669 lines
26 KiB
C++
669 lines
26 KiB
C++
#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <assert.h>
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#include <float.h>
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#include <vector>
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#include "./ConvexDecomposition/ConvexDecomposition.h"
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#include "./ConvexDecomposition/cd_wavefront.h"
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using namespace ConvexDecomposition;
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// Test application to demonstrate how to use the ConvexDecomposition system.
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typedef std::vector< ConvexResult * > ConvexResultVector;
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static const char * fstring(float v)
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{
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static char data[64*16];
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static int index=0;
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char *ret = &data[index*64];
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index++;
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if (index == 16 ) index = 0;
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if ( v == FLT_MIN ) return "-INF"; // collada notation for FLT_MIN and FLT_MAX
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if ( v == FLT_MAX ) return "INF";
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if ( v == 1 )
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{
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strcpy(ret,"1");
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}
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else if ( v == 0 )
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{
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strcpy(ret,"0");
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}
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else if ( v == - 1 )
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{
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strcpy(ret,"-1");
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}
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else
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{
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sprintf(ret,"%.9f", v );
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const char *dot = strstr(ret,".");
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if ( dot )
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{
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int len = (int)strlen(ret);
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char *foo = &ret[len-1];
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while ( *foo == '0' ) foo--;
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if ( *foo == '.' )
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*foo = 0;
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else
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foo[1] = 0;
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}
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}
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return ret;
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}
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class CBuilder : public ConvexDecompInterface
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{
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public:
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CBuilder(const char *fname,const DecompDesc &d)
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{
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strcpy(mBaseName,fname);
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char *dot = strstr(mBaseName,".");
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if ( dot ) *dot = 0;
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sprintf(mObjName,"%s_convex.obj", mBaseName );
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mBaseCount = 0;
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mHullCount = 0;
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mSkinWidth = (float)d.mSkinWidth;
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mFph = fopen(mObjName,"wb");
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printf("########################################################################\r\n");
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printf("# Perfomring approximate convex decomposition for triangle mesh %s\r\n", fname );
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printf("# Input Mesh has %d vertices and %d triangles.\r\n", d.mVcount, d.mTcount );
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printf("# Recursion depth: %d\r\n", d.mDepth );
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printf("# Concavity Threshold Percentage: %0.2f\r\n", d.mCpercent );
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printf("# Hull Merge Volume Percentage: %0.2f\r\n", d.mPpercent );
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printf("# Maximum output vertices per hull: %d\r\n", d.mMaxVertices );
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printf("# Hull Skin Width: %0.2f\r\n", d.mSkinWidth );
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printf("########################################################################\r\n");
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if ( mFph )
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{
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fprintf(mFph,"########################################################################\r\n");
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fprintf(mFph,"# Approximate convex decomposition for triangle mesh %s\r\n", fname );
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fprintf(mFph,"# Input Mesh has %d vertices and %d triangles.\r\n", d.mVcount, d.mTcount );
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fprintf(mFph,"# Recursion depth: %d\r\n", d.mDepth );
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fprintf(mFph,"# Concavity Threshold Percentage: %0.2f\r\n", d.mCpercent );
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fprintf(mFph,"# Hull Merge Volume Percentage: %0.2f\r\n", d.mPpercent );
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fprintf(mFph,"# Maximum output vertices per hull: %d\r\n", d.mMaxVertices );
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fprintf(mFph,"# Hull Skin Width: %0.2f\r\n", d.mSkinWidth );
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fprintf(mFph,"########################################################################\r\n");
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printf("Opened Wavefront file %s for output.\r\n", mObjName );
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}
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else
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{
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printf("Failed to open output file %s\r\n", mObjName );
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}
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}
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~CBuilder(void)
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{
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if ( mFph )
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{
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fclose(mFph);
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}
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for (unsigned int i=0; i<mHulls.size(); i++)
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{
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ConvexResult *cr = mHulls[i];
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delete cr;
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}
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}
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virtual void ConvexDecompResult(ConvexResult &result)
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{
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// we have a hull...
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mHullCount++;
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printf("Received hull %d HullVolume(%0.3f)\r\n", mHullCount, result.mHullVolume );
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if ( mFph )
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{
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ConvexResult *cr = new ConvexResult(result);
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mHulls.push_back(cr);
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fprintf(mFph,"########################################################################\r\n");
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fprintf(mFph,"## Hull Piece %d with %d vertices and %d triangles.\r\n", mHullCount, result.mHullVcount, result.mHullTcount );
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fprintf(mFph,"########################################################################\r\n");
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for (unsigned int i=0; i<result.mHullVcount; i++)
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{
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const double *p = &result.mHullVertices[i*3];
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fprintf(mFph,"v %0.9f %0.9f %0.9f\r\n", (float)p[0], (float)p[1], (float)p[2] );
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}
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if ( 1 )
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{
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const unsigned int *src = result.mHullIndices;
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for (unsigned int i=0; i<result.mHullTcount; i++)
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{
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unsigned int i1 = *src++;
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unsigned int i2 = *src++;
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unsigned int i3 = *src++;
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i1+=mBaseCount;
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i2+=mBaseCount;
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i3+=mBaseCount;
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fprintf(mFph,"f %d %d %d\r\n", i1+1, i2+1, i3+1 );
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}
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}
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mBaseCount+=result.mHullVcount; // advance the 'base index' counter.
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}
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}
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void saveCOLLADA(FILE *fph,unsigned int index,ConvexResult *cr)
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{
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fprintf(fph," <geometry id=\"%s_%d-Mesh\" name=\"%s_%d-Mesh\">\r\n", mBaseName, index, mBaseName, index);
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fprintf(fph," <convex_mesh>\r\n");
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fprintf(fph," <source id=\"%s_%d-Position\">\r\n", mBaseName, index);
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fprintf(fph," <float_array count=\"%d\" id=\"%s_%d-Position-array\">\r\n", cr->mHullVcount*3, mBaseName, index);
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fprintf(fph," ");
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for (unsigned int i=0; i<cr->mHullVcount; i++)
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{
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const double *p = &cr->mHullVertices[i*3];
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fprintf(fph,"%s %s %s ", fstring((float)p[0]), fstring((float)p[1]), fstring((float)p[2]) );
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if ( ((i+1)&3) == 0 && (i+1) < cr->mHullVcount )
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{
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fprintf(fph,"\r\n");
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fprintf(fph," ");
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}
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}
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fprintf(fph,"\r\n");
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fprintf(fph," </float_array>\r\n");
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fprintf(fph," <technique_common>\r\n");
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fprintf(fph," <accessor count=\"%d\" source=\"#%s_%d-Position-array\" stride=\"3\">\r\n", cr->mHullVcount, mBaseName, index );
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fprintf(fph," <param name=\"X\" type=\"float\"/>\r\n");
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fprintf(fph," <param name=\"Y\" type=\"float\"/>\r\n");
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fprintf(fph," <param name=\"Z\" type=\"float\"/>\r\n");
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fprintf(fph," </accessor>\r\n");
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fprintf(fph," </technique_common>\r\n");
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fprintf(fph," </source>\r\n");
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fprintf(fph," <vertices id=\"%s_%d-Vertex\">\r\n", mBaseName, index);
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fprintf(fph," <input semantic=\"POSITION\" source=\"#%s_%d-Position\"/>\r\n", mBaseName, index);
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fprintf(fph," </vertices>\r\n");
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fprintf(fph," <triangles material=\"Material\" count=\"%d\">\r\n", cr->mHullTcount );
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fprintf(fph," <input offset=\"0\" semantic=\"VERTEX\" source=\"#%s_%d-Vertex\"/>\r\n", mBaseName, index);
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fprintf(fph," <p>\r\n");
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fprintf(fph," ");
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for (unsigned int i=0; i<cr->mHullTcount; i++)
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{
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unsigned int *tri = &cr->mHullIndices[i*3];
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fprintf(fph,"%d %d %d ", tri[0], tri[1], tri[2] );
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if ( ((i+1)&3) == 0 && (i+1) < cr->mHullTcount )
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{
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fprintf(fph,"\r\n");
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fprintf(fph," ");
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}
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}
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fprintf(fph,"\r\n");
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fprintf(fph," </p>\r\n");
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fprintf(fph," </triangles>\r\n");
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fprintf(fph," </convex_mesh>\r\n");
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fprintf(fph," </geometry>\r\n");
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}
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void saveCOLLADA(void)
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{
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char scratch[512];
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sprintf(scratch,"%s.dae", mBaseName );
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FILE *fph = fopen(scratch,"wb");
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if ( fph )
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{
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printf("Saving convex decomposition of %d hulls to COLLADA file '%s'\r\n", (int)mHulls.size(), scratch );
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fprintf(fph,"<?xml version=\"1.0\" encoding=\"utf-8\"?>\r\n");
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fprintf(fph,"<COLLADA version=\"1.4.0\" xmlns=\"http://www.collada.org/2005/11/COLLADASchema\">\r\n");
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fprintf(fph," <asset>\r\n");
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fprintf(fph," <contributor>\r\n");
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fprintf(fph," <author>NxuStream2 converter - http://www.ageia.com</author>\r\n");
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fprintf(fph," <authoring_tool>PhysX Rocket, PhysX Viewer, or CreateDynamics</authoring_tool>\r\n");
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fprintf(fph," <comments>questions to: jratcliff@ageia.com</comments>\r\n");
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fprintf(fph," <copyright></copyright>\r\n");
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fprintf(fph," <source_data>chair_gothic_tilted</source_data>\r\n");
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fprintf(fph," </contributor>\r\n");
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fprintf(fph," <unit meter=\"1\" name=\"meter\"/>\r\n");
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fprintf(fph," <up_axis>Y_UP</up_axis>\r\n");
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fprintf(fph," </asset>\r\n");
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fprintf(fph," <library_materials>\r\n");
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fprintf(fph," <material id=\"Material\" name=\"Material\">\r\n");
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fprintf(fph," <instance_effect url=\"#Material-fx\"></instance_effect>\r\n");
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fprintf(fph," </material>\r\n");
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fprintf(fph," </library_materials>\r\n");
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fprintf(fph," <library_effects>\r\n");
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fprintf(fph," <effect id=\"Material-fx\" name=\"Material\">\r\n");
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fprintf(fph," <profile_COMMON>\r\n");
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fprintf(fph," <technique id=\"Material-fx-COMMON\" sid=\"COMMON\">\r\n");
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fprintf(fph," <phong>\r\n");
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fprintf(fph," <ambient>\r\n");
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fprintf(fph," <color>0.803922 0.588235 0.92549 1</color>\r\n");
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fprintf(fph," </ambient>\r\n");
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fprintf(fph," <diffuse>\r\n");
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fprintf(fph," <color>0.803922 0.588235 0.92549 1</color>\r\n");
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fprintf(fph," </diffuse>\r\n");
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fprintf(fph," <specular>\r\n");
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fprintf(fph," <color>0.631373 0.631373 0.631373 1</color>\r\n");
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fprintf(fph," </specular>\r\n");
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fprintf(fph," <shininess>\r\n");
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fprintf(fph," <float>1</float>\r\n");
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fprintf(fph," </shininess>\r\n");
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fprintf(fph," <reflective>\r\n");
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fprintf(fph," <color>0 0 0 1</color>\r\n");
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fprintf(fph," </reflective>\r\n");
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fprintf(fph," <transparent>\r\n");
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fprintf(fph," <color>1 1 1 1</color>\r\n");
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fprintf(fph," </transparent>\r\n");
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fprintf(fph," <transparency>\r\n");
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fprintf(fph," <float>0</float>\r\n");
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fprintf(fph," </transparency>\r\n");
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fprintf(fph," </phong>\r\n");
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fprintf(fph," </technique>\r\n");
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fprintf(fph," </profile_COMMON>\r\n");
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fprintf(fph," </effect>\r\n");
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fprintf(fph," </library_effects>\r\n");
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fprintf(fph," <library_geometries>\r\n");
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for (unsigned int i=0; i<mHulls.size(); i++)
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{
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ConvexResult *cr = mHulls[i];
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saveCOLLADA(fph,i,cr);
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}
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fprintf(fph," </library_geometries>\r\n");
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fprintf(fph," <library_visual_scenes>\r\n");
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fprintf(fph," <visual_scene id=\"Scene0-Visual\" name=\"Scene0-Visual\">\r\n");
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fprintf(fph," <node id=\"%s-Node\" name=\"%s\" type=\"NODE\">\r\n", mBaseName, mBaseName );
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fprintf(fph," <translate>0 0 0</translate>\r\n");
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fprintf(fph," <rotate>1 0 0 0</rotate>\r\n");
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fprintf(fph," </node>\r\n");
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fprintf(fph," </visual_scene>\r\n");
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fprintf(fph," </library_visual_scenes>\r\n");
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fprintf(fph," <library_physics_materials>\r\n");
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fprintf(fph," <physics_material id=\"pmat0_0-PhysicsMaterial\" name=\"pmat0_0-PhysicsMaterial\">\r\n");
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fprintf(fph," <technique_common>\r\n");
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fprintf(fph," <dynamic_friction>0.5</dynamic_friction>\r\n");
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fprintf(fph," <restitution>0</restitution>\r\n");
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fprintf(fph," <static_friction>0.5</static_friction>\r\n");
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fprintf(fph," </technique_common>\r\n");
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fprintf(fph," </physics_material>\r\n");
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fprintf(fph," </library_physics_materials>\r\n");
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fprintf(fph," <library_physics_models>\r\n");
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fprintf(fph," <physics_model id=\"Scene0-PhysicsModel\">\r\n");
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fprintf(fph," <rigid_body sid=\"%s-RigidBody\" name=\"%s\">\r\n", mBaseName, mBaseName);
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fprintf(fph," <technique_common>\r\n");
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fprintf(fph," <instance_physics_material url=\"#pmat0_0-PhysicsMaterial\"/>\r\n");
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for (unsigned int i=0; i<mHulls.size(); i++)
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{
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ConvexResult *ch = mHulls[i];
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fprintf(fph," <shape>\r\n");
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fprintf(fph," <translate>0 0 0</translate>\r\n");
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fprintf(fph," <rotate>1 0 0 0</rotate>\r\n");
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fprintf(fph," <instance_physics_material url=\"#pmat0_0-PhysicsMaterial\"/>\r\n");
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fprintf(fph," <density>1</density>\r\n");
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fprintf(fph," <extra>\r\n");
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fprintf(fph," <technique profile=\"PhysX\">\r\n");
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fprintf(fph," <skinWidth>%s</skinWidth>\r\n", fstring( mSkinWidth ) );
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fprintf(fph," </technique>\r\n");
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fprintf(fph," </extra>\r\n");
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fprintf(fph," <instance_geometry url=\"%s_%d-Mesh\"/>\r\n", mBaseName, i);
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fprintf(fph," </shape>\r\n");
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}
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fprintf(fph," <dynamic>true</dynamic>\r\n");
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fprintf(fph," <mass>1</mass>\r\n");
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fprintf(fph," </technique_common>\r\n");
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fprintf(fph," <extra>\r\n");
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fprintf(fph," <technique profile=\"PhysX\">\r\n");
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fprintf(fph," <extra>\r\n");
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fprintf(fph," <technique profile=\"PhysX\">\r\n");
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fprintf(fph," <linearDamping>0</linearDamping>\r\n");
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fprintf(fph," <angularDamping>0</angularDamping>\r\n");
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fprintf(fph," <solverIterationCount>32</solverIterationCount>\r\n");
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fprintf(fph," </technique>\r\n");
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fprintf(fph," </extra>\r\n");
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fprintf(fph," <disable_collision>false</disable_collision>\r\n");
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fprintf(fph," </technique>\r\n");
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fprintf(fph," </extra>\r\n");
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fprintf(fph," </rigid_body>\r\n");
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fprintf(fph," </physics_model>\r\n");
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fprintf(fph," </library_physics_models>\r\n");
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fprintf(fph," <library_physics_scenes>\r\n");
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fprintf(fph," <physics_scene id=\"Scene0-Physics\">\r\n");
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fprintf(fph," <instance_physics_model url=\"#Scene0-PhysicsModel\">\r\n");
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fprintf(fph," <instance_rigid_body target=\"#%s-Node\" body=\"%s-RigidBody\"/>\r\n", mBaseName, mBaseName );
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fprintf(fph," <extra>\r\n");
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fprintf(fph," <technique profile=\"PhysX\">\r\n");
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fprintf(fph," </technique>\r\n");
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fprintf(fph," </extra>\r\n");
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fprintf(fph," </instance_physics_model>\r\n");
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fprintf(fph," <technique_common>\r\n");
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fprintf(fph," <gravity>0 -9.800000191 0</gravity>\r\n");
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fprintf(fph," </technique_common>\r\n");
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fprintf(fph," </physics_scene>\r\n");
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fprintf(fph," </library_physics_scenes>\r\n");
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fprintf(fph," <scene>\r\n");
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fprintf(fph," <instance_visual_scene url=\"#Scene0-Visual\"/>\r\n");
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fprintf(fph," <instance_physics_scene url=\"#Scene0-Physics\"/>\r\n");
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fprintf(fph," </scene>\r\n");
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fprintf(fph,"</COLLADA>\r\n");
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fclose(fph);
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}
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else
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{
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printf("Failed to open file '%s' for write access.\r\n", scratch );
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}
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}
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void saveXML(FILE *fph,unsigned int index,ConvexResult *cr)
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{
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fprintf(fph," <NxConvexMeshDesc id=\"%s_%d\">\r\n", mBaseName, index);
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fprintf(fph," <points>\r\n");
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fprintf(fph," ");
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for (unsigned int i=0; i<cr->mHullVcount; i++)
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{
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const double *p = &cr->mHullVertices[i*3];
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fprintf(fph,"%s %s %s ", fstring((float)p[0]), fstring((float)p[1]), fstring((float)p[2]) );
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if ( ((i+1)&3) == 0 && (i+1) < cr->mHullVcount )
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{
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fprintf(fph,"\r\n");
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fprintf(fph," ");
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}
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}
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fprintf(fph,"\r\n");
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fprintf(fph," </points>\r\n");
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fprintf(fph," <triangles>\r\n");
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fprintf(fph," ");
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for (unsigned int i=0; i<cr->mHullTcount; i++)
|
|
{
|
|
unsigned int *tri = &cr->mHullIndices[i*3];
|
|
fprintf(fph,"%d %d %d ", tri[0], tri[1], tri[2] );
|
|
if ( ((i+1)&3) == 0 && (i+1) < cr->mHullTcount )
|
|
{
|
|
fprintf(fph,"\r\n");
|
|
fprintf(fph," ");
|
|
}
|
|
}
|
|
fprintf(fph,"\r\n");
|
|
fprintf(fph," </triangles>\r\n");
|
|
fprintf(fph," </NxConvexMeshDesc>\r\n");
|
|
|
|
}
|
|
|
|
void saveNxuStream(void)
|
|
{
|
|
char scratch[512];
|
|
sprintf(scratch,"%s.xml", mBaseName );
|
|
FILE *fph = fopen(scratch,"wb");
|
|
|
|
if ( fph )
|
|
{
|
|
printf("Saving convex decomposition of %d hulls to NxuStream file '%s'\r\n", mHulls.size(), scratch );
|
|
|
|
fprintf(fph,"<?xml version=\"1.0\" encoding=\"utf-8\"?>\r\n");
|
|
fprintf(fph," <NXUSTREAM2>\r\n");
|
|
fprintf(fph," <NxuPhysicsCollection id=\"beshon\" sdkVersion=\"244\" nxuVersion=\"100\">\r\n");
|
|
fprintf(fph," <NxPhysicsSDKDesc id=\"SDK\">\r\n");
|
|
fprintf(fph," <hwPageSize>65536</hwPageSize>\r\n");
|
|
fprintf(fph," <hwPageMax>256</hwPageMax>\r\n");
|
|
fprintf(fph," <hwConvexMax>2048</hwConvexMax>\r\n");
|
|
fprintf(fph," </NxPhysicsSDKDesc>\r\n");
|
|
|
|
for (unsigned int i=0; i<mHulls.size(); i++)
|
|
{
|
|
saveXML(fph, i, mHulls[i] );
|
|
}
|
|
|
|
|
|
fprintf(fph," <NxSceneDesc id=\"%s\">\r\n", mBaseName);
|
|
fprintf(fph," <filterBool>false</filterBool>\r\n");
|
|
fprintf(fph," <filterOp0>NX_FILTEROP_AND</filterOp0>\r\n");
|
|
fprintf(fph," <filterOp1>NX_FILTEROP_AND</filterOp1>\r\n");
|
|
fprintf(fph," <filterOp2>NX_FILTEROP_AND</filterOp2>\r\n");
|
|
fprintf(fph," <NxGroupsMask id=\"groupMask0\" bits0=\"0\" bits1=\"0\" bits2=\"0\" bits3=\"0\"/>\r\n");
|
|
fprintf(fph," <NxGroupsMask id=\"groupMask1\" bits0=\"0\" bits1=\"0\" bits2=\"0\" bits3=\"0\"/>\r\n");
|
|
fprintf(fph," <gravity>0 -9.800000191 0</gravity>\r\n");
|
|
fprintf(fph," <maxTimestep>0.016666668</maxTimestep>\r\n");
|
|
fprintf(fph," <maxIter>8</maxIter>\r\n");
|
|
fprintf(fph," <timeStepMethod>NX_TIMESTEP_FIXED</timeStepMethod>\r\n");
|
|
fprintf(fph," <maxBounds>FLT_MIN FLT_MIN FLT_MIN FLT_MAX FLT_MAX FLT_MAX</maxBounds>\r\n");
|
|
fprintf(fph," <NxSceneLimits id=\"limits\">\r\n");
|
|
fprintf(fph," <maxNbActors>0</maxNbActors>\r\n");
|
|
fprintf(fph," <maxNbBodies>0</maxNbBodies>\r\n");
|
|
fprintf(fph," <maxNbStaticShapes>0</maxNbStaticShapes>\r\n");
|
|
fprintf(fph," <maxNbDynamicShapes>0</maxNbDynamicShapes>\r\n");
|
|
fprintf(fph," <maxNbJoints>0</maxNbJoints>\r\n");
|
|
fprintf(fph," </NxSceneLimits>\r\n");
|
|
fprintf(fph," <simType>NX_SIMULATION_SW</simType>\r\n");
|
|
fprintf(fph," <groundPlane>true</groundPlane>\r\n");
|
|
fprintf(fph," <boundsPlanes>false</boundsPlanes>\r\n");
|
|
fprintf(fph," <NxSceneFlags id=\"flags\">\r\n");
|
|
fprintf(fph," <NX_SF_DISABLE_SSE>false</NX_SF_DISABLE_SSE>\r\n");
|
|
fprintf(fph," <NX_SF_DISABLE_COLLISIONS>false</NX_SF_DISABLE_COLLISIONS>\r\n");
|
|
fprintf(fph," <NX_SF_SIMULATE_SEPARATE_THREAD>true</NX_SF_SIMULATE_SEPARATE_THREAD>\r\n");
|
|
fprintf(fph," <NX_SF_ENABLE_MULTITHREAD>false</NX_SF_ENABLE_MULTITHREAD>\r\n");
|
|
fprintf(fph," </NxSceneFlags>\r\n");
|
|
fprintf(fph," <internalThreadCount>0</internalThreadCount>\r\n");
|
|
fprintf(fph," <backgroundThreadCount>0</backgroundThreadCount>\r\n");
|
|
fprintf(fph," <threadMask>1431655764</threadMask>\r\n");
|
|
fprintf(fph," <backgroundThreadMask>1431655764</backgroundThreadMask>\r\n");
|
|
fprintf(fph," <NxMaterialDesc id=\"Material_0\" userProperties=\"\" hasSpring=\"false\" materialIndex=\"0\">\r\n");
|
|
fprintf(fph," <dynamicFriction>0.5</dynamicFriction>\r\n");
|
|
fprintf(fph," <staticFriction>0.5</staticFriction>\r\n");
|
|
fprintf(fph," <restitution>0</restitution>\r\n");
|
|
fprintf(fph," <dynamicFrictionV>0</dynamicFrictionV>\r\n");
|
|
fprintf(fph," <staticFrictionV>0</staticFrictionV>\r\n");
|
|
fprintf(fph," <frictionCombineMode>NX_CM_AVERAGE</frictionCombineMode>\r\n");
|
|
fprintf(fph," <restitutionCombineMode>NX_CM_AVERAGE</restitutionCombineMode>\r\n");
|
|
fprintf(fph," <dirOfAnisotropy>1 0 0</dirOfAnisotropy>\r\n");
|
|
fprintf(fph," <NxMaterialFlag id=\"flags\">\r\n");
|
|
fprintf(fph," <NX_MF_ANISOTROPIC>false</NX_MF_ANISOTROPIC>\r\n");
|
|
fprintf(fph," <NX_MF_DISABLE_FRICTION>false</NX_MF_DISABLE_FRICTION>\r\n");
|
|
fprintf(fph," <NX_MF_DISABLE_STRONG_FRICTION>false</NX_MF_DISABLE_STRONG_FRICTION>\r\n");
|
|
fprintf(fph," </NxMaterialFlag>\r\n");
|
|
fprintf(fph," </NxMaterialDesc>\r\n");
|
|
fprintf(fph," <NxActorDesc id=\"%s\" userProperties=\"\" hasBody=\"true\" name=\"%s\">\r\n", mBaseName, mBaseName);
|
|
fprintf(fph," <globalPose>1 0 0 0 1 0 0 0 1 0 0 0 </globalPose>\r\n");
|
|
fprintf(fph," <NxBodyDesc>\r\n");
|
|
fprintf(fph," <mass>1</mass>\r\n");
|
|
fprintf(fph," <linearDamping>0</linearDamping>\r\n");
|
|
fprintf(fph," <angularDamping>0</angularDamping>\r\n");
|
|
fprintf(fph," <solverIterationCount>32</solverIterationCount>\r\n");
|
|
fprintf(fph," <NxBodyFlag id=\"flags\">\r\n");
|
|
fprintf(fph," <NX_BF_POSE_SLEEP_TEST>true</NX_BF_POSE_SLEEP_TEST>\r\n");
|
|
fprintf(fph," <NX_AF_DISABLE_COLLISION>false</NX_AF_DISABLE_COLLISION>\r\n");
|
|
fprintf(fph," </NxBodyFlag>\r\n");
|
|
fprintf(fph," </NxBodyDesc>\r\n");
|
|
fprintf(fph," <name>Bip01 Pelvis</name>\r\n");
|
|
for (unsigned int i=0; i<mHulls.size(); i++)
|
|
{
|
|
fprintf(fph," <NxConvexShapeDesc id=\"Shape_%d\" meshData=\"%s_%d\">\r\n", i, mBaseName, i);
|
|
fprintf(fph," <NxShapeDesc>\r\n");
|
|
fprintf(fph," <localPose>1 0 0 0 1 0 0 0 1 0 0 0 </localPose>\r\n");
|
|
fprintf(fph," <skinWidth>0</skinWidth>\r\n");
|
|
fprintf(fph," </NxShapeDesc>\r\n");
|
|
fprintf(fph," </NxConvexShapeDesc>\r\n");
|
|
}
|
|
fprintf(fph," </NxActorDesc>\r\n");
|
|
|
|
fprintf(fph," </NxSceneDesc>\r\n");
|
|
fprintf(fph," <NxSceneInstance id=\"%s\">\r\n", mBaseName);
|
|
fprintf(fph," <sceneName>beshon</sceneName>\r\n");
|
|
fprintf(fph," <NxuUserProperties></NxuUserProperties>\r\n");
|
|
fprintf(fph," <rootNode>1 0 0 0 1 0 0 0 1 0 0 0</rootNode>\r\n");
|
|
fprintf(fph," <newScene>false</newScene>\r\n");
|
|
fprintf(fph," <ignorePlane>true</ignorePlane>\r\n");
|
|
fprintf(fph," <numSceneInstances>0</numSceneInstances>\r\n");
|
|
fprintf(fph," </NxSceneInstance>\r\n");
|
|
fprintf(fph," </NxuPhysicsCollection>\r\n");
|
|
fprintf(fph,"</NXUSTREAM2>\r\n");
|
|
|
|
}
|
|
else
|
|
{
|
|
printf("Failed to open file '%s' for write access.\r\n", scratch );
|
|
}
|
|
}
|
|
|
|
float mSkinWidth;
|
|
unsigned int mHullCount;
|
|
FILE *mFph;
|
|
unsigned int mBaseCount;
|
|
char mObjName[512];
|
|
char mBaseName[512];
|
|
ConvexResultVector mHulls;
|
|
|
|
};
|
|
|
|
|
|
int main(int argc,const char **argv)
|
|
{
|
|
if ( argc < 2 )
|
|
{
|
|
printf("Usage: Test <meshanme.obj> (options)\r\n");
|
|
printf("\r\n");
|
|
printf("Options:\r\n");
|
|
printf("\r\n");
|
|
printf(" -d<depth> : How deep to recursively split. Values of 3-7 are reasonable.\r\n");
|
|
printf(" -c<percent> : Percentage of concavity to keep splitting. 0-20% is reasonable.\r\n");
|
|
printf(" -p<percent> : Percentage of volume delta to collapse hulls. 0-30% is reasonable.\r\n");
|
|
printf(" -v<maxverts> : Maximum number of vertices in the output hull. Default is 32.\r\n");
|
|
printf(" -s<skinwidth> : Skin Width inflation. Default is 0.\r\n");
|
|
}
|
|
else
|
|
{
|
|
unsigned int depth = 5;
|
|
float cpercent = 5;
|
|
float ppercent = 5;
|
|
unsigned int maxv = 32;
|
|
float skinWidth = 0;
|
|
|
|
// process command line switches.
|
|
for (int i=2; i<argc; i++)
|
|
{
|
|
const char *o = argv[i];
|
|
|
|
if ( strncmp(o,"-d",2) == 0 )
|
|
{
|
|
depth = (unsigned int) atoi( &o[2] );
|
|
if ( depth < 0 || depth > 10 )
|
|
{
|
|
depth = 5;
|
|
printf("Invalid depth value in switch, defaulting to 5.\r\n");
|
|
}
|
|
}
|
|
|
|
if ( strncmp(o,"-c",2) == 0 )
|
|
{
|
|
cpercent = (float) atof( &o[2] );
|
|
if ( cpercent < 0 || cpercent > 100 )
|
|
{
|
|
cpercent = 5;
|
|
printf("Invalid concavity percentage in switch, defaulting to 5.\r\n");
|
|
}
|
|
}
|
|
|
|
if ( strncmp(o,"-p",2) == 0 )
|
|
{
|
|
ppercent = (float) atof( &o[2] );
|
|
if ( ppercent < 0 || ppercent > 100 )
|
|
{
|
|
ppercent = 5;
|
|
printf("Invalid hull merge percentage in switch, defaulting to 5.\r\n");
|
|
}
|
|
}
|
|
|
|
if ( strncmp(o,"-v",2) == 0 )
|
|
{
|
|
maxv = (unsigned int) atoi( &o[2] );
|
|
if ( maxv < 8 || maxv > 256 )
|
|
{
|
|
maxv = 32;
|
|
printf("Invalid max vertices in switch, defaulting to 32.\r\n");
|
|
}
|
|
}
|
|
|
|
if ( strncmp(o,"-s",2) == 0 )
|
|
{
|
|
skinWidth = (float) atof( &o[2] );
|
|
if ( skinWidth < 0 || skinWidth > 0.1f )
|
|
{
|
|
skinWidth = 0;
|
|
printf("Invalid skinWidth in switch, defaulting to 0.\r\n");
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
WavefrontObj wo;
|
|
|
|
unsigned int tcount = wo.loadObj(argv[1]);
|
|
|
|
if ( tcount )
|
|
{
|
|
|
|
|
|
DecompDesc d;
|
|
|
|
d.mVcount = wo.mVertexCount;
|
|
d.mVertices = wo.mVertices;
|
|
d.mTcount = wo.mTriCount;
|
|
d.mIndices = (unsigned int *)wo.mIndices;
|
|
d.mDepth = depth;
|
|
d.mCpercent = cpercent;
|
|
d.mPpercent = ppercent;
|
|
d.mMaxVertices = maxv;
|
|
d.mSkinWidth = skinWidth;
|
|
|
|
|
|
CBuilder cb(argv[1],d); // receives the answers and writes out a wavefront OBJ file.
|
|
|
|
d.mCallback = &cb;
|
|
|
|
unsigned int count = performConvexDecomposition(d);
|
|
|
|
if ( count )
|
|
{
|
|
printf("Input triangle mesh with %d triangles produced %d output hulls.\r\n", d.mTcount, count );
|
|
|
|
cb.saveNxuStream(); // save results in NxuStream format.
|
|
cb.saveCOLLADA(); // save results in COLLADA physics 1.4.1 format.
|
|
|
|
}
|
|
else
|
|
{
|
|
printf("Failed to produce any convex hulls.\r\n");
|
|
}
|
|
|
|
}
|
|
else
|
|
{
|
|
// sorry..no
|
|
printf("Sorry unable to load file '%s'\r\n", argv[1] );
|
|
}
|
|
|
|
}
|
|
|
|
}
|