added ccd and proximity demos

Author: nobuyuki83

07_direct_manipulation_delta_blendshape.py

@@ -4,7 +4,6 @@
 from PyQt5 import QtWidgets, QtCore
 from pyrr import Matrix44
 from util_moderngl_qt import DrawerMesh, QGLWidgetViewer3, DrawerSpheres
-from util_moderngl_qt.drawer_transform_multi import DrawerTransformMulti
 from del_msh import WavefrontObj, TriMesh, PolygonMesh, BlendShape
 
 
@@ -66,9 +65,9 @@ def mouse_press_callback(self, event):
         vtx2xyz = self.weights.transpose().dot(self.shape2pos).reshape(-1, 3)  # current shape
         src, direction = self.glwidget.nav.picking_ray()
         self.vtx_pick = TriMesh.pick_vertex(
+            self.tri2vtx, vtx2xyz.astype(numpy.float32),
             numpy.array(src.xyz).astype(numpy.float32),
-            numpy.array(direction.xyz).astype(numpy.float32),
-            vtx2xyz.astype(numpy.float32), self.tri2vtx)
+            numpy.array(direction.xyz).astype(numpy.float32))
         if self.vtx_pick == -1:
             return
         assert self.vtx_pick < self.tri2vtx.shape[0]
@@ -110,9 +109,9 @@ def mouse_doubleclick_callback(self, event):
         vtx2xyz = self.weights.transpose().dot(self.shape2pos).reshape(-1, 3)  # current shape
         src, direction = self.glwidget.nav.picking_ray()
         vtx_pick = TriMesh.pick_vertex(
+            self.tri2vtx, vtx2xyz.astype(numpy.float32),
             numpy.array(src.xyz).astype(numpy.float32),
-            numpy.array(direction.xyz).astype(numpy.float32),
-            vtx2xyz.astype(numpy.float32), self.tri2vtx)
+            numpy.array(direction.xyz).astype(numpy.float32))
         for vtx in self.markers.copy():
             len = numpy.linalg.norm(vtx2xyz[vtx_pick] - vtx2xyz[vtx])
             if len < 0.03:

08_direct_manipulation_absolute_blendshape.py

@@ -57,9 +57,9 @@ def mouse_press_callback(self, event):
         vtx2xyz = self.weights.transpose().dot(self.shape2pos).reshape(-1, 3)  # current shape
         src, direction = self.glwidget.nav.picking_ray()
         self.vtx_pick = TriMesh.pick_vertex(
+            self.tri2vtx, vtx2xyz.astype(numpy.float32),
             numpy.array(src.xyz).astype(numpy.float32),
-            numpy.array(direction.xyz).astype(numpy.float32),
-            vtx2xyz.astype(numpy.float32), self.tri2vtx)
+            numpy.array(direction.xyz).astype(numpy.float32))
         print(self.vtx_pick)
         if self.vtx_pick == -1:
             return

21_bvh.py

@@ -1,15 +1,18 @@
 import pathlib
+
+import numpy
 import moderngl
 from PyQt5 import QtWidgets
 
 from util_moderngl_qt import DrawerMesh, DrawerMeshUnindex, QGLWidgetViewer3
 from del_msh import BVH, TriMesh
 
 
-def main():
+def main(is_morton: bool):
     path_file = pathlib.Path('.') / 'asset' / 'bunny_1k.obj'
     tri2vtx, vtx2xyz = TriMesh.load_wavefront_obj(str(path_file), is_centerize=True, normalized_size=1.)
-    bvh, aabb = TriMesh.bvh_aabb(tri2vtx, vtx2xyz)
+    bvhnodes = TriMesh.bvhnodes_tri(tri2vtx, vtx2xyz, is_morton)
+    aabbs = TriMesh.aabbs_tri(tri2vtx, vtx2xyz, bvhnodes)
     #
     edge2vtx = TriMesh.edge2vtx(tri2vtx, vtx2xyz.shape[0])
     drawer_mesh = DrawerMesh.Drawer(
@@ -20,7 +23,7 @@ def main():
         ]
     )
     #
-    aabb_edges = BVH.edges_of_aabb(aabb)
+    aabb_edges = BVH.edges_of_aabb(aabbs)
     drawer_aabb = DrawerMeshUnindex.Drawer(elem2node2xyz=aabb_edges)
     #
     with QtWidgets.QApplication([]) as app:
@@ -30,4 +33,5 @@ def main():
 
 
 if __name__ == "__main__":
-    main()
+    main(False)
+    main(True)

22_bvh_self_intersection.py

@@ -12,8 +12,9 @@ def main():
     tri2vtx, vtx2xyz = TriMesh.load_wavefront_obj(str(path_file), is_centerize=True, normalized_size=1.)
     vtx2xyz1 = vtx2xyz + numpy.array([0.2, 0.2, 0.2], dtype=numpy.float32)
     tri2vtx, vtx2xyz = TriMesh.merge(tri2vtx, vtx2xyz, tri2vtx, vtx2xyz1)
-    bvh, aabb = TriMesh.bvh_aabb(tri2vtx, vtx2xyz)
-    edge2node2xyz, edge2tri = BVH.self_intersection_trimesh3(tri2vtx, vtx2xyz, bvh, aabb)
+    bvhnodes = TriMesh.bvhnodes_tri(tri2vtx, vtx2xyz)
+    aabbs = TriMesh.aabbs_tri(tri2vtx, vtx2xyz, bvhnodes)
+    edge2node2xyz, edge2tri = TriMesh.self_intersection(tri2vtx, vtx2xyz, bvhnodes, aabbs)
     # print(edge2node2xyz, edge2tri)
     #
     edge2vtx = TriMesh.edge2vtx(tri2vtx, vtx2xyz.shape[0])

25_bvh_ccd.py

@@ -0,0 +1,54 @@
+import pathlib
+import moderngl
+from PyQt5 import QtWidgets
+import numpy
+
+from util_moderngl_qt import DrawerMesh, DrawerCylinders, QGLWidgetViewer3
+from del_msh import BVH, TriMesh
+
+
+def main():
+    path_file = pathlib.Path('.') / 'asset' / 'bunny_1k.obj'
+    tri2vtx, vtx2xyz0 = TriMesh.load_wavefront_obj(str(path_file), is_centerize=True, normalized_size=1.)
+    edge2vtx = TriMesh.edge2vtx(tri2vtx, vtx2xyz0.shape[0])
+    # print(edge2vtx)
+    vtx2uvw = numpy.zeros_like(vtx2xyz0)
+    vtx2uvw[:, 0] += - 10 * numpy.power(vtx2xyz0[:, 0], 3) \
+                     * numpy.exp(-10 * numpy.power(vtx2xyz0[:, 1], 2)) \
+                     * numpy.exp(-10 * numpy.power(vtx2xyz0[:, 2], 2))
+    vtx2xyz1 = vtx2xyz0 + 1.0 * vtx2uvw
+    bvhnodes, roots = TriMesh.bvhnodes_vtxedgetri(edge2vtx, tri2vtx, vtx2xyz0)
+    aabbs = TriMesh.aabb_vtxedgetri(edge2vtx, tri2vtx, vtx2xyz0, bvhnodes, roots, vtx2xyz1=vtx2xyz1)
+    pairs, times = TriMesh.ccd_intersection_time(edge2vtx, tri2vtx, vtx2xyz0, vtx2xyz1, bvhnodes, aabbs, roots)
+    intersecting_time = numpy.min(times)
+    #
+    vtx2xyz1 = vtx2xyz0 + intersecting_time * 0.999 * vtx2uvw
+    edge2node2xyz, edge2tri = TriMesh.self_intersection(tri2vtx, vtx2xyz1, bvhnodes, aabbs, roots[2])
+    assert edge2node2xyz.shape[0] == 0
+    #
+    vtx2xyz1 = vtx2xyz0 + intersecting_time * 1.001 * vtx2uvw
+    edge2node2xyz, edge2tri = TriMesh.self_intersection(tri2vtx, vtx2xyz1, bvhnodes, aabbs, roots[2])
+    assert edge2node2xyz.shape[0] != 0
+
+    drawer_mesh = DrawerMesh.Drawer(
+        vtx2xyz=vtx2xyz1,
+        list_elem2vtx=[
+            DrawerMesh.ElementInfo(index=edge2vtx, color=(0, 0, 0), mode=moderngl.LINES),
+            # DrawerMesh.ElementInfo(index=tri2vtx, color=(1, 1, 0), mode=moderngl.TRIANGLES)
+        ]
+    )
+    drawer_intersection = DrawerCylinders.Drawer()
+    drawer_intersection.rad = 0.005
+    for edge in edge2node2xyz[:]:
+        drawer_intersection.list_cylinder.append(
+            DrawerCylinders.CylinderInfo(pos0=edge[0], pos1=edge[1]))
+    #
+
+    with QtWidgets.QApplication([]) as app:
+        glwidget = QGLWidgetViewer3.QtGLWidget_Viewer3([drawer_mesh, drawer_intersection])
+        glwidget.show()
+        app.exec()
+
+
+if __name__ == "__main__":
+    main()

26_bvh_proximity.py

@@ -0,0 +1,60 @@
+import pathlib
+import moderngl
+from PyQt5 import QtWidgets
+import numpy
+
+from util_moderngl_qt import DrawerMesh, DrawerCylinders, QGLWidgetViewer3
+from del_msh import BVH, TriMesh
+
+
+def main():
+    tri2vtx, vtx2xyz0 = TriMesh.sphere(1., ndiv_latitude=32, ndiv_longtitude=32)
+    edge2vtx = TriMesh.edge2vtx(tri2vtx, vtx2xyz0.shape[0])
+    # print(edge2vtx)
+    vtx2uvw = numpy.zeros_like(vtx2xyz0)
+    vtx2uvw[:, 0] += -numpy.power(vtx2xyz0[:, 0], 3)
+    vtx2xyz1 = vtx2xyz0 + 0.995 * vtx2uvw
+
+    contacting_pair, contacting_coord = TriMesh.contacting_pair(tri2vtx, vtx2xyz1, edge2vtx, 0.01)
+    print(contacting_pair, contacting_coord)
+    print(contacting_pair.shape, contacting_coord.shape)
+
+    drawer_mesh = DrawerMesh.Drawer(
+        vtx2xyz=vtx2xyz1,
+        list_elem2vtx=[
+            DrawerMesh.ElementInfo(index=edge2vtx, color=(0, 0, 0), mode=moderngl.LINES),
+            # DrawerMesh.ElementInfo(index=tri2vtx, color=(1, 1, 0), mode=moderngl.TRIANGLES)
+        ]
+    )
+    #
+    drawer_intersection = DrawerCylinders.Drawer()
+    drawer_intersection.rad = 0.003
+    for ic in range(len(contacting_pair)):
+        if contacting_pair[ic, 2] == 1:  # triangle - vertex pair
+            it = contacting_pair[ic, 0]
+            iv = contacting_pair[ic, 1]
+            ap = vtx2xyz1[tri2vtx[it, :], :]
+            p = contacting_coord[ic, :3].dot(ap)
+            q = vtx2xyz1[iv, :]
+            drawer_intersection.list_cylinder.append(
+                DrawerCylinders.CylinderInfo(pos0=p, pos1=q))
+        elif contacting_pair[ic, 2] == 0:  # edge - edge pair
+            ie0 = contacting_pair[ic, 0]
+            ie1 = contacting_pair[ic, 1]
+            ap0 = vtx2xyz1[edge2vtx[ie0, :], :]
+            ap1 = vtx2xyz1[edge2vtx[ie1, :], :]
+            p0 = contacting_coord[ic, 0:2].dot(ap0)
+            p1 = contacting_coord[ic, 2:4].dot(ap1)
+            drawer_intersection.list_cylinder.append(
+                DrawerCylinders.CylinderInfo(pos0=ap0[0], pos1=ap0[1], color=(0., 1., 0.)))
+            drawer_intersection.list_cylinder.append(
+                DrawerCylinders.CylinderInfo(pos0=ap1[0], pos1=ap1[1]))
+
+    with QtWidgets.QApplication([]) as app:
+        glwidget = QGLWidgetViewer3.QtGLWidget_Viewer3([drawer_mesh, drawer_intersection])
+        glwidget.show()
+        app.exec()
+
+
+if __name__ == "__main__":
+    main()

README.md

@@ -92,3 +92,13 @@ user interface for selecting/unselecting triangles
 ## [24_deform_mls_ui.py](24_deform_mls_ui.py)
 <img src="https://raw.githubusercontent.com/nobuyuki83/demos_py_qt_mdngl/doc/24_thumbnail.png" width=320>
 
+## [25_bvh_ccd.py](25_bvh_ccd.py)
+Continuous collision detection
+
+<img src="https://raw.githubusercontent.com/nobuyuki83/demos_py_qt_mdngl/doc/25_thumbnail.png" width=320>
+
+## [26_bvh_proximity.py](26_bvh_proximity.py)
+Detect near face-vertex and edge-edge pairs
+
+<img src="https://raw.githubusercontent.com/nobuyuki83/demos_py_qt_mdngl/doc/26_thumbnail.png" width=320>
+