00001 #include <stdio.h>
00002 #include <stdlib.h>
00003 #include <string.h>
00004 #include <assert.h>
00005 #include <float.h>
00006
00007 #include <vector>
00008
00009 #include "./ConvexDecomposition/ConvexDecomposition.h"
00010 #include "./ConvexDecomposition/cd_wavefront.h"
00011
00012 using namespace ConvexDecomposition;
00013
00014
00015
00016 typedef std::vector< ConvexResult * > ConvexResultVector;
00017
00018 static const char * fstring(float v)
00019 {
00020 static char data[64*16];
00021 static int index=0;
00022
00023 char *ret = &data[index*64];
00024 index++;
00025 if (index == 16 ) index = 0;
00026
00027 if ( v == FLT_MIN ) return "-INF";
00028 if ( v == FLT_MAX ) return "INF";
00029
00030 if ( v == 1 )
00031 {
00032 strcpy(ret,"1");
00033 }
00034 else if ( v == 0 )
00035 {
00036 strcpy(ret,"0");
00037 }
00038 else if ( v == - 1 )
00039 {
00040 strcpy(ret,"-1");
00041 }
00042 else
00043 {
00044 sprintf(ret,"%.9f", v );
00045 const char *dot = strstr(ret,".");
00046 if ( dot )
00047 {
00048 int len = (int)strlen(ret);
00049 char *foo = &ret[len-1];
00050 while ( *foo == '0' ) foo--;
00051 if ( *foo == '.' )
00052 *foo = 0;
00053 else
00054 foo[1] = 0;
00055 }
00056 }
00057
00058 return ret;
00059 }
00060
00061 class CBuilder : public ConvexDecompInterface
00062 {
00063 public:
00064
00065 CBuilder(const char *fname,const DecompDesc &d)
00066 {
00067
00068 strcpy(mBaseName,fname);
00069 char *dot = strstr(mBaseName,".");
00070 if ( dot ) *dot = 0;
00071
00072 sprintf(mObjName,"%s_convex.obj", mBaseName );
00073
00074 mBaseCount = 0;
00075 mHullCount = 0;
00076 mSkinWidth = (float)d.mSkinWidth;
00077
00078 mFph = fopen(mObjName,"wb");
00079
00080
00081 printf("########################################################################\r\n");
00082 printf("# Perfomring approximate convex decomposition for triangle mesh %s\r\n", fname );
00083 printf("# Input Mesh has %d vertices and %d triangles.\r\n", d.mVcount, d.mTcount );
00084 printf("# Recursion depth: %d\r\n", d.mDepth );
00085 printf("# Concavity Threshold Percentage: %0.2f\r\n", d.mCpercent );
00086 printf("# Hull Merge Volume Percentage: %0.2f\r\n", d.mPpercent );
00087 printf("# Maximum output vertices per hull: %d\r\n", d.mMaxVertices );
00088 printf("# Hull Skin Width: %0.2f\r\n", d.mSkinWidth );
00089 printf("########################################################################\r\n");
00090
00091
00092 if ( mFph )
00093 {
00094 fprintf(mFph,"########################################################################\r\n");
00095 fprintf(mFph,"# Approximate convex decomposition for triangle mesh %s\r\n", fname );
00096 fprintf(mFph,"# Input Mesh has %d vertices and %d triangles.\r\n", d.mVcount, d.mTcount );
00097 fprintf(mFph,"# Recursion depth: %d\r\n", d.mDepth );
00098 fprintf(mFph,"# Concavity Threshold Percentage: %0.2f\r\n", d.mCpercent );
00099 fprintf(mFph,"# Hull Merge Volume Percentage: %0.2f\r\n", d.mPpercent );
00100 fprintf(mFph,"# Maximum output vertices per hull: %d\r\n", d.mMaxVertices );
00101 fprintf(mFph,"# Hull Skin Width: %0.2f\r\n", d.mSkinWidth );
00102 fprintf(mFph,"########################################################################\r\n");
00103
00104 printf("Opened Wavefront file %s for output.\r\n", mObjName );
00105 }
00106 else
00107 {
00108 printf("Failed to open output file %s\r\n", mObjName );
00109 }
00110 }
00111
00112 ~CBuilder(void)
00113 {
00114 if ( mFph )
00115 {
00116 fclose(mFph);
00117 }
00118 for (unsigned int i=0; i<mHulls.size(); i++)
00119 {
00120 ConvexResult *cr = mHulls[i];
00121 delete cr;
00122 }
00123 }
00124
00125 virtual void ConvexDecompResult(ConvexResult &result)
00126 {
00127
00128 mHullCount++;
00129
00130 printf("Received hull %d HullVolume(%0.3f)\r\n", mHullCount, result.mHullVolume );
00131
00132 if ( mFph )
00133 {
00134
00135 ConvexResult *cr = new ConvexResult(result);
00136 mHulls.push_back(cr);
00137
00138 fprintf(mFph,"########################################################################\r\n");
00139 fprintf(mFph,"## Hull Piece %d with %d vertices and %d triangles.\r\n", mHullCount, result.mHullVcount, result.mHullTcount );
00140 fprintf(mFph,"########################################################################\r\n");
00141
00142 for (unsigned int i=0; i<result.mHullVcount; i++)
00143 {
00144 const double *p = &result.mHullVertices[i*3];
00145 fprintf(mFph,"v %0.9f %0.9f %0.9f\r\n", (float)p[0], (float)p[1], (float)p[2] );
00146 }
00147
00148 if ( 1 )
00149 {
00150 const unsigned int *src = result.mHullIndices;
00151 for (unsigned int i=0; i<result.mHullTcount; i++)
00152 {
00153 unsigned int i1 = *src++;
00154 unsigned int i2 = *src++;
00155 unsigned int i3 = *src++;
00156
00157 i1+=mBaseCount;
00158 i2+=mBaseCount;
00159 i3+=mBaseCount;
00160
00161 fprintf(mFph,"f %d %d %d\r\n", i1+1, i2+1, i3+1 );
00162 }
00163 }
00164 mBaseCount+=result.mHullVcount;
00165 }
00166
00167 }
00168
00169 void saveCOLLADA(FILE *fph,unsigned int index,ConvexResult *cr)
00170 {
00171
00172 fprintf(fph," <geometry id=\"%s_%d-Mesh\" name=\"%s_%d-Mesh\">\r\n", mBaseName, index, mBaseName, index);
00173 fprintf(fph," <convex_mesh>\r\n");
00174 fprintf(fph," <source id=\"%s_%d-Position\">\r\n", mBaseName, index);
00175 fprintf(fph," <float_array count=\"%d\" id=\"%s_%d-Position-array\">\r\n", cr->mHullVcount*3, mBaseName, index);
00176 fprintf(fph," ");
00177 for (unsigned int i=0; i<cr->mHullVcount; i++)
00178 {
00179 const double *p = &cr->mHullVertices[i*3];
00180 fprintf(fph,"%s %s %s ", fstring((float)p[0]), fstring((float)p[1]), fstring((float)p[2]) );
00181 if ( ((i+1)&3) == 0 && (i+1) < cr->mHullVcount )
00182 {
00183 fprintf(fph,"\r\n");
00184 fprintf(fph," ");
00185 }
00186 }
00187 fprintf(fph,"\r\n");
00188 fprintf(fph," </float_array>\r\n");
00189 fprintf(fph," <technique_common>\r\n");
00190 fprintf(fph," <accessor count=\"%d\" source=\"#%s_%d-Position-array\" stride=\"3\">\r\n", cr->mHullVcount, mBaseName, index );
00191 fprintf(fph," <param name=\"X\" type=\"float\"/>\r\n");
00192 fprintf(fph," <param name=\"Y\" type=\"float\"/>\r\n");
00193 fprintf(fph," <param name=\"Z\" type=\"float\"/>\r\n");
00194 fprintf(fph," </accessor>\r\n");
00195 fprintf(fph," </technique_common>\r\n");
00196 fprintf(fph," </source>\r\n");
00197 fprintf(fph," <vertices id=\"%s_%d-Vertex\">\r\n", mBaseName, index);
00198 fprintf(fph," <input semantic=\"POSITION\" source=\"#%s_%d-Position\"/>\r\n", mBaseName, index);
00199 fprintf(fph," </vertices>\r\n");
00200 fprintf(fph," <triangles material=\"Material\" count=\"%d\">\r\n", cr->mHullTcount );
00201 fprintf(fph," <input offset=\"0\" semantic=\"VERTEX\" source=\"#%s_%d-Vertex\"/>\r\n", mBaseName, index);
00202 fprintf(fph," <p>\r\n");
00203 fprintf(fph," ");
00204 for (unsigned int i=0; i<cr->mHullTcount; i++)
00205 {
00206 unsigned int *tri = &cr->mHullIndices[i*3];
00207 fprintf(fph,"%d %d %d ", tri[0], tri[1], tri[2] );
00208 if ( ((i+1)&3) == 0 && (i+1) < cr->mHullTcount )
00209 {
00210 fprintf(fph,"\r\n");
00211 fprintf(fph," ");
00212 }
00213 }
00214 fprintf(fph,"\r\n");
00215 fprintf(fph," </p>\r\n");
00216 fprintf(fph," </triangles>\r\n");
00217 fprintf(fph," </convex_mesh>\r\n");
00218 fprintf(fph," </geometry>\r\n");
00219
00220 }
00221
00222 void saveCOLLADA(void)
00223 {
00224 char scratch[512];
00225 sprintf(scratch,"%s.dae", mBaseName );
00226 FILE *fph = fopen(scratch,"wb");
00227
00228 if ( fph )
00229 {
00230 printf("Saving convex decomposition of %d hulls to COLLADA file '%s'\r\n", (int)mHulls.size(), scratch );
00231
00232 fprintf(fph,"<?xml version=\"1.0\" encoding=\"utf-8\"?>\r\n");
00233 fprintf(fph,"<COLLADA version=\"1.4.0\" xmlns=\"http://www.collada.org/2005/11/COLLADASchema\">\r\n");
00234 fprintf(fph," <asset>\r\n");
00235 fprintf(fph," <contributor>\r\n");
00236 fprintf(fph," <author>NxuStream2 converter - http://www.ageia.com</author>\r\n");
00237 fprintf(fph," <authoring_tool>PhysX Rocket, PhysX Viewer, or CreateDynamics</authoring_tool>\r\n");
00238 fprintf(fph," <comments>questions to: jratcliff@ageia.com</comments>\r\n");
00239 fprintf(fph," <copyright></copyright>\r\n");
00240 fprintf(fph," <source_data>chair_gothic_tilted</source_data>\r\n");
00241 fprintf(fph," </contributor>\r\n");
00242 fprintf(fph," <unit meter=\"1\" name=\"meter\"/>\r\n");
00243 fprintf(fph," <up_axis>Y_UP</up_axis>\r\n");
00244 fprintf(fph," </asset>\r\n");
00245 fprintf(fph," <library_materials>\r\n");
00246 fprintf(fph," <material id=\"Material\" name=\"Material\">\r\n");
00247 fprintf(fph," <instance_effect url=\"#Material-fx\"></instance_effect>\r\n");
00248 fprintf(fph," </material>\r\n");
00249 fprintf(fph," </library_materials>\r\n");
00250 fprintf(fph," <library_effects>\r\n");
00251 fprintf(fph," <effect id=\"Material-fx\" name=\"Material\">\r\n");
00252 fprintf(fph," <profile_COMMON>\r\n");
00253 fprintf(fph," <technique id=\"Material-fx-COMMON\" sid=\"COMMON\">\r\n");
00254 fprintf(fph," <phong>\r\n");
00255 fprintf(fph," <ambient>\r\n");
00256 fprintf(fph," <color>0.803922 0.588235 0.92549 1</color>\r\n");
00257 fprintf(fph," </ambient>\r\n");
00258 fprintf(fph," <diffuse>\r\n");
00259 fprintf(fph," <color>0.803922 0.588235 0.92549 1</color>\r\n");
00260 fprintf(fph," </diffuse>\r\n");
00261 fprintf(fph," <specular>\r\n");
00262 fprintf(fph," <color>0.631373 0.631373 0.631373 1</color>\r\n");
00263 fprintf(fph," </specular>\r\n");
00264 fprintf(fph," <shininess>\r\n");
00265 fprintf(fph," <float>1</float>\r\n");
00266 fprintf(fph," </shininess>\r\n");
00267 fprintf(fph," <reflective>\r\n");
00268 fprintf(fph," <color>0 0 0 1</color>\r\n");
00269 fprintf(fph," </reflective>\r\n");
00270 fprintf(fph," <transparent>\r\n");
00271 fprintf(fph," <color>1 1 1 1</color>\r\n");
00272 fprintf(fph," </transparent>\r\n");
00273 fprintf(fph," <transparency>\r\n");
00274 fprintf(fph," <float>0</float>\r\n");
00275 fprintf(fph," </transparency>\r\n");
00276 fprintf(fph," </phong>\r\n");
00277 fprintf(fph," </technique>\r\n");
00278 fprintf(fph," </profile_COMMON>\r\n");
00279 fprintf(fph," </effect>\r\n");
00280 fprintf(fph," </library_effects>\r\n");
00281 fprintf(fph," <library_geometries>\r\n");
00282
00283 for (unsigned int i=0; i<mHulls.size(); i++)
00284 {
00285 ConvexResult *cr = mHulls[i];
00286 saveCOLLADA(fph,i,cr);
00287 }
00288
00289
00290 fprintf(fph," </library_geometries>\r\n");
00291 fprintf(fph," <library_visual_scenes>\r\n");
00292 fprintf(fph," <visual_scene id=\"Scene0-Visual\" name=\"Scene0-Visual\">\r\n");
00293 fprintf(fph," <node id=\"%s-Node\" name=\"%s\" type=\"NODE\">\r\n", mBaseName, mBaseName );
00294 fprintf(fph," <translate>0 0 0</translate>\r\n");
00295 fprintf(fph," <rotate>1 0 0 0</rotate>\r\n");
00296 fprintf(fph," </node>\r\n");
00297 fprintf(fph," </visual_scene>\r\n");
00298 fprintf(fph," </library_visual_scenes>\r\n");
00299 fprintf(fph," <library_physics_materials>\r\n");
00300 fprintf(fph," <physics_material id=\"pmat0_0-PhysicsMaterial\" name=\"pmat0_0-PhysicsMaterial\">\r\n");
00301 fprintf(fph," <technique_common>\r\n");
00302 fprintf(fph," <dynamic_friction>0.5</dynamic_friction>\r\n");
00303 fprintf(fph," <restitution>0</restitution>\r\n");
00304 fprintf(fph," <static_friction>0.5</static_friction>\r\n");
00305 fprintf(fph," </technique_common>\r\n");
00306 fprintf(fph," </physics_material>\r\n");
00307 fprintf(fph," </library_physics_materials>\r\n");
00308 fprintf(fph," <library_physics_models>\r\n");
00309 fprintf(fph," <physics_model id=\"Scene0-PhysicsModel\">\r\n");
00310 fprintf(fph," <rigid_body sid=\"%s-RigidBody\" name=\"%s\">\r\n", mBaseName, mBaseName);
00311 fprintf(fph," <technique_common>\r\n");
00312 fprintf(fph," <instance_physics_material url=\"#pmat0_0-PhysicsMaterial\"/>\r\n");
00313
00314 for (unsigned int i=0; i<mHulls.size(); i++)
00315 {
00316 ConvexResult *ch = mHulls[i];
00317 fprintf(fph," <shape>\r\n");
00318 fprintf(fph," <translate>0 0 0</translate>\r\n");
00319 fprintf(fph," <rotate>1 0 0 0</rotate>\r\n");
00320 fprintf(fph," <instance_physics_material url=\"#pmat0_0-PhysicsMaterial\"/>\r\n");
00321 fprintf(fph," <density>1</density>\r\n");
00322 fprintf(fph," <extra>\r\n");
00323 fprintf(fph," <technique profile=\"PhysX\">\r\n");
00324 fprintf(fph," <skinWidth>%s</skinWidth>\r\n", fstring( mSkinWidth ) );
00325 fprintf(fph," </technique>\r\n");
00326 fprintf(fph," </extra>\r\n");
00327 fprintf(fph," <instance_geometry url=\"%s_%d-Mesh\"/>\r\n", mBaseName, i);
00328 fprintf(fph," </shape>\r\n");
00329 }
00330
00331 fprintf(fph," <dynamic>true</dynamic>\r\n");
00332 fprintf(fph," <mass>1</mass>\r\n");
00333 fprintf(fph," </technique_common>\r\n");
00334 fprintf(fph," <extra>\r\n");
00335 fprintf(fph," <technique profile=\"PhysX\">\r\n");
00336 fprintf(fph," <extra>\r\n");
00337 fprintf(fph," <technique profile=\"PhysX\">\r\n");
00338 fprintf(fph," <linearDamping>0</linearDamping>\r\n");
00339 fprintf(fph," <angularDamping>0</angularDamping>\r\n");
00340 fprintf(fph," <solverIterationCount>32</solverIterationCount>\r\n");
00341 fprintf(fph," </technique>\r\n");
00342 fprintf(fph," </extra>\r\n");
00343 fprintf(fph," <disable_collision>false</disable_collision>\r\n");
00344 fprintf(fph," </technique>\r\n");
00345 fprintf(fph," </extra>\r\n");
00346 fprintf(fph," </rigid_body>\r\n");
00347 fprintf(fph," </physics_model>\r\n");
00348 fprintf(fph," </library_physics_models>\r\n");
00349 fprintf(fph," <library_physics_scenes>\r\n");
00350 fprintf(fph," <physics_scene id=\"Scene0-Physics\">\r\n");
00351 fprintf(fph," <instance_physics_model url=\"#Scene0-PhysicsModel\">\r\n");
00352 fprintf(fph," <instance_rigid_body target=\"#%s-Node\" body=\"%s-RigidBody\"/>\r\n", mBaseName, mBaseName );
00353 fprintf(fph," <extra>\r\n");
00354 fprintf(fph," <technique profile=\"PhysX\">\r\n");
00355 fprintf(fph," </technique>\r\n");
00356 fprintf(fph," </extra>\r\n");
00357 fprintf(fph," </instance_physics_model>\r\n");
00358 fprintf(fph," <technique_common>\r\n");
00359 fprintf(fph," <gravity>0 -9.800000191 0</gravity>\r\n");
00360 fprintf(fph," </technique_common>\r\n");
00361 fprintf(fph," </physics_scene>\r\n");
00362 fprintf(fph," </library_physics_scenes>\r\n");
00363 fprintf(fph," <scene>\r\n");
00364 fprintf(fph," <instance_visual_scene url=\"#Scene0-Visual\"/>\r\n");
00365 fprintf(fph," <instance_physics_scene url=\"#Scene0-Physics\"/>\r\n");
00366 fprintf(fph," </scene>\r\n");
00367 fprintf(fph,"</COLLADA>\r\n");
00368
00369
00370 fclose(fph);
00371 }
00372 else
00373 {
00374 printf("Failed to open file '%s' for write access.\r\n", scratch );
00375 }
00376 }
00377
00378 void saveXML(FILE *fph,unsigned int index,ConvexResult *cr)
00379 {
00380
00381 fprintf(fph," <NxConvexMeshDesc id=\"%s_%d\">\r\n", mBaseName, index);
00382 fprintf(fph," <points>\r\n");
00383 fprintf(fph," ");
00384 for (unsigned int i=0; i<cr->mHullVcount; i++)
00385 {
00386 const double *p = &cr->mHullVertices[i*3];
00387 fprintf(fph,"%s %s %s ", fstring((float)p[0]), fstring((float)p[1]), fstring((float)p[2]) );
00388 if ( ((i+1)&3) == 0 && (i+1) < cr->mHullVcount )
00389 {
00390 fprintf(fph,"\r\n");
00391 fprintf(fph," ");
00392 }
00393 }
00394 fprintf(fph,"\r\n");
00395 fprintf(fph," </points>\r\n");
00396 fprintf(fph," <triangles>\r\n");
00397 fprintf(fph," ");
00398 for (unsigned int i=0; i<cr->mHullTcount; i++)
00399 {
00400 unsigned int *tri = &cr->mHullIndices[i*3];
00401 fprintf(fph,"%d %d %d ", tri[0], tri[1], tri[2] );
00402 if ( ((i+1)&3) == 0 && (i+1) < cr->mHullTcount )
00403 {
00404 fprintf(fph,"\r\n");
00405 fprintf(fph," ");
00406 }
00407 }
00408 fprintf(fph,"\r\n");
00409 fprintf(fph," </triangles>\r\n");
00410 fprintf(fph," </NxConvexMeshDesc>\r\n");
00411
00412 }
00413
00414 void saveNxuStream(void)
00415 {
00416 char scratch[512];
00417 sprintf(scratch,"%s.xml", mBaseName );
00418 FILE *fph = fopen(scratch,"wb");
00419
00420 if ( fph )
00421 {
00422 printf("Saving convex decomposition of %d hulls to NxuStream file '%s'\r\n", mHulls.size(), scratch );
00423
00424 fprintf(fph,"<?xml version=\"1.0\" encoding=\"utf-8\"?>\r\n");
00425 fprintf(fph," <NXUSTREAM2>\r\n");
00426 fprintf(fph," <NxuPhysicsCollection id=\"beshon\" sdkVersion=\"244\" nxuVersion=\"100\">\r\n");
00427 fprintf(fph," <NxPhysicsSDKDesc id=\"SDK\">\r\n");
00428 fprintf(fph," <hwPageSize>65536</hwPageSize>\r\n");
00429 fprintf(fph," <hwPageMax>256</hwPageMax>\r\n");
00430 fprintf(fph," <hwConvexMax>2048</hwConvexMax>\r\n");
00431 fprintf(fph," </NxPhysicsSDKDesc>\r\n");
00432
00433 for (unsigned int i=0; i<mHulls.size(); i++)
00434 {
00435 saveXML(fph, i, mHulls[i] );
00436 }
00437
00438
00439 fprintf(fph," <NxSceneDesc id=\"%s\">\r\n", mBaseName);
00440 fprintf(fph," <filterBool>false</filterBool>\r\n");
00441 fprintf(fph," <filterOp0>NX_FILTEROP_AND</filterOp0>\r\n");
00442 fprintf(fph," <filterOp1>NX_FILTEROP_AND</filterOp1>\r\n");
00443 fprintf(fph," <filterOp2>NX_FILTEROP_AND</filterOp2>\r\n");
00444 fprintf(fph," <NxGroupsMask id=\"groupMask0\" bits0=\"0\" bits1=\"0\" bits2=\"0\" bits3=\"0\"/>\r\n");
00445 fprintf(fph," <NxGroupsMask id=\"groupMask1\" bits0=\"0\" bits1=\"0\" bits2=\"0\" bits3=\"0\"/>\r\n");
00446 fprintf(fph," <gravity>0 -9.800000191 0</gravity>\r\n");
00447 fprintf(fph," <maxTimestep>0.016666668</maxTimestep>\r\n");
00448 fprintf(fph," <maxIter>8</maxIter>\r\n");
00449 fprintf(fph," <timeStepMethod>NX_TIMESTEP_FIXED</timeStepMethod>\r\n");
00450 fprintf(fph," <maxBounds>FLT_MIN FLT_MIN FLT_MIN FLT_MAX FLT_MAX FLT_MAX</maxBounds>\r\n");
00451 fprintf(fph," <NxSceneLimits id=\"limits\">\r\n");
00452 fprintf(fph," <maxNbActors>0</maxNbActors>\r\n");
00453 fprintf(fph," <maxNbBodies>0</maxNbBodies>\r\n");
00454 fprintf(fph," <maxNbStaticShapes>0</maxNbStaticShapes>\r\n");
00455 fprintf(fph," <maxNbDynamicShapes>0</maxNbDynamicShapes>\r\n");
00456 fprintf(fph," <maxNbJoints>0</maxNbJoints>\r\n");
00457 fprintf(fph," </NxSceneLimits>\r\n");
00458 fprintf(fph," <simType>NX_SIMULATION_SW</simType>\r\n");
00459 fprintf(fph," <groundPlane>true</groundPlane>\r\n");
00460 fprintf(fph," <boundsPlanes>false</boundsPlanes>\r\n");
00461 fprintf(fph," <NxSceneFlags id=\"flags\">\r\n");
00462 fprintf(fph," <NX_SF_DISABLE_SSE>false</NX_SF_DISABLE_SSE>\r\n");
00463 fprintf(fph," <NX_SF_DISABLE_COLLISIONS>false</NX_SF_DISABLE_COLLISIONS>\r\n");
00464 fprintf(fph," <NX_SF_SIMULATE_SEPARATE_THREAD>true</NX_SF_SIMULATE_SEPARATE_THREAD>\r\n");
00465 fprintf(fph," <NX_SF_ENABLE_MULTITHREAD>false</NX_SF_ENABLE_MULTITHREAD>\r\n");
00466 fprintf(fph," </NxSceneFlags>\r\n");
00467 fprintf(fph," <internalThreadCount>0</internalThreadCount>\r\n");
00468 fprintf(fph," <backgroundThreadCount>0</backgroundThreadCount>\r\n");
00469 fprintf(fph," <threadMask>1431655764</threadMask>\r\n");
00470 fprintf(fph," <backgroundThreadMask>1431655764</backgroundThreadMask>\r\n");
00471 fprintf(fph," <NxMaterialDesc id=\"Material_0\" userProperties=\"\" hasSpring=\"false\" materialIndex=\"0\">\r\n");
00472 fprintf(fph," <dynamicFriction>0.5</dynamicFriction>\r\n");
00473 fprintf(fph," <staticFriction>0.5</staticFriction>\r\n");
00474 fprintf(fph," <restitution>0</restitution>\r\n");
00475 fprintf(fph," <dynamicFrictionV>0</dynamicFrictionV>\r\n");
00476 fprintf(fph," <staticFrictionV>0</staticFrictionV>\r\n");
00477 fprintf(fph," <frictionCombineMode>NX_CM_AVERAGE</frictionCombineMode>\r\n");
00478 fprintf(fph," <restitutionCombineMode>NX_CM_AVERAGE</restitutionCombineMode>\r\n");
00479 fprintf(fph," <dirOfAnisotropy>1 0 0</dirOfAnisotropy>\r\n");
00480 fprintf(fph," <NxMaterialFlag id=\"flags\">\r\n");
00481 fprintf(fph," <NX_MF_ANISOTROPIC>false</NX_MF_ANISOTROPIC>\r\n");
00482 fprintf(fph," <NX_MF_DISABLE_FRICTION>false</NX_MF_DISABLE_FRICTION>\r\n");
00483 fprintf(fph," <NX_MF_DISABLE_STRONG_FRICTION>false</NX_MF_DISABLE_STRONG_FRICTION>\r\n");
00484 fprintf(fph," </NxMaterialFlag>\r\n");
00485 fprintf(fph," </NxMaterialDesc>\r\n");
00486 fprintf(fph," <NxActorDesc id=\"%s\" userProperties=\"\" hasBody=\"true\" name=\"%s\">\r\n", mBaseName, mBaseName);
00487 fprintf(fph," <globalPose>1 0 0 0 1 0 0 0 1 0 0 0 </globalPose>\r\n");
00488 fprintf(fph," <NxBodyDesc>\r\n");
00489 fprintf(fph," <mass>1</mass>\r\n");
00490 fprintf(fph," <linearDamping>0</linearDamping>\r\n");
00491 fprintf(fph," <angularDamping>0</angularDamping>\r\n");
00492 fprintf(fph," <solverIterationCount>32</solverIterationCount>\r\n");
00493 fprintf(fph," <NxBodyFlag id=\"flags\">\r\n");
00494 fprintf(fph," <NX_BF_POSE_SLEEP_TEST>true</NX_BF_POSE_SLEEP_TEST>\r\n");
00495 fprintf(fph," <NX_AF_DISABLE_COLLISION>false</NX_AF_DISABLE_COLLISION>\r\n");
00496 fprintf(fph," </NxBodyFlag>\r\n");
00497 fprintf(fph," </NxBodyDesc>\r\n");
00498 fprintf(fph," <name>Bip01 Pelvis</name>\r\n");
00499 for (unsigned int i=0; i<mHulls.size(); i++)
00500 {
00501 fprintf(fph," <NxConvexShapeDesc id=\"Shape_%d\" meshData=\"%s_%d\">\r\n", i, mBaseName, i);
00502 fprintf(fph," <NxShapeDesc>\r\n");
00503 fprintf(fph," <localPose>1 0 0 0 1 0 0 0 1 0 0 0 </localPose>\r\n");
00504 fprintf(fph," <skinWidth>0</skinWidth>\r\n");
00505 fprintf(fph," </NxShapeDesc>\r\n");
00506 fprintf(fph," </NxConvexShapeDesc>\r\n");
00507 }
00508 fprintf(fph," </NxActorDesc>\r\n");
00509
00510 fprintf(fph," </NxSceneDesc>\r\n");
00511 fprintf(fph," <NxSceneInstance id=\"%s\">\r\n", mBaseName);
00512 fprintf(fph," <sceneName>beshon</sceneName>\r\n");
00513 fprintf(fph," <NxuUserProperties></NxuUserProperties>\r\n");
00514 fprintf(fph," <rootNode>1 0 0 0 1 0 0 0 1 0 0 0</rootNode>\r\n");
00515 fprintf(fph," <newScene>false</newScene>\r\n");
00516 fprintf(fph," <ignorePlane>true</ignorePlane>\r\n");
00517 fprintf(fph," <numSceneInstances>0</numSceneInstances>\r\n");
00518 fprintf(fph," </NxSceneInstance>\r\n");
00519 fprintf(fph," </NxuPhysicsCollection>\r\n");
00520 fprintf(fph,"</NXUSTREAM2>\r\n");
00521
00522 }
00523 else
00524 {
00525 printf("Failed to open file '%s' for write access.\r\n", scratch );
00526 }
00527 }
00528
00529 float mSkinWidth;
00530 unsigned int mHullCount;
00531 FILE *mFph;
00532 unsigned int mBaseCount;
00533 char mObjName[512];
00534 char mBaseName[512];
00535 ConvexResultVector mHulls;
00536
00537 };
00538
00539
00540 int main(int argc,const char **argv)
00541 {
00542 if ( argc < 2 )
00543 {
00544 printf("Usage: Test <meshanme.obj> (options)\r\n");
00545 printf("\r\n");
00546 printf("Options:\r\n");
00547 printf("\r\n");
00548 printf(" -d<depth> : How deep to recursively split. Values of 3-7 are reasonable.\r\n");
00549 printf(" -c<percent> : Percentage of concavity to keep splitting. 0-20% is reasonable.\r\n");
00550 printf(" -p<percent> : Percentage of volume delta to collapse hulls. 0-30% is reasonable.\r\n");
00551 printf(" -v<maxverts> : Maximum number of vertices in the output hull. Default is 32.\r\n");
00552 printf(" -s<skinwidth> : Skin Width inflation. Default is 0.\r\n");
00553 }
00554 else
00555 {
00556 unsigned int depth = 5;
00557 float cpercent = 5;
00558 float ppercent = 5;
00559 unsigned int maxv = 32;
00560 float skinWidth = 0;
00561
00562
00563 for (int i=2; i<argc; i++)
00564 {
00565 const char *o = argv[i];
00566
00567 if ( strncmp(o,"-d",2) == 0 )
00568 {
00569 depth = (unsigned int) atoi( &o[2] );
00570 if ( depth < 0 || depth > 10 )
00571 {
00572 depth = 5;
00573 printf("Invalid depth value in switch, defaulting to 5.\r\n");
00574 }
00575 }
00576
00577 if ( strncmp(o,"-c",2) == 0 )
00578 {
00579 cpercent = (float) atof( &o[2] );
00580 if ( cpercent < 0 || cpercent > 100 )
00581 {
00582 cpercent = 5;
00583 printf("Invalid concavity percentage in switch, defaulting to 5.\r\n");
00584 }
00585 }
00586
00587 if ( strncmp(o,"-p",2) == 0 )
00588 {
00589 ppercent = (float) atof( &o[2] );
00590 if ( ppercent < 0 || ppercent > 100 )
00591 {
00592 ppercent = 5;
00593 printf("Invalid hull merge percentage in switch, defaulting to 5.\r\n");
00594 }
00595 }
00596
00597 if ( strncmp(o,"-v",2) == 0 )
00598 {
00599 maxv = (unsigned int) atoi( &o[2] );
00600 if ( maxv < 8 || maxv > 256 )
00601 {
00602 maxv = 32;
00603 printf("Invalid max vertices in switch, defaulting to 32.\r\n");
00604 }
00605 }
00606
00607 if ( strncmp(o,"-s",2) == 0 )
00608 {
00609 skinWidth = (float) atof( &o[2] );
00610 if ( skinWidth < 0 || skinWidth > 0.1f )
00611 {
00612 skinWidth = 0;
00613 printf("Invalid skinWidth in switch, defaulting to 0.\r\n");
00614 }
00615 }
00616
00617 }
00618
00619 WavefrontObj wo;
00620
00621 unsigned int tcount = wo.loadObj(argv[1]);
00622
00623 if ( tcount )
00624 {
00625
00626
00627 DecompDesc d;
00628
00629 d.mVcount = wo.mVertexCount;
00630 d.mVertices = wo.mVertices;
00631 d.mTcount = wo.mTriCount;
00632 d.mIndices = (unsigned int *)wo.mIndices;
00633 d.mDepth = depth;
00634 d.mCpercent = cpercent;
00635 d.mPpercent = ppercent;
00636 d.mMaxVertices = maxv;
00637 d.mSkinWidth = skinWidth;
00638
00639
00640 CBuilder cb(argv[1],d);
00641
00642 d.mCallback = &cb;
00643
00644 unsigned int count = performConvexDecomposition(d);
00645
00646 if ( count )
00647 {
00648 printf("Input triangle mesh with %d triangles produced %d output hulls.\r\n", d.mTcount, count );
00649
00650 cb.saveNxuStream();
00651 cb.saveCOLLADA();
00652
00653 }
00654 else
00655 {
00656 printf("Failed to produce any convex hulls.\r\n");
00657 }
00658
00659 }
00660 else
00661 {
00662
00663 printf("Sorry unable to load file '%s'\r\n", argv[1] );
00664 }
00665
00666 }
00667
00668 }
