Example convex_decomposition (#266)

crates/parry2d/examples/aabb2d.rs

@@ -10,7 +10,7 @@ use parry2d::shape::Ball;
 
 const RENDER_SCALE: f32 = 30.0;
 
-#[macroquad::main("parry2d::utils::point_in_poly2d")]
+#[macroquad::main("aabb2d")]
 async fn main() {
     let render_pos = Vec2::new(300.0, 300.0);
 

crates/parry2d/examples/bounding_sphere2d.rs

@@ -10,7 +10,7 @@ use parry2d::shape::Cuboid;
 
 const RENDER_SCALE: f32 = 30.0;
 
-#[macroquad::main("parry2d::utils::point_in_poly2d")]
+#[macroquad::main("bounding_sphere2d")]
 async fn main() {
     let render_pos = Vec2::new(300.0, 300.0);
 

crates/parry2d/examples/convex_hull2d.rs

@@ -9,7 +9,7 @@ use parry2d::transformation;
 
 const RENDER_SCALE: f32 = 30.0;
 
-#[macroquad::main("parry2d::utils::point_in_poly2d")]
+#[macroquad::main("convex_hull2d")]
 async fn main() {
     let count = 9;
     let mut pts = vec![Point2::default(); count];

crates/parry2d/examples/point_in_poly2d.rs

@@ -7,7 +7,7 @@ use parry2d::utils::point_in_poly2d;
 
 const RENDER_SCALE: f32 = 30.0;
 
-#[macroquad::main("parry2d::utils::point_in_poly2d")]
+#[macroquad::main("points_in_poly2d")]
 async fn main() {
     let mut spikes = spikes_polygon();
     let mut squares = squares_polygon();

crates/parry2d/examples/polygons_intersection2d.rs

@@ -8,7 +8,7 @@ use parry2d::transformation::polygons_intersection_points;
 
 const RENDER_SCALE: f32 = 30.0;
 
-#[macroquad::main("parry2d::utils::polygons_intersection_points")]
+#[macroquad::main("polygons_intersection2d")]
 async fn main() {
     let spikes = spikes_polygon();
     let mut animated_spikes = spikes.clone();

crates/parry2d/examples/project_point2d.rs

@@ -7,7 +7,7 @@ use parry2d::math::{Isometry, Translation};
 use parry2d::query::PointQuery;
 use parry2d::shape::{Cuboid, TriMesh, TriMeshFlags};
 
-#[macroquad::main("parry3d::query::PlaneIntersection")]
+#[macroquad::main("project_point2d")]
 async fn main() {
     //
     // This is useful to test for https://github.com/dimforge/parry/pull/248

crates/parry2d/examples/raycasts_animated.rs

@@ -9,7 +9,7 @@ use parry2d::shape::Cuboid;
 
 const RENDER_SCALE: f32 = 30.0;
 
-#[macroquad::main("parry2d::query::RayCast")]
+#[macroquad::main("raycasts_animated")]
 async fn main() {
     let animation_scale = 1.4;
     let animation_rotation = 0.04;

crates/parry3d/Cargo.toml

@@ -208,3 +208,9 @@ doc-scrape-examples = true
 name = "time_of_impact_query3d"
 path = "examples/time_of_impact_query3d.rs"
 doc-scrape-examples = true
+
+[[example]]
+name = "convex_decomposition"
+path = "examples/convex_decomposition.rs"
+doc-scrape-examples = true
+required-features = ["wavefront"]

crates/parry3d/examples/aabb3d.rs

@@ -8,7 +8,7 @@ use na::Isometry3;
 use parry3d::bounding_volume::{Aabb, BoundingVolume};
 use parry3d::shape::Ball;
 
-#[macroquad::main("parry2d::utils::point_in_poly2d")]
+#[macroquad::main("aabb3d")]
 async fn main() {
     let camera_pos = Vec3::new(8f32, 8f32, 12f32);
 

crates/parry3d/examples/bounding_sphere3d.rs

@@ -10,7 +10,7 @@ use na::{Isometry3, Vector3};
 use parry3d::bounding_volume::BoundingVolume;
 use parry3d::shape::Cuboid;
 
-#[macroquad::main("parry2d::utils::point_in_poly2d")]
+#[macroquad::main("bounding_sphere3d")]
 async fn main() {
     let camera_pos = Vec3::new(8f32, 8f32, 12f32);
 

crates/parry3d/examples/common_macroquad3d.rs

@@ -29,6 +29,20 @@ pub fn na_from_mquad(a: Vec3) -> Point3<Real> {
     Point3::new(a.x, a.y, a.z)
 }
 
+/// Converts a hue (from 0..=1) to rgb
+#[allow(dead_code)]
+pub fn hue_to_rgb(h: f32) -> (f32, f32, f32) {
+    let kr = (5.0 + h * 6.0).rem_euclid(6.0);
+    let kg = (3.0 + h * 6.0).rem_euclid(6.0);
+    let kb = (1.0 + h * 6.0).rem_euclid(6.0);
+
+    let r = 1.0 - kr.min(4.0 - kr).min(1.0).max(0.0);
+    let g = 1.0 - kg.min(4.0 - kg).min(1.0).max(0.0);
+    let b = 1.0 - kb.min(4.0 - kb).min(1.0).max(0.0);
+
+    (r, g, b)
+}
+
 /// Returns [lissajous curve](https://en.wikipedia.org/wiki/Lissajous_curve) coordinates for time `t`.
 ///
 /// This uses hardcoded parameters to have an arbitrary pleasing trajectory.

crates/parry3d/examples/convex_decomposition.rs

@@ -0,0 +1,102 @@
+mod common_macroquad3d;
+
+extern crate nalgebra as na;
+
+use common_macroquad3d::{easy_draw_text, hue_to_rgb, mquad_mesh_from_points};
+use macroquad::prelude::*;
+use na::Point3;
+use obj::{Obj, ObjData};
+use parry3d::{
+    math::Real,
+    shape::{SharedShape, TriMesh, TriMeshFlags},
+};
+
+#[macroquad::main("convex_decomposition")]
+async fn main() {
+    /*
+     * Initialize the shapes.
+     */
+    let Obj {
+        data: ObjData {
+            position, objects, ..
+        },
+        ..
+    } = Obj::load("assets/tests/low_poly_bunny.obj").unwrap();
+
+    let bunny_mesh = TriMesh::with_flags(
+        position
+            .iter()
+            .map(|v| Point3::new(v[0] as Real, v[1] as Real, v[2] as Real))
+            .collect::<Vec<_>>(),
+        objects[0].groups[0]
+            .polys
+            .iter()
+            .map(|p| [p.0[0].0 as u32, p.0[1].0 as u32, p.0[2].0 as u32])
+            .collect::<Vec<_>>(),
+        TriMeshFlags::all(),
+    )
+    .unwrap();
+    clear_background(BLACK);
+
+    easy_draw_text("Please wait while convex decomposition is being computed...");
+    #[cfg(debug_assertions)]
+    {
+        macroquad::text::draw_text(
+            "Running in debug mode is significantly slower than with `--release`.",
+            10.0,
+            48.0 + 48.0,
+            26.0,
+            RED,
+        );
+    }
+    next_frame().await;
+    let mesh_vertices = bunny_mesh.vertices();
+    let mesh_indices = bunny_mesh.indices();
+    let convex_mesh = SharedShape::convex_decomposition(&mesh_vertices, &mesh_indices);
+    let trimesh_convex_compound = convex_mesh.as_compound().unwrap();
+
+    let shapes_count = trimesh_convex_compound.shapes().len() as u32;
+    let mut meshes = Vec::new();
+    for (i, s) in trimesh_convex_compound.shapes().iter().enumerate() {
+        let trimesh_convex = s.1.as_convex_polyhedron().unwrap().to_trimesh();
+
+        /*
+         * Make render meshes out of the shapes.
+         */
+        let (r, g, b) = hue_to_rgb(i as f32 / 6 as f32);
+        let mesh = mquad_mesh_from_points(
+            &trimesh_convex,
+            Vec3::new(1f32, 3f32, 3f32),
+            Color::from_rgba(
+                (r as f32 * 255.0) as u8,
+                (g as f32 * 255.0) as u8,
+                (b as f32 * 255.0) as u8,
+                255,
+            ),
+        );
+        meshes.push(mesh);
+    }
+
+    loop {
+        clear_background(BLACK);
+        let elapsed_time = get_time() as f32;
+        let camera_pos = Vec3::new(
+            5.5f32 * elapsed_time.sin(),
+            3f32,
+            5.5f32 * elapsed_time.cos(),
+        );
+        // Initialize 3D camera.
+        set_camera(&Camera3D {
+            position: camera_pos,
+            up: Vec3::new(0f32, 1f32, 0f32),
+            target: Vec3::new(0f32, 1f32, 0f32),
+            ..Default::default()
+        });
+        for mesh in &meshes {
+            draw_mesh(mesh);
+        }
+        set_default_camera();
+        easy_draw_text(&format!("Number of shapes: {}", shapes_count));
+        next_frame().await
+    }
+}

crates/parry3d/examples/convex_hull3d.rs

@@ -9,7 +9,7 @@ use macroquad::prelude::*;
 use nalgebra::Point3;
 use parry3d::transformation;
 
-#[macroquad::main("parry2d::utils::point_in_poly2d")]
+#[macroquad::main("convex_hull3d")]
 async fn main() {
     let count = 9;
     let mut pts = vec![Point3::default(); count];

crates/parry3d/examples/plane_intersection.rs

@@ -6,7 +6,7 @@ use parry3d::shape::{Cuboid, TriMesh};
 mod common_macroquad3d;
 use common_macroquad3d::*;
 
-#[macroquad::main("parry3d::query::PlaneIntersection")]
+#[macroquad::main("plane_intersection")]
 async fn main() {
     let trimesh = Cuboid::new(Vector3::repeat(1.0)).to_trimesh();
 

crates/parry3d/examples/project_point3d.rs

@@ -6,7 +6,7 @@ use parry3d::shape::{Cuboid, TriMesh, TriMeshFlags};
 mod common_macroquad3d;
 use common_macroquad3d::*;
 
-#[macroquad::main("parry3d::query::PlaneIntersection")]
+#[macroquad::main("project_point3d")]
 async fn main() {
     let trimesh = Cuboid::new(Vector3::new(0.2, 0.5, 1.0)).to_trimesh();