btCompoundShape* convex_decomposition_hacd::ConvexDecomp(int numVertices, float* vertices, int numIndices,const unsigned int* indices)
{
//-----------------------------------------------
// HACD
//-----------------------------------------------
std::vector< HACD::Vec3<HACD::Real> > points;
std::vector< HACD::Vec3<long> > triangles;
for(int i=0; i<numVertices; i++ )
{
int index = i*3;
HACD::Vec3<HACD::Real> vertex(vertices[index], vertices[index+1],vertices[index+2]);
points.push_back(vertex);
}
for(int i=0;i<numIndices/3;i++)
{
int index = i*3;
HACD::Vec3<long> triangle(indices[index], indices[index+1], indices[index+2]);
triangles.push_back(triangle);
}
HACD::HACD myHACD;
myHACD.SetPoints(&points[0]);
myHACD.SetNPoints(points.size());
myHACD.SetTriangles(&triangles[0]);
myHACD.SetNTriangles(triangles.size());
myHACD.SetCompacityWeight(0.1);
myHACD.SetVolumeWeight(0.0);
// HACD parameters
// Recommended parameters: 2 100 0 0 0 0
size_t nClusters = 2;
double concavity = 10;
bool invert = false;
bool addExtraDistPoints = true;//false;
bool addNeighboursDistPoints = true;//false;
bool addFacesPoints = false;
myHACD.SetNClusters(nClusters); // minimum number of clusters
myHACD.SetNVerticesPerCH(256); // max of 100 vertices per convex-hull
myHACD.SetConcavity(concavity); // maximum concavity
myHACD.SetAddExtraDistPoints(addExtraDistPoints);
myHACD.SetAddNeighboursDistPoints(addNeighboursDistPoints);
myHACD.SetAddFacesPoints(addFacesPoints);
myHACD.SetAddExtraDistPoints(true);
myHACD.SetAddFacesPoints(true);
MStatus stat = MS::kSuccess;
MString title = "Esc to stop";
MString sleeping = "Esc to stop";
int amount = 0;
int maxProgress = 1000;
// First reserve the progress window. If a progress window is already
// active (eg. through the mel "progressWindow" command), this command
// fails.
//
if (!MProgressWindow::reserve())
{
MGlobal::displayError("Progress window already in use.");
stat = MS::kFailure;
}
//
// Set up and print progress window state
//
CHECK_MSTATUS(MProgressWindow::setProgressRange(amount, maxProgress));
CHECK_MSTATUS(MProgressWindow::setTitle(title));
CHECK_MSTATUS(MProgressWindow::setInterruptable(true));
CHECK_MSTATUS(MProgressWindow::setProgress(amount));
MString progressWindowState = MString("Progress Window Info:") +
MString("\nMin: ") + MProgressWindow::progressMin() +
MString("\nMax: ") + MProgressWindow::progressMax() +
MString("\nTitle: ") + MProgressWindow::title() +
MString("\nInterruptible: ") + MProgressWindow::isInterruptable();
MGlobal::displayInfo(progressWindowState);
CHECK_MSTATUS(MProgressWindow::startProgress());
int i=1;
MString statusStr = sleeping;
statusStr += i;
CHECK_MSTATUS(MProgressWindow::setProgressStatus(statusStr));
CHECK_MSTATUS(MProgressWindow::advanceProgress(1));
MGlobal::displayInfo(MString("Current progress: ") + MProgressWindow::progress());
MGlobal::executeCommand("pause -sec 1", false,false);
// Count 10 seconds
//
/* for (int i = amount; i < maxProgress; i++)
{
if (i != 0 && MProgressWindow::isCancelled()) {
MGlobal::displayInfo("Progress interrupted!");
break;
}
MString statusStr = sleeping;
statusStr += i;
CHECK_MSTATUS(MProgressWindow::setProgressStatus(statusStr));
CHECK_MSTATUS(MProgressWindow::advanceProgress(1));
MGlobal::displayInfo(MString("Current progress: ") + MProgressWindow::progress());
MGlobal::executeCommand("pause -sec 1", false, false);
}
*/
// End the progress, unreserving the progress window so it can be used
// elsewhere.
//
myHACD.SetCallBack(mayaCallback);
bool result = myHACD.Compute();
if (!result)
{
nClusters = 0;
} else
{
nClusters = myHACD.GetNClusters();
}
CHECK_MSTATUS(MProgressWindow::endProgress());
// myHACD.Save("output.wrl", false);
btCompoundShape* compound = new btCompoundShape();
// mMergedTriangleMesh = new btTriangleMesh();
//now create some bodies
if (1)
{
btTransform trans;
trans.setIdentity();
for (int c=0;c<nClusters;c++)
{
//generate convex result
size_t nPoints = myHACD.GetNPointsCH(c);
size_t nTriangles = myHACD.GetNTrianglesCH(c);
float* vertices = new float[nPoints*3];
unsigned int* triangles = new unsigned int[nTriangles*3];
HACD::Vec3<HACD::Real> * pointsCH = new HACD::Vec3<HACD::Real>[nPoints];
HACD::Vec3<long> * trianglesCH = new HACD::Vec3<long>[nTriangles];
myHACD.GetCH(c, pointsCH, trianglesCH);
// points
for(size_t v = 0; v < nPoints; v++)
{
vertices[3*v] = pointsCH[v].X();
vertices[3*v+1] = pointsCH[v].Y();
vertices[3*v+2] = pointsCH[v].Z();
}
// triangles
for(size_t f = 0; f < nTriangles; f++)
{
triangles[3*f] = trianglesCH[f].X();
triangles[3*f+1] = trianglesCH[f].Y();
triangles[3*f+2] = trianglesCH[f].Z();
}
delete [] pointsCH;
delete [] trianglesCH;
ConvexDecompResult(nPoints, vertices, nTriangles, triangles);
}
for (int i=0;i<m_convexShapes.size();i++)
{
btVector3 centroid = m_convexCentroids[i];
trans.setOrigin(centroid);
btConvexHullShape* convexShape = m_convexShapes[i];
compound->addChildShape(trans,convexShape);
}
}
/* mMergedTriangleVertices = new float[mNumMergedTriangleVertices*3];
mMergedTriangleIndices = new int[mNumMergedTriangleIndices];
for(int i=0; i<m_trimeshes.size(); i++)
{
mMergedTriangleVertices[i] =
}*/
return compound;
}
vector<pair<btVector3, btConvexHullShape*> > ofxBulletConvexDecomposer::decompose(const ofMesh &meshToDecompose, btVector3 scale )
{
assert( meshToDecompose.getMode() == OF_TRIANGLES_MODE );
vector<pair<btVector3, btConvexHullShape*> > convexShapes;
int tcount = meshToDecompose.getNumIndices()/3;
if ( tcount == 0 )
// nothing to do
return convexShapes;
// adapted from bullet-2.81-rev2613/Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
/*
unsigned int depth = 5;
float cpercent = 5;
float ppercent = 15;
unsigned int maxv = 16;
float skinWidth = 0.0;
// ConvexDecomposition::WavefrontObj wo;
ConvexDecomposition::DecompDesc desc;
desc.mVcount = meshToDecompose.getNumVertices();
desc.mVertices = (float*)(meshToDecompose.getVerticesPointer());
desc.mTcount = meshToDecompose.getNumIndices()/3;
desc.mIndices = meshToDecompose.getIndexPointer();
desc.mDepth = depth;
desc.mCpercent = cpercent;
desc.mPpercent = ppercent;
desc.mMaxVertices = maxv;
desc.mSkinWidth = skinWidth;
desc.mCallback = this;
*/
//-----------------------------------------------
// HACD
//-----------------------------------------------
std::vector< HACD::Vec3<HACD::Real> > points;
std::vector< HACD::Vec3<long> > triangles;
for(int i=0; i<meshToDecompose.getNumVertices(); i++ )
{
ofVec3f meshVert = meshToDecompose.getVertex(i);
HACD::Vec3<HACD::Real> vertex( meshVert.x, meshVert.y, meshVert.z );
points.push_back(vertex);
}
for(int i=0;i<meshToDecompose.getNumIndices(); i+=3 )
{
HACD::Vec3<long> triangle(meshToDecompose.getIndex(i), meshToDecompose.getIndex(i+1), meshToDecompose.getIndex(i+2) );
triangles.push_back(triangle);
}
assert(triangles.size()==tcount);
HACD::HACD myHACD;
myHACD.SetPoints(&points[0]);
myHACD.SetNPoints(points.size());
myHACD.SetTriangles(&triangles[0]);
myHACD.SetNTriangles(triangles.size());
myHACD.SetCompacityWeight(0.1);
myHACD.SetVolumeWeight(0.0);
// HACD parameters
// Recommended parameters: 2 100 0 0 0 0
size_t nClusters = 2;
double concavity = 100;
bool invert = false;
bool addExtraDistPoints = false;
bool addNeighboursDistPoints = false;
bool addFacesPoints = false;
myHACD.SetNClusters(nClusters); // minimum number of clusters
myHACD.SetNVerticesPerCH(100); // max of 100 vertices per convex-hull
myHACD.SetConcavity(concavity); // maximum concavity
myHACD.SetAddExtraDistPoints(addExtraDistPoints);
myHACD.SetAddNeighboursDistPoints(addNeighboursDistPoints);
myHACD.SetAddFacesPoints(addFacesPoints);
myHACD.SetCallBack( hacdCallback );
myHACD.Compute();
nClusters = myHACD.GetNClusters();
int totalTriangles = 0;
int totalPoints = 0;
for (int c=0;c<nClusters;c++)
{
//generate convex result
size_t nPoints = myHACD.GetNPointsCH(c);
size_t nTriangles = myHACD.GetNTrianglesCH(c);
ofLogVerbose("ofxBulletConvexDecomposer") << "cluster " << c <<"/" << nClusters << " points " << nPoints << " triangles " << nTriangles;
float* vertices = new float[nPoints*3];
unsigned int* triangles = new unsigned int[nTriangles*3];
HACD::Vec3<HACD::Real> * pointsCH = new HACD::Vec3<HACD::Real>[nPoints];
HACD::Vec3<long> * trianglesCH = new HACD::Vec3<long>[nTriangles];
myHACD.GetCH(c, pointsCH, trianglesCH);
// points
for(size_t v = 0; v < nPoints; v++)
{
vertices[3*v] = pointsCH[v].X();
vertices[3*v+1] = pointsCH[v].Y();
vertices[3*v+2] = pointsCH[v].Z();
}
// triangles
for(size_t f = 0; f < nTriangles; f++)
{
triangles[3*f] = trianglesCH[f].X();
triangles[3*f+1] = trianglesCH[f].Y();
triangles[3*f+2] = trianglesCH[f].Z();
}
ConvexResult r(nPoints, vertices, nTriangles, triangles);
convexShapes.push_back( createConvexHullShapeFromConvexResult(r, scale) );
delete [] pointsCH;
delete [] trianglesCH;
delete [] vertices;
delete [] triangles;
totalTriangles += nTriangles;
}
return convexShapes;
}
