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; }