShapes.push_back(convexShape);
mBaseCount+=result.mHullVcount; // advance the 'base index' counter.
}
}
int mBaseCount;
int mHullCount;
FILE* mOutputFile;
};
if (tcount)
{
btTriangleMesh* trimesh = new btTriangleMesh();
m_trimeshes.push_back(trimesh);
btVector3 localScaling(1.f,1.f,1.f);
int i;
for ( i=0;i<wo.mTriCount;i++)
{
int index0 = wo.mIndices[i*3];
int index1 = wo.mIndices[i*3+1];
int index2 = wo.mIndices[i*3+2];
btVector3 vertex0(wo.mVertices[index0*3], wo.mVertices[index0*3+1],wo.mVertices[index0*3+2]);
btVector3 vertex1(wo.mVertices[index1*3], wo.mVertices[index1*3+1],wo.mVertices[index1*3+2]);
btVector3 vertex2(wo.mVertices[index2*3], wo.mVertices[index2*3+1],wo.mVertices[index2*3+2]);
vertex0 *= localScaling;
vertex1 *= localScaling;
vertex2 *= localScaling;
trimesh->addTriangle(vertex0,vertex1,vertex2);
}
btConvexShape* tmpConvexShape = new btConvexTriangleMeshShape(trimesh);
printf("old numTriangles= %d\n",wo.mTriCount);
printf("old numIndices = %d\n",wo.mTriCount*3);
printf("old numVertices = %d\n",wo.mVertexCount);
printf("reducing vertices by creating a convex hull\n");
//create a hull approximation
btShapeHull* hull = new btShapeHull(tmpConvexShape);
btScalar margin = tmpConvexShape->getMargin();
hull->buildHull(margin);
tmpConvexShape->setUserPointer(hull);
printf("new numTriangles = %d\n", hull->numTriangles ());
printf("new numIndices = %d\n", hull->numIndices ());
printf("new numVertices = %d\n", hull->numVertices ());
btConvexHullShape* convexShape = new btConvexHullShape();
for (i=0;i<hull->numVertices();i++)
{
convexShape->addPoint(hull->getVertexPointer()[i]);
}
delete tmpConvexShape;
delete hull;
m_collisionShapes.push_back(convexShape);
float mass = 1.f;
/* btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,2,0));
localCreateRigidBody(mass, startTransform,convexShape);
bool useQuantization = true;
btCollisionShape* concaveShape = new btBvhTriangleMeshShape(trimesh,useQuantization);
startTransform.setOrigin(convexDecompositionObjectOffset);
localCreateRigidBody(0.f,startTransform,concaveShape);
m_collisionShapes.push_back (concaveShape);
*/
}
if (tcount)
{
char outputFileName[512];
strcpy(outputFileName,filename);
char *dot = strstr(outputFileName,".");
if ( dot )
*dot = 0;
strcat(outputFileName,"_convex.obj");
FILE* outputFile = fopen(outputFileName,"wb");
unsigned int depth = 5;
float cpercent = 5;
float ppercent = 15;
unsigned int maxv = 16;
float skinWidth = 0.0;
printf("WavefrontObj num triangles read %i\n",tcount);
ConvexDecomposition::DecompDesc desc;
desc.mVcount = wo.mVertexCount;
desc.mVertices = wo.mVertices;
desc.mTcount = wo.mTriCount;
desc.mIndices = (unsigned int *)wo.mIndices;
desc.mDepth = depth;
desc.mCpercent = cpercent;
desc.mPpercent = ppercent;
desc.mMaxVertices = maxv;
desc.mSkinWidth = skinWidth;
MyConvexDecomposition convexDecomposition(outputFile,this,centroid);
desc.mCallback = &convexDecomposition;
//convexDecomposition.performConvexDecomposition(desc);
ConvexBuilder cb(desc.mCallback);
cb.process(desc);
// creation d'un SOL
{
btCompoundShape* compound = new btCompoundShape();
m_collisionShapes.push_back (compound);
btTransform trans;
trans.setIdentity();
for (int i=0;i<convexDecomposition.m_convexShapes.size();i++)
{
btVector3 centroid2 = convexDecomposition.m_convexCentroids[i];
trans.setOrigin(centroid2);
btConvexHullShape* convexShape = convexDecomposition.m_convexShapes[i];
compound->addChildShape(trans,convexShape);
}
trans.setOrigin(-convexDecompositionObjectOffset);
btDefaultMotionState* myMotionState = new btDefaultMotionState(trans);
btRigidBody::btRigidBodyConstructionInfo rbInfo(0,myMotionState,compound,btVector3(0,0,0));
m_ground = new btRigidBody(rbInfo);
this->m_dynamicsWorld->addRigidBody(m_ground);
// localCreateRigidBody( btScalar(0.F), trans,compound);
}
if (outputFile)
fclose(outputFile);
}
}
void convex_decomposition_hacd::ConvexDecompResult(unsigned int hvcount,const float *hvertices,unsigned int htcount,const unsigned int *hindices)
{
btVector3 centroid=btVector3(0,0,0);
btVector3 convexDecompositionObjectOffset(10,0,0);
btTriangleMesh* trimesh = new btTriangleMesh();
m_trimeshes.push_back(trimesh);
//calc centroid, to shift vertices around center of mass
centroid.setValue(0,0,0);
btAlignedObjectArray<btVector3> vertices;
if ( 1 )
{
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<hvcount; i++)
{
btVector3 vertex(hvertices[i*3],hvertices[i*3+1],hvertices[i*3+2]);
centroid += vertex;
}
}
centroid *= 1.f/(float(hvcount) );
if ( 1 )
{
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<hvcount; i++)
{
btVector3 vertex(hvertices[i*3],hvertices[i*3+1],hvertices[i*3+2]);
vertex -= centroid ;
vertices.push_back(vertex);
}
}
if ( 1 )
{
const unsigned int *src = hindices;
for (unsigned int i=0; i<htcount; i++)
{
unsigned int index0 = *src++;
unsigned int index1 = *src++;
unsigned int index2 = *src++;
btVector3 vertex0(hvertices[index0*3], hvertices[index0*3+1],hvertices[index0*3+2]);
btVector3 vertex1(hvertices[index1*3], hvertices[index1*3+1],hvertices[index1*3+2]);
btVector3 vertex2(hvertices[index2*3], hvertices[index2*3+1],hvertices[index2*3+2]);
vertex0 -= centroid;
vertex1 -= centroid;
vertex2 -= centroid;
trimesh->addTriangle(vertex0,vertex1,vertex2);
//added for maya
mMergedVertices.push_back(vertex0.x()); mMergedVertices.push_back(vertex0.y()); mMergedVertices.push_back(vertex0.z());
mMergedVertices.push_back(vertex1.x()); mMergedVertices.push_back(vertex1.y()); mMergedVertices.push_back(vertex1.z());
mMergedVertices.push_back(vertex2.x()); mMergedVertices.push_back(vertex2.y()); mMergedVertices.push_back(vertex2.z());
index0+=mBaseCount;
index1+=mBaseCount;
index2+=mBaseCount;
mMergedIndices.push_back(index0);
mMergedIndices.push_back(index1);
mMergedIndices.push_back(index2);
}
}
btConvexHullShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
convexShape->setMargin(0.01f);
m_convexShapes.push_back(convexShape);
m_convexCentroids.push_back(centroid);
mBaseCount+=hvcount; // advance the 'base index' counter.
};
//-----------------------------------------------------------------------
// C o n v e x D e c o m p R e s u l t
//-----------------------------------------------------------------------
void TMeshShape::ConvexDecompResult(ConvexResult &result)
{
btTriangleMesh* trimesh = new btTriangleMesh();
m_triMeshes.push_back(trimesh);
btVector3 localScaling(1.f,1.f,1.f);
btVector3 centroid(0,0,0);
btVector3 convexDecompositionObjectOffset(0,0,0);
btAlignedObjectArray<btVector3> vertices;
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
vertex *= localScaling;
centroid += vertex;
}
centroid *= 1.f/(float(result.mHullVcount) );
//const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullVcount; i++)
{
btVector3 vertex(result.mHullVertices[i*3],result.mHullVertices[i*3+1],result.mHullVertices[i*3+2]);
vertex *= localScaling;
vertex -= centroid ;
vertices.push_back(vertex);
}
const unsigned int *src = result.mHullIndices;
for (unsigned int i=0; i<result.mHullTcount; i++)
{
unsigned int index0 = *src++;
unsigned int index1 = *src++;
unsigned int index2 = *src++;
btVector3 vertex0(result.mHullVertices[index0*3], result.mHullVertices[index0*3+1],result.mHullVertices[index0*3+2]);
btVector3 vertex1(result.mHullVertices[index1*3], result.mHullVertices[index1*3+1],result.mHullVertices[index1*3+2]);
btVector3 vertex2(result.mHullVertices[index2*3], result.mHullVertices[index2*3+1],result.mHullVertices[index2*3+2]);
vertex0 *= localScaling;
vertex1 *= localScaling;
vertex2 *= localScaling;
vertex0 -= centroid;
vertex1 -= centroid;
vertex2 -= centroid;
trimesh->addTriangle(vertex0,vertex1,vertex2);
index0+=m_baseCount;
index1+=m_baseCount;
index2+=m_baseCount;
}
btConvexHullShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
convexShape->setMargin(0.01f);
m_convexShapes.push_back(convexShape);
m_convexCentroids.push_back(centroid);
m_baseCount+=result.mHullVcount; // advance the 'base index' counter.
/*
btConvexHullShape* chShape = new btConvexHullShape();
unsigned int vidx=0;
getApplication()->logMessage(LOG_INFO, "ConvexDecompResult() mHullVcount: %d, "
"mHullTcount: %d ", result.mHullVcount, result.mHullTcount);
while (vidx < result.mHullVcount)
{
btVector3 v;
v.setX(result.mHullVertices[vidx]);
vidx++;
v.setY(result.mHullVertices[vidx]);
vidx++;
v.setZ(result.mHullVertices[vidx]);
vidx++;
chShape->addPoint(v);
}
m_compound->addChildShape(m_localTransform, chShape);
*/
}
