mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-05 01:50:05 +00:00
embed V-HACD directly into Pybullet to make it easier to use:
pip3 install pybulle
import pybullet as p
p.connect(p.DIRECT)
p.vhacd("teddy.obj", "teddy_large_newout.obj", "newlog.txt", depth=2,resolution=1000000)
This commit is contained in:
Erwin Coumans
parent
1c39f763bb
commit
f0528db5e9
@ -1,739 +1,7 @@
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/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
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All rights reserved.
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Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
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3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#define _CRT_SECURE_NO_WARNINGS
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#include <algorithm>
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#include <assert.h>
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#include <fstream>
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#include <iomanip>
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#include <iostream>
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#include <sstream>
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#include <stdio.h>
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#include <string.h>
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#include <string>
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#include <vector>
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//#define _CRTDBG_MAP_ALLOC
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#ifdef _CRTDBG_MAP_ALLOC
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#include <crtdbg.h>
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#include <stdlib.h>
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#endif // _CRTDBG_MAP_ALLOC
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#include "VHACD.h"
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using namespace VHACD;
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using namespace std;
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bool replace(std::string& str, const std::string& from, const std::string& to)
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{
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size_t start_pos = str.find(from);
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if (start_pos == std::string::npos)
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return false;
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str.replace(start_pos, from.length(), to);
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return true;
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}
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class MyCallback : public IVHACD::IUserCallback
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{
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public:
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MyCallback(void) {}
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~MyCallback(){};
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void Update(const double overallProgress, const double stageProgress, const double operationProgress,
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const char* const stage, const char* const operation)
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{
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cout << setfill(' ') << setw(3) << (int)(overallProgress + 0.5) << "% "
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<< "[ " << stage << " " << setfill(' ') << setw(3) << (int)(stageProgress + 0.5) << "% ] "
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<< operation << " " << setfill(' ') << setw(3) << (int)(operationProgress + 0.5) << "%" << endl;
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};
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};
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class MyLogger : public IVHACD::IUserLogger
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{
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public:
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MyLogger(void) {}
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MyLogger(const string& fileName) { OpenFile(fileName); }
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~MyLogger(){};
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void Log(const char* const msg)
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{
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if (m_file.is_open())
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{
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m_file << msg;
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m_file.flush();
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}
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}
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void OpenFile(const string& fileName)
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{
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m_file.open(fileName.c_str());
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}
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private:
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ofstream m_file;
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};
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struct Material
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{
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float m_diffuseColor[3];
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float m_ambientIntensity;
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float m_specularColor[3];
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float m_emissiveColor[3];
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float m_shininess;
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float m_transparency;
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Material(void)
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{
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m_diffuseColor[0] = 0.5f;
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m_diffuseColor[1] = 0.5f;
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m_diffuseColor[2] = 0.5f;
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m_specularColor[0] = 0.5f;
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m_specularColor[1] = 0.5f;
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m_specularColor[2] = 0.5f;
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m_ambientIntensity = 0.4f;
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m_emissiveColor[0] = 0.0f;
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m_emissiveColor[1] = 0.0f;
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m_emissiveColor[2] = 0.0f;
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m_shininess = 0.4f;
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m_transparency = 0.5f;
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};
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};
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struct Parameters
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{
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unsigned int m_oclPlatformID;
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unsigned int m_oclDeviceID;
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string m_fileNameIn;
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string m_fileNameOut;
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string m_fileNameLog;
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bool m_run;
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IVHACD::Parameters m_paramsVHACD;
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Parameters(void)
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{
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m_run = true;
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m_oclPlatformID = 0;
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m_oclDeviceID = 0;
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m_fileNameIn = "";
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m_fileNameOut = "output.obj";
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m_fileNameLog = "log.txt";
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}
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};
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bool LoadOFF(const string& fileName, vector<float>& points, vector<int>& triangles, IVHACD::IUserLogger& logger);
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bool LoadOBJ(const string& fileName, vector<float>& points, vector<int>& triangles, IVHACD::IUserLogger& logger);
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bool SaveOFF(const string& fileName, const float* const& points, const int* const& triangles, const unsigned int& nPoints,
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const unsigned int& nTriangles, IVHACD::IUserLogger& logger);
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bool SaveOBJ(ofstream& fout, const double* const& points, const int* const& triangles, const unsigned int& nPoints,
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const unsigned int& nTriangles, const Material& material, IVHACD::IUserLogger& logger, int convexPart, int vertexOffset);
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bool SaveVRML2(ofstream& fout, const double* const& points, const int* const& triangles, const unsigned int& nPoints,
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const unsigned int& nTriangles, const Material& material, IVHACD::IUserLogger& logger);
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void GetFileExtension(const string& fileName, string& fileExtension);
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void ComputeRandomColor(Material& mat);
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void Usage(const Parameters& params);
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void ParseParameters(int argc, char* argv[], Parameters& params);
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int main_vhacd(int argc, char* argv[]);
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int main(int argc, char* argv[])
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{
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// --input camel.off --output camel_acd.obj --log log.txt --resolution 1000000 --depth 20 --concavity 0.0025 --planeDownsampling 4 --convexhullDownsampling 4 --alpha 0.05 --beta 0.05 --gamma 0.00125 --pca 0 --mode 0 --maxNumVerticesPerCH 256 --minVolumePerCH 0.0001 --convexhullApproximation 1 --oclDeviceID 2
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{
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// set parameters
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Parameters params;
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ParseParameters(argc, argv, params);
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MyCallback myCallback;
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MyLogger myLogger(params.m_fileNameLog);
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params.m_paramsVHACD.m_logger = &myLogger;
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params.m_paramsVHACD.m_callback = &myCallback;
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Usage(params);
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if (!params.m_run)
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{
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return 0;
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}
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std::ostringstream msg;
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msg << "+ OpenCL (OFF)" << std::endl;
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msg << "+ Parameters" << std::endl;
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msg << "\t input " << params.m_fileNameIn << endl;
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msg << "\t resolution " << params.m_paramsVHACD.m_resolution << endl;
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msg << "\t max. depth " << params.m_paramsVHACD.m_depth << endl;
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msg << "\t max. concavity " << params.m_paramsVHACD.m_concavity << endl;
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msg << "\t plane down-sampling " << params.m_paramsVHACD.m_planeDownsampling << endl;
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msg << "\t convex-hull down-sampling " << params.m_paramsVHACD.m_convexhullDownsampling << endl;
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msg << "\t alpha " << params.m_paramsVHACD.m_alpha << endl;
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msg << "\t beta " << params.m_paramsVHACD.m_beta << endl;
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msg << "\t gamma " << params.m_paramsVHACD.m_gamma << endl;
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msg << "\t pca " << params.m_paramsVHACD.m_pca << endl;
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msg << "\t mode " << params.m_paramsVHACD.m_mode << endl;
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msg << "\t max. vertices per convex-hull " << params.m_paramsVHACD.m_maxNumVerticesPerCH << endl;
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msg << "\t min. volume to add vertices to convex-hulls " << params.m_paramsVHACD.m_minVolumePerCH << endl;
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msg << "\t convex-hull approximation " << params.m_paramsVHACD.m_convexhullApproximation << endl;
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msg << "\t OpenCL acceleration " << params.m_paramsVHACD.m_oclAcceleration << endl;
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msg << "\t OpenCL platform ID " << params.m_oclPlatformID << endl;
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msg << "\t OpenCL device ID " << params.m_oclDeviceID << endl;
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msg << "\t output " << params.m_fileNameOut << endl;
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msg << "\t log " << params.m_fileNameLog << endl;
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msg << "+ Load mesh" << std::endl;
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myLogger.Log(msg.str().c_str());
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cout << msg.str().c_str();
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// load mesh
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vector<float> points;
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vector<int> triangles;
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string fileExtension;
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GetFileExtension(params.m_fileNameIn, fileExtension);
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if (fileExtension == ".OFF")
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{
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if (!LoadOFF(params.m_fileNameIn, points, triangles, myLogger))
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{
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return -1;
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}
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}
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else if (fileExtension == ".OBJ")
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{
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if (!LoadOBJ(params.m_fileNameIn, points, triangles, myLogger))
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{
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return -1;
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}
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}
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else
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{
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myLogger.Log("Format not supported!\n");
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return -1;
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}
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// run V-HACD
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IVHACD* interfaceVHACD = CreateVHACD();
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#ifdef CL_VERSION_1_1
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if (params.m_paramsVHACD.m_oclAcceleration)
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{
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bool res = interfaceVHACD->OCLInit(oclHelper.GetDevice(), &myLogger);
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if (!res)
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{
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params.m_paramsVHACD.m_oclAcceleration = false;
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}
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}
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#endif //CL_VERSION_1_1
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bool res = interfaceVHACD->Compute(&points[0], 3, (unsigned int)points.size() / 3,
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&triangles[0], 3, (unsigned int)triangles.size() / 3, params.m_paramsVHACD);
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if (res)
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{
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// save output
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unsigned int nConvexHulls = interfaceVHACD->GetNConvexHulls();
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msg.str("");
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msg << "+ Generate output: " << nConvexHulls << " convex-hulls " << endl;
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myLogger.Log(msg.str().c_str());
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ofstream foutCH(params.m_fileNameOut.c_str());
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IVHACD::ConvexHull ch;
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if (foutCH.is_open())
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{
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Material mat;
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int vertexOffset = 1; //obj wavefront starts counting at 1...
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for (unsigned int p = 0; p < nConvexHulls; ++p)
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{
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interfaceVHACD->GetConvexHull(p, ch);
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SaveOBJ(foutCH, ch.m_points, ch.m_triangles, ch.m_nPoints, ch.m_nTriangles, mat, myLogger, p, vertexOffset);
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vertexOffset += ch.m_nPoints;
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msg.str("");
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msg << "\t CH[" << setfill('0') << setw(5) << p << "] " << ch.m_nPoints << " V, " << ch.m_nTriangles << " T" << endl;
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myLogger.Log(msg.str().c_str());
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}
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foutCH.close();
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}
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}
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else
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{
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myLogger.Log("Decomposition cancelled by user!\n");
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}
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#ifdef CL_VERSION_1_1
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if (params.m_paramsVHACD.m_oclAcceleration)
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{
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bool res = interfaceVHACD->OCLRelease(&myLogger);
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if (!res)
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{
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assert(-1);
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}
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}
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#endif //CL_VERSION_1_1
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interfaceVHACD->Clean();
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interfaceVHACD->Release();
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}
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#ifdef _CRTDBG_MAP_ALLOC
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_CrtDumpMemoryLeaks();
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#endif // _CRTDBG_MAP_ALLOC
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return 0;
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}
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void Usage(const Parameters& params)
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{
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std::ostringstream msg;
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msg << "V-HACD V" << VHACD_VERSION_MAJOR << "." << VHACD_VERSION_MINOR << endl;
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msg << "Syntax: testVHACD [options] --input infile.obj --output outfile.obj --log logfile.txt" << endl
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<< endl;
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msg << "Options:" << endl;
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msg << " --input Wavefront .obj input file name" << endl;
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msg << " --output VRML 2.0 output file name" << endl;
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msg << " --log Log file name" << endl;
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msg << " --resolution Maximum number of voxels generated during the voxelization stage (default=100,000, range=10,000-16,000,000)" << endl;
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msg << " --depth Maximum number of clipping stages. During each split stage, parts with a concavity higher than the user defined threshold are clipped according the \"best\" clipping plane (default=20, range=1-32)" << endl;
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msg << " --concavity Maximum allowed concavity (default=0.0025, range=0.0-1.0)" << endl;
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msg << " --planeDownsampling Controls the granularity of the search for the \"best\" clipping plane (default=4, range=1-16)" << endl;
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msg << " --convexhullDownsampling Controls the precision of the convex-hull generation process during the clipping plane selection stage (default=4, range=1-16)" << endl;
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msg << " --alpha Controls the bias toward clipping along symmetry planes (default=0.05, range=0.0-1.0)" << endl;
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msg << " --beta Controls the bias toward clipping along revolution axes (default=0.05, range=0.0-1.0)" << endl;
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msg << " --gamma Controls the maximum allowed concavity during the merge stage (default=0.00125, range=0.0-1.0)" << endl;
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msg << " --delta Controls the bias toward maximaxing local concavity (default=0.05, range=0.0-1.0)" << endl;
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msg << " --pca Enable/disable normalizing the mesh before applying the convex decomposition (default=0, range={0,1})" << endl;
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msg << " --mode 0: voxel-based approximate convex decomposition, 1: tetrahedron-based approximate convex decomposition (default=0, range={0,1})" << endl;
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msg << " --maxNumVerticesPerCH Controls the maximum number of triangles per convex-hull (default=64, range=4-1024)" << endl;
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msg << " --minVolumePerCH Controls the adaptive sampling of the generated convex-hulls (default=0.0001, range=0.0-0.01)" << endl;
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msg << " --convexhullApproximation Enable/disable approximation when computing convex-hulls (default=1, range={0,1})" << endl;
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msg << " --oclAcceleration Enable/disable OpenCL acceleration (default=0, range={0,1})" << endl;
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msg << " --oclPlatformID OpenCL platform id (default=0, range=0-# OCL platforms)" << endl;
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msg << " --oclDeviceID OpenCL device id (default=0, range=0-# OCL devices)" << endl;
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msg << " --help Print usage" << endl
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<< endl;
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msg << "Examples:" << endl;
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msg << " testVHACD.exe --input bunny.obj --output bunny_acd.obj --log log.txt" << endl
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<< endl;
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cout << msg.str();
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if (params.m_paramsVHACD.m_logger)
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{
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params.m_paramsVHACD.m_logger->Log(msg.str().c_str());
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}
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}
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void ParseParameters(int argc, char* argv[], Parameters& params)
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{
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for (int i = 1; i < argc; ++i)
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{
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if (!strcmp(argv[i], "--input"))
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{
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if (++i < argc)
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{
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params.m_fileNameIn = argv[i];
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//come up with some default output name, if not provided
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if (params.m_fileNameOut.length() == 0)
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{
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string tmp = argv[i];
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replace(tmp, ".obj", ".vhacd.obj");
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params.m_fileNameOut = tmp;
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}
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}
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}
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else if (!strcmp(argv[i], "--output"))
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{
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if (++i < argc)
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params.m_fileNameOut = argv[i];
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}
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else if (!strcmp(argv[i], "--log"))
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{
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if (++i < argc)
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params.m_fileNameLog = argv[i];
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}
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else if (!strcmp(argv[i], "--resolution"))
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{
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if (++i < argc)
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params.m_paramsVHACD.m_resolution = atoi(argv[i]);
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}
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else if (!strcmp(argv[i], "--depth"))
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{
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if (++i < argc)
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params.m_paramsVHACD.m_depth = atoi(argv[i]);
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}
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else if (!strcmp(argv[i], "--concavity"))
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{
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if (++i < argc)
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params.m_paramsVHACD.m_concavity = atof(argv[i]);
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}
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else if (!strcmp(argv[i], "--planeDownsampling"))
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{
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if (++i < argc)
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params.m_paramsVHACD.m_planeDownsampling = atoi(argv[i]);
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}
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else if (!strcmp(argv[i], "--convexhullDownsampling"))
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{
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if (++i < argc)
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params.m_paramsVHACD.m_convexhullDownsampling = atoi(argv[i]);
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}
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else if (!strcmp(argv[i], "--alpha"))
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{
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if (++i < argc)
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params.m_paramsVHACD.m_alpha = atof(argv[i]);
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}
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else if (!strcmp(argv[i], "--beta"))
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{
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if (++i < argc)
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params.m_paramsVHACD.m_beta = atof(argv[i]);
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}
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else if (!strcmp(argv[i], "--gamma"))
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{
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if (++i < argc)
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params.m_paramsVHACD.m_gamma = atof(argv[i]);
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}
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else if (!strcmp(argv[i], "--pca"))
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{
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if (++i < argc)
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params.m_paramsVHACD.m_pca = atoi(argv[i]);
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}
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else if (!strcmp(argv[i], "--mode"))
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{
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if (++i < argc)
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params.m_paramsVHACD.m_mode = atoi(argv[i]);
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}
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else if (!strcmp(argv[i], "--maxNumVerticesPerCH"))
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{
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if (++i < argc)
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params.m_paramsVHACD.m_maxNumVerticesPerCH = atoi(argv[i]);
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}
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else if (!strcmp(argv[i], "--minVolumePerCH"))
|
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{
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if (++i < argc)
|
||||
params.m_paramsVHACD.m_minVolumePerCH = atof(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--convexhullApproximation"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_paramsVHACD.m_convexhullApproximation = atoi(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--oclAcceleration"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_paramsVHACD.m_oclAcceleration = atoi(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--oclPlatformID"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_oclPlatformID = atoi(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--oclDeviceID"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_oclDeviceID = atoi(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--help"))
|
||||
{
|
||||
params.m_run = false;
|
||||
}
|
||||
}
|
||||
params.m_paramsVHACD.m_resolution = (params.m_paramsVHACD.m_resolution < 64) ? 0 : params.m_paramsVHACD.m_resolution;
|
||||
params.m_paramsVHACD.m_planeDownsampling = (params.m_paramsVHACD.m_planeDownsampling < 1) ? 1 : params.m_paramsVHACD.m_planeDownsampling;
|
||||
params.m_paramsVHACD.m_convexhullDownsampling = (params.m_paramsVHACD.m_convexhullDownsampling < 1) ? 1 : params.m_paramsVHACD.m_convexhullDownsampling;
|
||||
}
|
||||
|
||||
void GetFileExtension(const string& fileName, string& fileExtension)
|
||||
{
|
||||
size_t lastDotPosition = fileName.find_last_of(".");
|
||||
if (lastDotPosition == string::npos)
|
||||
{
|
||||
fileExtension = "";
|
||||
}
|
||||
else
|
||||
{
|
||||
fileExtension = fileName.substr(lastDotPosition, fileName.size());
|
||||
transform(fileExtension.begin(), fileExtension.end(), fileExtension.begin(), ::toupper);
|
||||
}
|
||||
}
|
||||
void ComputeRandomColor(Material& mat)
|
||||
{
|
||||
mat.m_diffuseColor[0] = mat.m_diffuseColor[1] = mat.m_diffuseColor[2] = 0.0f;
|
||||
while (mat.m_diffuseColor[0] == mat.m_diffuseColor[1] || mat.m_diffuseColor[2] == mat.m_diffuseColor[1] || mat.m_diffuseColor[2] == mat.m_diffuseColor[0])
|
||||
{
|
||||
mat.m_diffuseColor[0] = (rand() % 100) / 100.0f;
|
||||
mat.m_diffuseColor[1] = (rand() % 100) / 100.0f;
|
||||
mat.m_diffuseColor[2] = (rand() % 100) / 100.0f;
|
||||
}
|
||||
}
|
||||
bool LoadOFF(const string& fileName, vector<float>& points, vector<int>& triangles, IVHACD::IUserLogger& logger)
|
||||
{
|
||||
FILE* fid = fopen(fileName.c_str(), "r");
|
||||
if (fid)
|
||||
{
|
||||
const string strOFF("OFF");
|
||||
char temp[1024];
|
||||
fscanf(fid, "%s", temp);
|
||||
if (string(temp) != strOFF)
|
||||
{
|
||||
logger.Log("Loading error: format not recognized \n");
|
||||
fclose(fid);
|
||||
return false;
|
||||
}
|
||||
else
|
||||
{
|
||||
int nv = 0;
|
||||
int nf = 0;
|
||||
int ne = 0;
|
||||
fscanf(fid, "%i", &nv);
|
||||
fscanf(fid, "%i", &nf);
|
||||
fscanf(fid, "%i", &ne);
|
||||
points.resize(nv * 3);
|
||||
triangles.resize(nf * 3);
|
||||
const int np = nv * 3;
|
||||
for (int p = 0; p < np; p++)
|
||||
{
|
||||
fscanf(fid, "%f", &(points[p]));
|
||||
}
|
||||
int s;
|
||||
for (int t = 0, r = 0; t < nf; ++t)
|
||||
{
|
||||
fscanf(fid, "%i", &s);
|
||||
if (s == 3)
|
||||
{
|
||||
fscanf(fid, "%i", &(triangles[r++]));
|
||||
fscanf(fid, "%i", &(triangles[r++]));
|
||||
fscanf(fid, "%i", &(triangles[r++]));
|
||||
}
|
||||
else // Fix me: support only triangular meshes
|
||||
{
|
||||
for (int h = 0; h < s; ++h)
|
||||
fscanf(fid, "%i", &s);
|
||||
}
|
||||
}
|
||||
fclose(fid);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
logger.Log("Loading error: file not found \n");
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
bool LoadOBJ(const string& fileName, vector<float>& points, vector<int>& triangles, IVHACD::IUserLogger& logger)
|
||||
{
|
||||
const unsigned int BufferSize = 1024;
|
||||
FILE* fid = fopen(fileName.c_str(), "r");
|
||||
|
||||
if (fid)
|
||||
{
|
||||
char buffer[BufferSize];
|
||||
int ip[4];
|
||||
float x[3];
|
||||
char* pch;
|
||||
char* str;
|
||||
while (!feof(fid))
|
||||
{
|
||||
if (!fgets(buffer, BufferSize, fid))
|
||||
{
|
||||
break;
|
||||
}
|
||||
else if (buffer[0] == 'v')
|
||||
{
|
||||
if (buffer[1] == ' ')
|
||||
{
|
||||
str = buffer + 2;
|
||||
for (int k = 0; k < 3; ++k)
|
||||
{
|
||||
pch = strtok(str, " ");
|
||||
if (pch)
|
||||
x[k] = (float)atof(pch);
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
str = NULL;
|
||||
}
|
||||
points.push_back(x[0]);
|
||||
points.push_back(x[1]);
|
||||
points.push_back(x[2]);
|
||||
}
|
||||
}
|
||||
else if (buffer[0] == 'f')
|
||||
{
|
||||
pch = str = buffer + 2;
|
||||
int k = 0;
|
||||
while (pch)
|
||||
{
|
||||
pch = strtok(str, " ");
|
||||
if (pch)
|
||||
{
|
||||
ip[k++] = atoi(pch) - 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
break;
|
||||
}
|
||||
str = NULL;
|
||||
}
|
||||
if (k == 3)
|
||||
{
|
||||
triangles.push_back(ip[0]);
|
||||
triangles.push_back(ip[1]);
|
||||
triangles.push_back(ip[2]);
|
||||
}
|
||||
else if (k == 4)
|
||||
{
|
||||
triangles.push_back(ip[0]);
|
||||
triangles.push_back(ip[1]);
|
||||
triangles.push_back(ip[2]);
|
||||
|
||||
triangles.push_back(ip[0]);
|
||||
triangles.push_back(ip[2]);
|
||||
triangles.push_back(ip[3]);
|
||||
}
|
||||
}
|
||||
}
|
||||
fclose(fid);
|
||||
}
|
||||
else
|
||||
{
|
||||
logger.Log("File not found\n");
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
bool SaveOFF(const string& fileName, const float* const& points, const int* const& triangles, const unsigned int& nPoints,
|
||||
const unsigned int& nTriangles, IVHACD::IUserLogger& logger)
|
||||
{
|
||||
ofstream fout(fileName.c_str());
|
||||
if (fout.is_open())
|
||||
{
|
||||
size_t nV = nPoints * 3;
|
||||
size_t nT = nTriangles * 3;
|
||||
fout << "OFF" << std::endl;
|
||||
fout << nPoints << " " << nTriangles << " " << 0 << std::endl;
|
||||
for (size_t v = 0; v < nV; v += 3)
|
||||
{
|
||||
fout << points[v + 0] << " "
|
||||
<< points[v + 1] << " "
|
||||
<< points[v + 2] << std::endl;
|
||||
}
|
||||
for (size_t f = 0; f < nT; f += 3)
|
||||
{
|
||||
fout << "3 " << triangles[f + 0] << " "
|
||||
<< triangles[f + 1] << " "
|
||||
<< triangles[f + 2] << std::endl;
|
||||
}
|
||||
fout.close();
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
logger.Log("Can't open file\n");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool SaveOBJ(ofstream& fout, const double* const& points, const int* const& triangles, const unsigned int& nPoints,
|
||||
const unsigned int& nTriangles, const Material& material, IVHACD::IUserLogger& logger, int convexPart, int vertexOffset)
|
||||
{
|
||||
if (fout.is_open())
|
||||
{
|
||||
fout.setf(std::ios::fixed, std::ios::floatfield);
|
||||
fout.setf(std::ios::showpoint);
|
||||
fout.precision(6);
|
||||
size_t nV = nPoints * 3;
|
||||
size_t nT = nTriangles * 3;
|
||||
|
||||
fout << "o convex_" << convexPart << std::endl;
|
||||
|
||||
if (nV > 0)
|
||||
{
|
||||
for (size_t v = 0; v < nV; v += 3)
|
||||
{
|
||||
fout << "v " << points[v + 0] << " " << points[v + 1] << " " << points[v + 2] << std::endl;
|
||||
}
|
||||
}
|
||||
if (nT > 0)
|
||||
{
|
||||
for (size_t f = 0; f < nT; f += 3)
|
||||
{
|
||||
fout << "f "
|
||||
<< triangles[f + 0] + vertexOffset << " "
|
||||
<< triangles[f + 1] + vertexOffset << " "
|
||||
<< triangles[f + 2] + vertexOffset << " " << std::endl;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
logger.Log("Can't open file\n");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool SaveVRML2(ofstream& fout, const double* const& points, const int* const& triangles, const unsigned int& nPoints,
|
||||
const unsigned int& nTriangles, const Material& material, IVHACD::IUserLogger& logger)
|
||||
{
|
||||
if (fout.is_open())
|
||||
{
|
||||
fout.setf(std::ios::fixed, std::ios::floatfield);
|
||||
fout.setf(std::ios::showpoint);
|
||||
fout.precision(6);
|
||||
size_t nV = nPoints * 3;
|
||||
size_t nT = nTriangles * 3;
|
||||
fout << "#VRML V2.0 utf8" << std::endl;
|
||||
fout << "" << std::endl;
|
||||
fout << "# Vertices: " << nPoints << std::endl;
|
||||
fout << "# Triangles: " << nTriangles << std::endl;
|
||||
fout << "" << std::endl;
|
||||
fout << "Group {" << std::endl;
|
||||
fout << " children [" << std::endl;
|
||||
fout << " Shape {" << std::endl;
|
||||
fout << " appearance Appearance {" << std::endl;
|
||||
fout << " material Material {" << std::endl;
|
||||
fout << " diffuseColor " << material.m_diffuseColor[0] << " "
|
||||
<< material.m_diffuseColor[1] << " "
|
||||
<< material.m_diffuseColor[2] << std::endl;
|
||||
fout << " ambientIntensity " << material.m_ambientIntensity << std::endl;
|
||||
fout << " specularColor " << material.m_specularColor[0] << " "
|
||||
<< material.m_specularColor[1] << " "
|
||||
<< material.m_specularColor[2] << std::endl;
|
||||
fout << " emissiveColor " << material.m_emissiveColor[0] << " "
|
||||
<< material.m_emissiveColor[1] << " "
|
||||
<< material.m_emissiveColor[2] << std::endl;
|
||||
fout << " shininess " << material.m_shininess << std::endl;
|
||||
fout << " transparency " << material.m_transparency << std::endl;
|
||||
fout << " }" << std::endl;
|
||||
fout << " }" << std::endl;
|
||||
fout << " geometry IndexedFaceSet {" << std::endl;
|
||||
fout << " ccw TRUE" << std::endl;
|
||||
fout << " solid TRUE" << std::endl;
|
||||
fout << " convex TRUE" << std::endl;
|
||||
if (nV > 0)
|
||||
{
|
||||
fout << " coord DEF co Coordinate {" << std::endl;
|
||||
fout << " point [" << std::endl;
|
||||
for (size_t v = 0; v < nV; v += 3)
|
||||
{
|
||||
fout << " " << points[v + 0] << " "
|
||||
<< points[v + 1] << " "
|
||||
<< points[v + 2] << "," << std::endl;
|
||||
}
|
||||
fout << " ]" << std::endl;
|
||||
fout << " }" << std::endl;
|
||||
}
|
||||
if (nT > 0)
|
||||
{
|
||||
fout << " coordIndex [ " << std::endl;
|
||||
for (size_t f = 0; f < nT; f += 3)
|
||||
{
|
||||
fout << " " << triangles[f + 0] << ", "
|
||||
<< triangles[f + 1] << ", "
|
||||
<< triangles[f + 2] << ", -1," << std::endl;
|
||||
}
|
||||
fout << " ]" << std::endl;
|
||||
}
|
||||
fout << " }" << std::endl;
|
||||
fout << " }" << std::endl;
|
||||
fout << " ]" << std::endl;
|
||||
fout << "}" << std::endl;
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
logger.Log("Can't open file\n");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
main_vhacd(argc, argv);
|
||||
}
|
||||
754
Extras/VHACD/test/src/main_vhacd.cpp
Normal file
754
Extras/VHACD/test/src/main_vhacd.cpp
Normal file
@ -0,0 +1,754 @@
|
||||
/* Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
|
||||
All rights reserved.
|
||||
|
||||
|
||||
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
|
||||
|
||||
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
|
||||
|
||||
2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
|
||||
|
||||
3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#define _CRT_SECURE_NO_WARNINGS
|
||||
#include <algorithm>
|
||||
#include <assert.h>
|
||||
#include <fstream>
|
||||
#include <iomanip>
|
||||
#include <iostream>
|
||||
#include <sstream>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
//#define _CRTDBG_MAP_ALLOC
|
||||
|
||||
#ifdef _CRTDBG_MAP_ALLOC
|
||||
#include <crtdbg.h>
|
||||
#include <stdlib.h>
|
||||
#endif // _CRTDBG_MAP_ALLOC
|
||||
|
||||
#include "VHACD.h"
|
||||
|
||||
using namespace VHACD;
|
||||
using namespace std;
|
||||
|
||||
bool replace(std::string& str, const std::string& from, const std::string& to)
|
||||
{
|
||||
size_t start_pos = str.find(from);
|
||||
if (start_pos == std::string::npos)
|
||||
return false;
|
||||
str.replace(start_pos, from.length(), to);
|
||||
return true;
|
||||
}
|
||||
|
||||
class MyCallback : public IVHACD::IUserCallback
|
||||
{
|
||||
public:
|
||||
MyCallback(void) {}
|
||||
~MyCallback(){};
|
||||
void Update(const double overallProgress, const double stageProgress, const double operationProgress,
|
||||
const char* const stage, const char* const operation)
|
||||
{
|
||||
cout << setfill(' ') << setw(3) << (int)(overallProgress + 0.5) << "% "
|
||||
<< "[ " << stage << " " << setfill(' ') << setw(3) << (int)(stageProgress + 0.5) << "% ] "
|
||||
<< operation << " " << setfill(' ') << setw(3) << (int)(operationProgress + 0.5) << "%" << endl;
|
||||
};
|
||||
};
|
||||
class MyLogger : public IVHACD::IUserLogger
|
||||
{
|
||||
public:
|
||||
MyLogger(void) {}
|
||||
MyLogger(const string& fileName) { OpenFile(fileName); }
|
||||
~MyLogger(){};
|
||||
void Log(const char* const msg)
|
||||
{
|
||||
if (m_file.is_open())
|
||||
{
|
||||
m_file << msg;
|
||||
m_file.flush();
|
||||
}
|
||||
}
|
||||
void OpenFile(const string& fileName)
|
||||
{
|
||||
m_file.open(fileName.c_str());
|
||||
}
|
||||
|
||||
private:
|
||||
ofstream m_file;
|
||||
};
|
||||
struct Material
|
||||
{
|
||||
float m_diffuseColor[3];
|
||||
float m_ambientIntensity;
|
||||
float m_specularColor[3];
|
||||
float m_emissiveColor[3];
|
||||
float m_shininess;
|
||||
float m_transparency;
|
||||
Material(void)
|
||||
{
|
||||
m_diffuseColor[0] = 0.5f;
|
||||
m_diffuseColor[1] = 0.5f;
|
||||
m_diffuseColor[2] = 0.5f;
|
||||
m_specularColor[0] = 0.5f;
|
||||
m_specularColor[1] = 0.5f;
|
||||
m_specularColor[2] = 0.5f;
|
||||
m_ambientIntensity = 0.4f;
|
||||
m_emissiveColor[0] = 0.0f;
|
||||
m_emissiveColor[1] = 0.0f;
|
||||
m_emissiveColor[2] = 0.0f;
|
||||
m_shininess = 0.4f;
|
||||
m_transparency = 0.5f;
|
||||
};
|
||||
};
|
||||
struct Parameters
|
||||
{
|
||||
unsigned int m_oclPlatformID;
|
||||
unsigned int m_oclDeviceID;
|
||||
string m_fileNameIn;
|
||||
string m_fileNameOut;
|
||||
string m_fileNameLog;
|
||||
bool m_run;
|
||||
IVHACD::Parameters m_paramsVHACD;
|
||||
Parameters(void)
|
||||
{
|
||||
m_run = true;
|
||||
m_oclPlatformID = 0;
|
||||
m_oclDeviceID = 0;
|
||||
m_fileNameIn = "";
|
||||
m_fileNameOut = "output.obj";
|
||||
m_fileNameLog = "log.txt";
|
||||
}
|
||||
};
|
||||
bool LoadOFF(const string& fileName, vector<float>& points, vector<int>& triangles, IVHACD::IUserLogger& logger);
|
||||
bool LoadOBJ(const string& fileName, vector<float>& points, vector<int>& triangles, IVHACD::IUserLogger& logger);
|
||||
bool SaveOFF(const string& fileName, const float* const& points, const int* const& triangles, const unsigned int& nPoints,
|
||||
const unsigned int& nTriangles, IVHACD::IUserLogger& logger);
|
||||
bool SaveOBJ(ofstream& fout, const double* const& points, const int* const& triangles, const unsigned int& nPoints,
|
||||
const unsigned int& nTriangles, const Material& material, IVHACD::IUserLogger& logger, int convexPart, int vertexOffset);
|
||||
|
||||
bool SaveVRML2(ofstream& fout, const double* const& points, const int* const& triangles, const unsigned int& nPoints,
|
||||
const unsigned int& nTriangles, const Material& material, IVHACD::IUserLogger& logger);
|
||||
void GetFileExtension(const string& fileName, string& fileExtension);
|
||||
void ComputeRandomColor(Material& mat);
|
||||
void Usage(const Parameters& params);
|
||||
void ParseParameters(int argc, char* argv[], Parameters& params);
|
||||
|
||||
int main_vhacd2(Parameters& params)
|
||||
{
|
||||
MyCallback myCallback;
|
||||
MyLogger myLogger(params.m_fileNameLog);
|
||||
params.m_paramsVHACD.m_logger = &myLogger;
|
||||
params.m_paramsVHACD.m_callback = &myCallback;
|
||||
Usage(params);
|
||||
if (!params.m_run)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
std::ostringstream msg;
|
||||
|
||||
msg << "+ OpenCL (OFF)" << std::endl;
|
||||
|
||||
msg << "+ Parameters" << std::endl;
|
||||
msg << "\t input " << params.m_fileNameIn << endl;
|
||||
msg << "\t resolution " << params.m_paramsVHACD.m_resolution << endl;
|
||||
msg << "\t max. depth " << params.m_paramsVHACD.m_depth << endl;
|
||||
msg << "\t max. concavity " << params.m_paramsVHACD.m_concavity << endl;
|
||||
msg << "\t plane down-sampling " << params.m_paramsVHACD.m_planeDownsampling << endl;
|
||||
msg << "\t convex-hull down-sampling " << params.m_paramsVHACD.m_convexhullDownsampling << endl;
|
||||
msg << "\t alpha " << params.m_paramsVHACD.m_alpha << endl;
|
||||
msg << "\t beta " << params.m_paramsVHACD.m_beta << endl;
|
||||
msg << "\t gamma " << params.m_paramsVHACD.m_gamma << endl;
|
||||
msg << "\t pca " << params.m_paramsVHACD.m_pca << endl;
|
||||
msg << "\t mode " << params.m_paramsVHACD.m_mode << endl;
|
||||
msg << "\t max. vertices per convex-hull " << params.m_paramsVHACD.m_maxNumVerticesPerCH << endl;
|
||||
msg << "\t min. volume to add vertices to convex-hulls " << params.m_paramsVHACD.m_minVolumePerCH << endl;
|
||||
msg << "\t convex-hull approximation " << params.m_paramsVHACD.m_convexhullApproximation << endl;
|
||||
msg << "\t OpenCL acceleration " << params.m_paramsVHACD.m_oclAcceleration << endl;
|
||||
msg << "\t OpenCL platform ID " << params.m_oclPlatformID << endl;
|
||||
msg << "\t OpenCL device ID " << params.m_oclDeviceID << endl;
|
||||
msg << "\t output " << params.m_fileNameOut << endl;
|
||||
msg << "\t log " << params.m_fileNameLog << endl;
|
||||
msg << "+ Load mesh" << std::endl;
|
||||
myLogger.Log(msg.str().c_str());
|
||||
|
||||
cout << msg.str().c_str();
|
||||
|
||||
// load mesh
|
||||
vector<float> points;
|
||||
vector<int> triangles;
|
||||
string fileExtension;
|
||||
GetFileExtension(params.m_fileNameIn, fileExtension);
|
||||
if (fileExtension == ".OFF")
|
||||
{
|
||||
if (!LoadOFF(params.m_fileNameIn, points, triangles, myLogger))
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
else if (fileExtension == ".OBJ")
|
||||
{
|
||||
if (!LoadOBJ(params.m_fileNameIn, points, triangles, myLogger))
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
myLogger.Log("Format not supported!\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
// run V-HACD
|
||||
IVHACD* interfaceVHACD = CreateVHACD();
|
||||
|
||||
#ifdef CL_VERSION_1_1
|
||||
if (params.m_paramsVHACD.m_oclAcceleration)
|
||||
{
|
||||
bool res = interfaceVHACD->OCLInit(oclHelper.GetDevice(), &myLogger);
|
||||
if (!res)
|
||||
{
|
||||
params.m_paramsVHACD.m_oclAcceleration = false;
|
||||
}
|
||||
}
|
||||
#endif //CL_VERSION_1_1
|
||||
bool res = interfaceVHACD->Compute(&points[0], 3, (unsigned int)points.size() / 3,
|
||||
&triangles[0], 3, (unsigned int)triangles.size() / 3, params.m_paramsVHACD);
|
||||
if (res)
|
||||
{
|
||||
// save output
|
||||
unsigned int nConvexHulls = interfaceVHACD->GetNConvexHulls();
|
||||
msg.str("");
|
||||
msg << "+ Generate output: " << nConvexHulls << " convex-hulls " << endl;
|
||||
myLogger.Log(msg.str().c_str());
|
||||
ofstream foutCH(params.m_fileNameOut.c_str());
|
||||
IVHACD::ConvexHull ch;
|
||||
if (foutCH.is_open())
|
||||
{
|
||||
Material mat;
|
||||
int vertexOffset = 1; //obj wavefront starts counting at 1...
|
||||
for (unsigned int p = 0; p < nConvexHulls; ++p)
|
||||
{
|
||||
interfaceVHACD->GetConvexHull(p, ch);
|
||||
|
||||
SaveOBJ(foutCH, ch.m_points, ch.m_triangles, ch.m_nPoints, ch.m_nTriangles, mat, myLogger, p, vertexOffset);
|
||||
vertexOffset += ch.m_nPoints;
|
||||
msg.str("");
|
||||
msg << "\t CH[" << setfill('0') << setw(5) << p << "] " << ch.m_nPoints << " V, " << ch.m_nTriangles << " T" << endl;
|
||||
myLogger.Log(msg.str().c_str());
|
||||
}
|
||||
foutCH.close();
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
myLogger.Log("Decomposition cancelled by user!\n");
|
||||
}
|
||||
|
||||
#ifdef CL_VERSION_1_1
|
||||
if (params.m_paramsVHACD.m_oclAcceleration)
|
||||
{
|
||||
bool res = interfaceVHACD->OCLRelease(&myLogger);
|
||||
if (!res)
|
||||
{
|
||||
assert(-1);
|
||||
}
|
||||
}
|
||||
#endif //CL_VERSION_1_1
|
||||
|
||||
interfaceVHACD->Clean();
|
||||
interfaceVHACD->Release();
|
||||
|
||||
#ifdef _CRTDBG_MAP_ALLOC
|
||||
_CrtDumpMemoryLeaks();
|
||||
#endif // _CRTDBG_MAP_ALLOC
|
||||
return 0;
|
||||
}
|
||||
|
||||
int main_vhacd_ext(const std::string& fileNameIn, const std::string& fileNameOut, const std::string& fileNameLog, VHACD::IVHACD::Parameters& paramsVHACD)
|
||||
{
|
||||
Parameters params;
|
||||
params.m_fileNameIn = fileNameIn;
|
||||
params.m_fileNameOut = fileNameOut;
|
||||
params.m_fileNameLog = fileNameLog;
|
||||
params.m_paramsVHACD = paramsVHACD;
|
||||
return main_vhacd2(params);
|
||||
}
|
||||
|
||||
int main_vhacd(int argc, char* argv[])
|
||||
{
|
||||
// --input camel.off --output camel_acd.obj --log log.txt --resolution 1000000 --depth 20 --concavity 0.0025 --planeDownsampling 4 --convexhullDownsampling 4 --alpha 0.05 --beta 0.05 --gamma 0.00125 --pca 0 --mode 0 --maxNumVerticesPerCH 256 --minVolumePerCH 0.0001 --convexhullApproximation 1 --oclDeviceID 2
|
||||
// set parameters
|
||||
Parameters params;
|
||||
ParseParameters(argc, argv, params);
|
||||
main_vhacd2(params);
|
||||
return 0;
|
||||
}
|
||||
|
||||
void Usage(const Parameters& params)
|
||||
{
|
||||
std::ostringstream msg;
|
||||
msg << "V-HACD V" << VHACD_VERSION_MAJOR << "." << VHACD_VERSION_MINOR << endl;
|
||||
msg << "Syntax: testVHACD [options] --input infile.obj --output outfile.obj --log logfile.txt" << endl
|
||||
<< endl;
|
||||
msg << "Options:" << endl;
|
||||
msg << " --input Wavefront .obj input file name" << endl;
|
||||
msg << " --output VRML 2.0 output file name" << endl;
|
||||
msg << " --log Log file name" << endl;
|
||||
msg << " --resolution Maximum number of voxels generated during the voxelization stage (default=100,000, range=10,000-16,000,000)" << endl;
|
||||
msg << " --depth Maximum number of clipping stages. During each split stage, parts with a concavity higher than the user defined threshold are clipped according the \"best\" clipping plane (default=20, range=1-32)" << endl;
|
||||
msg << " --concavity Maximum allowed concavity (default=0.0025, range=0.0-1.0)" << endl;
|
||||
msg << " --planeDownsampling Controls the granularity of the search for the \"best\" clipping plane (default=4, range=1-16)" << endl;
|
||||
msg << " --convexhullDownsampling Controls the precision of the convex-hull generation process during the clipping plane selection stage (default=4, range=1-16)" << endl;
|
||||
msg << " --alpha Controls the bias toward clipping along symmetry planes (default=0.05, range=0.0-1.0)" << endl;
|
||||
msg << " --beta Controls the bias toward clipping along revolution axes (default=0.05, range=0.0-1.0)" << endl;
|
||||
msg << " --gamma Controls the maximum allowed concavity during the merge stage (default=0.00125, range=0.0-1.0)" << endl;
|
||||
msg << " --delta Controls the bias toward maximaxing local concavity (default=0.05, range=0.0-1.0)" << endl;
|
||||
msg << " --pca Enable/disable normalizing the mesh before applying the convex decomposition (default=0, range={0,1})" << endl;
|
||||
msg << " --mode 0: voxel-based approximate convex decomposition, 1: tetrahedron-based approximate convex decomposition (default=0, range={0,1})" << endl;
|
||||
msg << " --maxNumVerticesPerCH Controls the maximum number of triangles per convex-hull (default=64, range=4-1024)" << endl;
|
||||
msg << " --minVolumePerCH Controls the adaptive sampling of the generated convex-hulls (default=0.0001, range=0.0-0.01)" << endl;
|
||||
msg << " --convexhullApproximation Enable/disable approximation when computing convex-hulls (default=1, range={0,1})" << endl;
|
||||
msg << " --oclAcceleration Enable/disable OpenCL acceleration (default=0, range={0,1})" << endl;
|
||||
msg << " --oclPlatformID OpenCL platform id (default=0, range=0-# OCL platforms)" << endl;
|
||||
msg << " --oclDeviceID OpenCL device id (default=0, range=0-# OCL devices)" << endl;
|
||||
msg << " --help Print usage" << endl
|
||||
<< endl;
|
||||
msg << "Examples:" << endl;
|
||||
msg << " testVHACD.exe --input bunny.obj --output bunny_acd.obj --log log.txt" << endl
|
||||
<< endl;
|
||||
cout << msg.str();
|
||||
if (params.m_paramsVHACD.m_logger)
|
||||
{
|
||||
params.m_paramsVHACD.m_logger->Log(msg.str().c_str());
|
||||
}
|
||||
}
|
||||
void ParseParameters(int argc, char* argv[], Parameters& params)
|
||||
{
|
||||
for (int i = 1; i < argc; ++i)
|
||||
{
|
||||
if (!strcmp(argv[i], "--input"))
|
||||
{
|
||||
if (++i < argc)
|
||||
{
|
||||
params.m_fileNameIn = argv[i];
|
||||
//come up with some default output name, if not provided
|
||||
if (params.m_fileNameOut.length() == 0)
|
||||
{
|
||||
string tmp = argv[i];
|
||||
replace(tmp, ".obj", ".vhacd.obj");
|
||||
params.m_fileNameOut = tmp;
|
||||
}
|
||||
}
|
||||
}
|
||||
else if (!strcmp(argv[i], "--output"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_fileNameOut = argv[i];
|
||||
}
|
||||
else if (!strcmp(argv[i], "--log"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_fileNameLog = argv[i];
|
||||
}
|
||||
else if (!strcmp(argv[i], "--resolution"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_paramsVHACD.m_resolution = atoi(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--depth"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_paramsVHACD.m_depth = atoi(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--concavity"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_paramsVHACD.m_concavity = atof(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--planeDownsampling"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_paramsVHACD.m_planeDownsampling = atoi(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--convexhullDownsampling"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_paramsVHACD.m_convexhullDownsampling = atoi(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--alpha"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_paramsVHACD.m_alpha = atof(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--beta"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_paramsVHACD.m_beta = atof(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--gamma"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_paramsVHACD.m_gamma = atof(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--pca"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_paramsVHACD.m_pca = atoi(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--mode"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_paramsVHACD.m_mode = atoi(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--maxNumVerticesPerCH"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_paramsVHACD.m_maxNumVerticesPerCH = atoi(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--minVolumePerCH"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_paramsVHACD.m_minVolumePerCH = atof(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--convexhullApproximation"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_paramsVHACD.m_convexhullApproximation = atoi(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--oclAcceleration"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_paramsVHACD.m_oclAcceleration = atoi(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--oclPlatformID"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_oclPlatformID = atoi(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--oclDeviceID"))
|
||||
{
|
||||
if (++i < argc)
|
||||
params.m_oclDeviceID = atoi(argv[i]);
|
||||
}
|
||||
else if (!strcmp(argv[i], "--help"))
|
||||
{
|
||||
params.m_run = false;
|
||||
}
|
||||
}
|
||||
params.m_paramsVHACD.m_resolution = (params.m_paramsVHACD.m_resolution < 64) ? 0 : params.m_paramsVHACD.m_resolution;
|
||||
params.m_paramsVHACD.m_planeDownsampling = (params.m_paramsVHACD.m_planeDownsampling < 1) ? 1 : params.m_paramsVHACD.m_planeDownsampling;
|
||||
params.m_paramsVHACD.m_convexhullDownsampling = (params.m_paramsVHACD.m_convexhullDownsampling < 1) ? 1 : params.m_paramsVHACD.m_convexhullDownsampling;
|
||||
}
|
||||
|
||||
void GetFileExtension(const string& fileName, string& fileExtension)
|
||||
{
|
||||
size_t lastDotPosition = fileName.find_last_of(".");
|
||||
if (lastDotPosition == string::npos)
|
||||
{
|
||||
fileExtension = "";
|
||||
}
|
||||
else
|
||||
{
|
||||
fileExtension = fileName.substr(lastDotPosition, fileName.size());
|
||||
transform(fileExtension.begin(), fileExtension.end(), fileExtension.begin(), ::toupper);
|
||||
}
|
||||
}
|
||||
void ComputeRandomColor(Material& mat)
|
||||
{
|
||||
mat.m_diffuseColor[0] = mat.m_diffuseColor[1] = mat.m_diffuseColor[2] = 0.0f;
|
||||
while (mat.m_diffuseColor[0] == mat.m_diffuseColor[1] || mat.m_diffuseColor[2] == mat.m_diffuseColor[1] || mat.m_diffuseColor[2] == mat.m_diffuseColor[0])
|
||||
{
|
||||
mat.m_diffuseColor[0] = (rand() % 100) / 100.0f;
|
||||
mat.m_diffuseColor[1] = (rand() % 100) / 100.0f;
|
||||
mat.m_diffuseColor[2] = (rand() % 100) / 100.0f;
|
||||
}
|
||||
}
|
||||
bool LoadOFF(const string& fileName, vector<float>& points, vector<int>& triangles, IVHACD::IUserLogger& logger)
|
||||
{
|
||||
FILE* fid = fopen(fileName.c_str(), "r");
|
||||
if (fid)
|
||||
{
|
||||
const string strOFF("OFF");
|
||||
char temp[1024];
|
||||
fscanf(fid, "%s", temp);
|
||||
if (string(temp) != strOFF)
|
||||
{
|
||||
logger.Log("Loading error: format not recognized \n");
|
||||
fclose(fid);
|
||||
return false;
|
||||
}
|
||||
else
|
||||
{
|
||||
int nv = 0;
|
||||
int nf = 0;
|
||||
int ne = 0;
|
||||
fscanf(fid, "%i", &nv);
|
||||
fscanf(fid, "%i", &nf);
|
||||
fscanf(fid, "%i", &ne);
|
||||
points.resize(nv * 3);
|
||||
triangles.resize(nf * 3);
|
||||
const int np = nv * 3;
|
||||
for (int p = 0; p < np; p++)
|
||||
{
|
||||
fscanf(fid, "%f", &(points[p]));
|
||||
}
|
||||
int s;
|
||||
for (int t = 0, r = 0; t < nf; ++t)
|
||||
{
|
||||
fscanf(fid, "%i", &s);
|
||||
if (s == 3)
|
||||
{
|
||||
fscanf(fid, "%i", &(triangles[r++]));
|
||||
fscanf(fid, "%i", &(triangles[r++]));
|
||||
fscanf(fid, "%i", &(triangles[r++]));
|
||||
}
|
||||
else // Fix me: support only triangular meshes
|
||||
{
|
||||
for (int h = 0; h < s; ++h)
|
||||
fscanf(fid, "%i", &s);
|
||||
}
|
||||
}
|
||||
fclose(fid);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
logger.Log("Loading error: file not found \n");
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
bool LoadOBJ(const string& fileName, vector<float>& points, vector<int>& triangles, IVHACD::IUserLogger& logger)
|
||||
{
|
||||
const unsigned int BufferSize = 1024;
|
||||
FILE* fid = fopen(fileName.c_str(), "r");
|
||||
|
||||
if (fid)
|
||||
{
|
||||
char buffer[BufferSize];
|
||||
int ip[4];
|
||||
float x[3];
|
||||
char* pch;
|
||||
char* str;
|
||||
while (!feof(fid))
|
||||
{
|
||||
if (!fgets(buffer, BufferSize, fid))
|
||||
{
|
||||
break;
|
||||
}
|
||||
else if (buffer[0] == 'v')
|
||||
{
|
||||
if (buffer[1] == ' ')
|
||||
{
|
||||
str = buffer + 2;
|
||||
for (int k = 0; k < 3; ++k)
|
||||
{
|
||||
pch = strtok(str, " ");
|
||||
if (pch)
|
||||
x[k] = (float)atof(pch);
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
str = NULL;
|
||||
}
|
||||
points.push_back(x[0]);
|
||||
points.push_back(x[1]);
|
||||
points.push_back(x[2]);
|
||||
}
|
||||
}
|
||||
else if (buffer[0] == 'f')
|
||||
{
|
||||
pch = str = buffer + 2;
|
||||
int k = 0;
|
||||
while (pch)
|
||||
{
|
||||
pch = strtok(str, " ");
|
||||
if (pch)
|
||||
{
|
||||
ip[k++] = atoi(pch) - 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
break;
|
||||
}
|
||||
str = NULL;
|
||||
}
|
||||
if (k == 3)
|
||||
{
|
||||
triangles.push_back(ip[0]);
|
||||
triangles.push_back(ip[1]);
|
||||
triangles.push_back(ip[2]);
|
||||
}
|
||||
else if (k == 4)
|
||||
{
|
||||
triangles.push_back(ip[0]);
|
||||
triangles.push_back(ip[1]);
|
||||
triangles.push_back(ip[2]);
|
||||
|
||||
triangles.push_back(ip[0]);
|
||||
triangles.push_back(ip[2]);
|
||||
triangles.push_back(ip[3]);
|
||||
}
|
||||
}
|
||||
}
|
||||
fclose(fid);
|
||||
}
|
||||
else
|
||||
{
|
||||
logger.Log("File not found\n");
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
bool SaveOFF(const string& fileName, const float* const& points, const int* const& triangles, const unsigned int& nPoints,
|
||||
const unsigned int& nTriangles, IVHACD::IUserLogger& logger)
|
||||
{
|
||||
ofstream fout(fileName.c_str());
|
||||
if (fout.is_open())
|
||||
{
|
||||
size_t nV = nPoints * 3;
|
||||
size_t nT = nTriangles * 3;
|
||||
fout << "OFF" << std::endl;
|
||||
fout << nPoints << " " << nTriangles << " " << 0 << std::endl;
|
||||
for (size_t v = 0; v < nV; v += 3)
|
||||
{
|
||||
fout << points[v + 0] << " "
|
||||
<< points[v + 1] << " "
|
||||
<< points[v + 2] << std::endl;
|
||||
}
|
||||
for (size_t f = 0; f < nT; f += 3)
|
||||
{
|
||||
fout << "3 " << triangles[f + 0] << " "
|
||||
<< triangles[f + 1] << " "
|
||||
<< triangles[f + 2] << std::endl;
|
||||
}
|
||||
fout.close();
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
logger.Log("Can't open file\n");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool SaveOBJ(ofstream& fout, const double* const& points, const int* const& triangles, const unsigned int& nPoints,
|
||||
const unsigned int& nTriangles, const Material& material, IVHACD::IUserLogger& logger, int convexPart, int vertexOffset)
|
||||
{
|
||||
if (fout.is_open())
|
||||
{
|
||||
fout.setf(std::ios::fixed, std::ios::floatfield);
|
||||
fout.setf(std::ios::showpoint);
|
||||
fout.precision(6);
|
||||
size_t nV = nPoints * 3;
|
||||
size_t nT = nTriangles * 3;
|
||||
|
||||
fout << "o convex_" << convexPart << std::endl;
|
||||
|
||||
if (nV > 0)
|
||||
{
|
||||
for (size_t v = 0; v < nV; v += 3)
|
||||
{
|
||||
fout << "v " << points[v + 0] << " " << points[v + 1] << " " << points[v + 2] << std::endl;
|
||||
}
|
||||
}
|
||||
if (nT > 0)
|
||||
{
|
||||
for (size_t f = 0; f < nT; f += 3)
|
||||
{
|
||||
fout << "f "
|
||||
<< triangles[f + 0] + vertexOffset << " "
|
||||
<< triangles[f + 1] + vertexOffset << " "
|
||||
<< triangles[f + 2] + vertexOffset << " " << std::endl;
|
||||
}
|
||||
}
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
logger.Log("Can't open file\n");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool SaveVRML2(ofstream& fout, const double* const& points, const int* const& triangles, const unsigned int& nPoints,
|
||||
const unsigned int& nTriangles, const Material& material, IVHACD::IUserLogger& logger)
|
||||
{
|
||||
if (fout.is_open())
|
||||
{
|
||||
fout.setf(std::ios::fixed, std::ios::floatfield);
|
||||
fout.setf(std::ios::showpoint);
|
||||
fout.precision(6);
|
||||
size_t nV = nPoints * 3;
|
||||
size_t nT = nTriangles * 3;
|
||||
fout << "#VRML V2.0 utf8" << std::endl;
|
||||
fout << "" << std::endl;
|
||||
fout << "# Vertices: " << nPoints << std::endl;
|
||||
fout << "# Triangles: " << nTriangles << std::endl;
|
||||
fout << "" << std::endl;
|
||||
fout << "Group {" << std::endl;
|
||||
fout << " children [" << std::endl;
|
||||
fout << " Shape {" << std::endl;
|
||||
fout << " appearance Appearance {" << std::endl;
|
||||
fout << " material Material {" << std::endl;
|
||||
fout << " diffuseColor " << material.m_diffuseColor[0] << " "
|
||||
<< material.m_diffuseColor[1] << " "
|
||||
<< material.m_diffuseColor[2] << std::endl;
|
||||
fout << " ambientIntensity " << material.m_ambientIntensity << std::endl;
|
||||
fout << " specularColor " << material.m_specularColor[0] << " "
|
||||
<< material.m_specularColor[1] << " "
|
||||
<< material.m_specularColor[2] << std::endl;
|
||||
fout << " emissiveColor " << material.m_emissiveColor[0] << " "
|
||||
<< material.m_emissiveColor[1] << " "
|
||||
<< material.m_emissiveColor[2] << std::endl;
|
||||
fout << " shininess " << material.m_shininess << std::endl;
|
||||
fout << " transparency " << material.m_transparency << std::endl;
|
||||
fout << " }" << std::endl;
|
||||
fout << " }" << std::endl;
|
||||
fout << " geometry IndexedFaceSet {" << std::endl;
|
||||
fout << " ccw TRUE" << std::endl;
|
||||
fout << " solid TRUE" << std::endl;
|
||||
fout << " convex TRUE" << std::endl;
|
||||
if (nV > 0)
|
||||
{
|
||||
fout << " coord DEF co Coordinate {" << std::endl;
|
||||
fout << " point [" << std::endl;
|
||||
for (size_t v = 0; v < nV; v += 3)
|
||||
{
|
||||
fout << " " << points[v + 0] << " "
|
||||
<< points[v + 1] << " "
|
||||
<< points[v + 2] << "," << std::endl;
|
||||
}
|
||||
fout << " ]" << std::endl;
|
||||
fout << " }" << std::endl;
|
||||
}
|
||||
if (nT > 0)
|
||||
{
|
||||
fout << " coordIndex [ " << std::endl;
|
||||
for (size_t f = 0; f < nT; f += 3)
|
||||
{
|
||||
fout << " " << triangles[f + 0] << ", "
|
||||
<< triangles[f + 1] << ", "
|
||||
<< triangles[f + 2] << ", -1," << std::endl;
|
||||
}
|
||||
fout << " ]" << std::endl;
|
||||
}
|
||||
fout << " }" << std::endl;
|
||||
fout << " }" << std::endl;
|
||||
fout << " ]" << std::endl;
|
||||
fout << "}" << std::endl;
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
logger.Log("Can't open file\n");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
@ -18,6 +18,7 @@ language "C++"
|
||||
|
||||
files {
|
||||
"main.cpp",
|
||||
"main_vhacd.cpp",
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -6063,5 +6063,49 @@ B3_SHARED_API void b3GetAxisDifferenceQuaternion(const double startQuat[/*4*/],
|
||||
|
||||
}
|
||||
|
||||
#ifdef BT_ENABLE_VHACD
|
||||
#include "VHACD.h"
|
||||
#include <string>
|
||||
|
||||
int main_vhacd_ext(const std::string& fileNameIn, const std::string& fileNameOut, const std::string& fileNameLog, VHACD::IVHACD::Parameters& paramsVHACD);
|
||||
|
||||
B3_SHARED_API void b3VHACD(const char* fileNameInput, const char* fileNameOutput, const char* fileNameLogging,
|
||||
double concavity, double alpha, double beta, double gamma, double minVolumePerCH, int resolution,
|
||||
int maxNumVerticesPerCH, int depth, int planeDownsampling, int convexhullDownsampling,
|
||||
int pca, int mode, int convexhullApproximation)
|
||||
{
|
||||
std::string fileNameIn(fileNameInput);
|
||||
std::string fileNameOut(fileNameOutput);
|
||||
std::string fileNameLog(fileNameLogging);
|
||||
VHACD::IVHACD::Parameters params;
|
||||
if (concavity >= 0)
|
||||
params.m_concavity = concavity;
|
||||
if (alpha >= 0)
|
||||
params.m_alpha = alpha;
|
||||
if (beta >= 0)
|
||||
params.m_beta = beta;
|
||||
if (gamma >= 0)
|
||||
params.m_gamma = gamma;
|
||||
if (minVolumePerCH >= 0)
|
||||
params.m_minVolumePerCH = minVolumePerCH;
|
||||
if (resolution >= 0)
|
||||
params.m_resolution = (unsigned int)resolution;
|
||||
if (maxNumVerticesPerCH >= 0)
|
||||
params.m_maxNumVerticesPerCH = (unsigned int)maxNumVerticesPerCH;
|
||||
if (depth >= 0)
|
||||
params.m_depth = depth;
|
||||
if (planeDownsampling >= 0)
|
||||
params.m_planeDownsampling = planeDownsampling;
|
||||
if (convexhullDownsampling >= 0)
|
||||
params.m_convexhullDownsampling = convexhullDownsampling;
|
||||
if (pca >= 0)
|
||||
params.m_pca = pca;
|
||||
if (mode >= 0)
|
||||
params.m_mode = mode;
|
||||
if (convexhullApproximation >= 0)
|
||||
params.m_convexhullApproximation = convexhullApproximation;
|
||||
main_vhacd_ext(fileNameIn, fileNameOut, fileNameLog, params);
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
@ -705,7 +705,14 @@ extern "C"
|
||||
B3_SHARED_API void b3CalculateVelocityQuaternion(const double startQuat[/*4*/], const double endQuat[/*4*/], double deltaTime, double angVelOut[/*3*/]);
|
||||
B3_SHARED_API void b3RotateVector(const double quat[/*4*/], const double vec[/*3*/], double vecOut[/*3*/]);
|
||||
|
||||
|
||||
#ifdef BT_ENABLE_VHACD
|
||||
B3_SHARED_API void b3VHACD(const char* fileNameInput, const char* fileNameOutput, const char* fileNameLogging,
|
||||
double concavity, double alpha, double beta, double gamma, double minVolumePerCH, int resolution,
|
||||
int maxNumVerticesPerCH, int depth, int planeDownsampling, int convexhullDownsampling,
|
||||
int pca, int mode, int convexhullApproximation);
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
|
||||
@ -6312,6 +6312,55 @@ static PyObject* pybullet_setAdditionalSearchPath(PyObject* self, PyObject* args
|
||||
return Py_None;
|
||||
}
|
||||
|
||||
#ifdef BT_ENABLE_VHACD
|
||||
static PyObject* pybullet_vhacd(PyObject* self, PyObject* args, PyObject* keywds)
|
||||
{
|
||||
char* fileNameIn = 0;
|
||||
char* fileNameOut = 0;
|
||||
char* fileNameLogging = 0;
|
||||
double concavity = -1;
|
||||
double alpha = -1;
|
||||
double beta = -1;
|
||||
double gamma = -1;
|
||||
double minVolumePerCH = -1;
|
||||
int resolution = -1;
|
||||
int maxNumVerticesPerCH = -1;
|
||||
int depth = -1;
|
||||
int planeDownsampling = -1;
|
||||
int convexhullDownsampling = -1;
|
||||
int pca = -1;
|
||||
int mode = -1;
|
||||
int convexhullApproximation = -1;
|
||||
|
||||
static char* kwlist[] = {"fileNameIn", "fileNameOut", "fileNameLogging",
|
||||
"concavity", "alpha","beta","gamma","minVolumePerCH",
|
||||
"resolution","maxNumVerticesPerCH","depth","planeDownsampling",
|
||||
"convexhullDownsampling","pca","mode","convexhullApproximation",
|
||||
"physicsClientId", NULL};
|
||||
double timeOutInSeconds = -1;
|
||||
int physicsClientId = 0;
|
||||
b3PhysicsClientHandle sm = 0;
|
||||
|
||||
if (!PyArg_ParseTupleAndKeywords(args, keywds, "sss|dddddiiiiiiiii", kwlist,
|
||||
&fileNameIn , &fileNameOut, &fileNameLogging ,
|
||||
&concavity, &alpha,&beta, &gamma, &minVolumePerCH,
|
||||
&resolution, &maxNumVerticesPerCH, &depth, &planeDownsampling,
|
||||
&convexhullDownsampling, &pca, &mode, &convexhullApproximation,
|
||||
&physicsClientId))
|
||||
return NULL;
|
||||
if (fileNameIn && fileNameOut)
|
||||
{
|
||||
b3VHACD(fileNameIn, fileNameOut, fileNameLogging,
|
||||
concavity, alpha, beta, gamma, minVolumePerCH,
|
||||
resolution, maxNumVerticesPerCH, depth, planeDownsampling,
|
||||
convexhullDownsampling, pca, mode, convexhullApproximation);
|
||||
}
|
||||
Py_INCREF(Py_None);
|
||||
return Py_None;
|
||||
}
|
||||
#endif//BT_ENABLE_VHACD
|
||||
|
||||
|
||||
static PyObject* pybullet_setTimeOut(PyObject* self, PyObject* args, PyObject* keywds)
|
||||
{
|
||||
static char* kwlist[] = {"timeOutInSeconds", "physicsClientId", NULL};
|
||||
@ -12376,6 +12425,10 @@ static PyMethodDef SpamMethods[] = {
|
||||
{"setTimeOut", (PyCFunction)pybullet_setTimeOut, METH_VARARGS | METH_KEYWORDS,
|
||||
"Set the timeOut in seconds, used for most of the API calls."},
|
||||
|
||||
#ifdef BT_ENABLE_VHACD
|
||||
{"vhacd", (PyCFunction)pybullet_vhacd, METH_VARARGS | METH_KEYWORDS,
|
||||
"Compute volume hierarchical convex decomposition of an OBJ file."},
|
||||
#endif //BT_ENABLE_VHACD
|
||||
{"setAdditionalSearchPath", (PyCFunction)pybullet_setAdditionalSearchPath,
|
||||
METH_VARARGS | METH_KEYWORDS,
|
||||
"Set an additional search path, used to load URDF/SDF files."},
|
||||
|
||||
11
setup.py
11
setup.py
@ -79,6 +79,7 @@ CXX_FLAGS += '-DB3_ENABLE_FILEIO_PLUGIN '
|
||||
CXX_FLAGS += '-DB3_USE_ZIPFILE_FILEIO '
|
||||
CXX_FLAGS += '-DBT_THREADSAFE=1 '
|
||||
CXX_FLAGS += '-DSTATIC_LINK_SPD_PLUGIN '
|
||||
CXX_FLAGS += '-DBT_ENABLE_VHACD '
|
||||
|
||||
EGL_CXX_FLAGS = ''
|
||||
|
||||
@ -331,7 +332,12 @@ sources = ["examples/pybullet/pybullet.c"]\
|
||||
+["examples/ThirdPartyLibs/Gwen/Platforms/Null.cpp"]\
|
||||
+["examples/ThirdPartyLibs/Gwen/Platforms/Windows.cpp"]\
|
||||
+["examples/ThirdPartyLibs/Gwen/Renderers/OpenGL_DebugFont.cpp"]\
|
||||
|
||||
+["Extras/VHACD/test/src/main_vhacd.cpp"] \
|
||||
+["Extras/VHACD/src/VHACD.cpp"] \
|
||||
+["Extras/VHACD/src/vhacdICHull.cpp"] \
|
||||
+["Extras/VHACD/src/vhacdManifoldMesh.cpp"] \
|
||||
+["Extras/VHACD/src/vhacdMesh.cpp"] \
|
||||
+["Extras/VHACD/src/vhacdVolume.cpp"]
|
||||
|
||||
|
||||
egl_renderer_sources = \
|
||||
@ -472,7 +478,8 @@ pybullet_ext = Extension(
|
||||
extra_compile_args=CXX_FLAGS.split(),
|
||||
include_dirs=include_dirs + [
|
||||
"src", "examples/ThirdPartyLibs", "examples/ThirdPartyLibs/glad",
|
||||
"examples/ThirdPartyLibs/enet/include", "examples/ThirdPartyLibs/clsocket/src"
|
||||
"examples/ThirdPartyLibs/enet/include", "examples/ThirdPartyLibs/clsocket/src",
|
||||
"Extras/VHACD/inc", "Extras/VHACD/public",
|
||||
])
|
||||
extensions.append(pybullet_ext)
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user