A small application for converting STEP files (demo_CAS_converter.cpp)
Tutorial that teaches how to use the CASCADE module to import, convert and visualize STEP models.
// =============================================================================
// PROJECT CHRONO - http://projectchrono.org
//
// Copyright (c) 2014 projectchrono.org
// All rights reserved.
//
// Use of this source code is governed by a BSD-style license that can be found
// in the LICENSE file at the top level of the distribution and at
// http://projectchrono.org/license-chrono.txt.
//
// =============================================================================
// A small interactive editor to test the
// convex decomposition settings and the STEP
// conversion features of OpenCASCADE library
// =============================================================================
#include <cstdlib>
#include "chrono/core/ChRealtimeStep.h"
#include "chrono/collision/ChConvexDecomposition.h"
#include "chrono/physics/ChSystemNSC.h"
#include "chrono_cascade/ChCascadeDoc.h"
#include "chrono_cascade/ChCascadeMeshTools.h"
#include "chrono_cascade/ChCascadeIrrMeshTools.h"
#include <TopoDS_Shape.hxx>
#include <TopoDS.hxx>
#include <TopoDS_HShape.hxx>
#include <STEPControl_Reader.hxx>
#include <STEPControl_StepModelType.hxx>
#include <TopoDS_Edge.hxx>
#include <TopoDS_Face.hxx>
#include <TopoDS_Compound.hxx>
#include <BRep_Builder.hxx>
#include <BRepTools.hxx>
#include <BRep_Tool.hxx>
#include <BRepBuilderAPI_MakeEdge.hxx>
#include <BRepBuilderAPI_MakeVertex.hxx>
#include <TopExp_Explorer.hxx>
#include <TopLoc_Location.hxx>
#include <TopoDS_Iterator.hxx>
#include <TopExp_Explorer.hxx>
#include <Bnd_Box.hxx>
#include <gp_Pnt.hxx>
#include <Prs3d_ShapeTool.hxx>
#include <BRepAdaptor_HSurface.hxx>
#include <BRepAdaptor_Curve.hxx>
#include <BRepBndLib.hxx>
#include <BRepMesh_IncrementalMesh.hxx>
#include <TColgp_HArray1OfVec.hxx>
#include <TColStd_HArray1OfInteger.hxx>
#include <Poly_Connect.hxx>
#include <Poly_Triangle.hxx>
#include <Poly_Triangulation.hxx>
#include <TColgp_Array1OfDir.hxx>
#include <CSLib_DerivativeStatus.hxx>
#include <CSLib_NormalStatus.hxx>
#include <CSLib.hxx>
#include <TColgp_Array1OfPnt2d.hxx>
#include <TDocStd_Document.hxx>
#include <STEPCAFControl_Reader.hxx>
#include <XCAFDoc_ShapeTool.hxx>
#include <XCAFDoc_DocumentTool.hxx>
#include <TDataStd_Name.hxx>
#include <Interface_Static.hxx>
#include <TDF_Label.hxx>
#include <TDF_ChildIterator.hxx>
#include <TDF_LabelSequence.hxx>
#include <TDF_ChildIterator.hxx>
#include <TDF_Tool.hxx>
#include <TObj_TObject.hxx>
#include <TObj_TReference.hxx>
#include <TNaming_NamedShape.hxx>
#include "chrono_irrlicht/ChVisualSystemIrrlicht.h"
#include "chrono_irrlicht/ChIrrMeshTools.h"
// Use the namespace of Chrono
using namespace chrono;
using namespace chrono::irrlicht;
// Use the main namespace of Irrlicht
using namespace irr;
// Use the namespace with OpenCascade stuff
using namespace cascade;
// to make things easier (it's a test..) introduce global variables.
scene::IAnimatedMesh* modelMesh;
scene::IAnimatedMeshSceneNode* modelNode;
scene::ISceneNode* decompositionNode;
collision::ChConvexDecompositionHACDv2 mydecompositionHACDv2;
int hacd_maxhullcount;
int hacd_maxhullmerge;
int hacd_maxhullvertexes;
double hacd_concavity;
double hacd_smallclusterthreshold;
double hacd_fusetolerance;
// LOAD A TRIANGLE MESH USING IRRLICHT IMPORTERS
//
if (modelNode)
modelNode->remove();
modelNode = 0;
if (decompositionNode)
decompositionNode->remove();
decompositionNode = 0;
// Load a mesh using the Irrlicht I/O conversion from mesh file formats.
modelMesh = application->GetSceneManager()->getMesh(filename);
modelNode = application->GetSceneManager()->addAnimatedMeshSceneNode(modelMesh);
modelNode->setMaterialFlag(irr::video::EMF_NORMALIZE_NORMALS, true);
}
// LOAD THE STEP 3D MODEL USING OPEN CASCADE
if (modelNode)
modelNode->remove();
modelNode = 0;
if (decompositionNode)
decompositionNode->remove();
decompositionNode = 0;
GetLog() << "\n\n 0-LOADING THE STEP MODEL.. \n\n\n";
ChCascadeDoc mydoc;
bool aRes = mydoc.Load_STEP(filename);
if (aRes) {
// ---Print hierarchy on screen
mydoc.Dump(GetLog());
// ---Find all shapes and get as a single compound
TopoDS_Shape mshape;
mydoc.GetRootShape(mshape);
if (!mshape.IsNull()) {
// ---Perform Irrlicht triangulation
scene::SMesh* mmesh = new scene::SMesh();
video::SColor clr(255, 100, 120, 125);
irr::scene::ChCascadeIrrMeshTools::fillIrrlichtMeshFromCascade(mmesh, mshape, 0.5);
// ..also show in Irrlicht view
scene::SAnimatedMesh* Amesh = new scene::SAnimatedMesh();
Amesh->addMesh(mmesh);
mmesh->drop();
modelNode = application->GetSceneManager()->addAnimatedMeshSceneNode(Amesh, decompositionNode);
// ---Convert to OBJ Wavefront file
ChStreamOutAsciiFile mobjfile("triangulated_step_model_root.obj");
// afinder.res_shape.Location(TopLoc_Location()); // to reset CAD reference as center of obj.
ChCascadeMeshTools::fillObjFileFromCascade(mobjfile, mshape, 0.5);
GetLog() << " .. done! \n";
}
} else
GetLog() << "\n.. Error with reading STEP! \n\n\n";
}
void DecomposeModel(ChVisualSystemIrrlicht* application) {
if (decompositionNode)
decompositionNode->remove();
decompositionNode = 0;
if (!modelNode)
return;
decompositionNode = application->GetSceneManager()->addEmptySceneNode();
// Convert the Irrlicht mesh into a Chrono::Engine mesh.
geometry::ChTriangleMeshSoup chmesh;
// modelNode->getMesh();
fillChTrimeshFromIrlichtMesh(&chmesh, modelNode->getMesh()); // modelMesh->getMesh(0));
// Perform the convex decomposition using the desired parameters.
mydecompositionHACDv2.Reset();
mydecompositionHACDv2.AddTriangleMesh(chmesh);
mydecompositionHACDv2.SetParameters(hacd_maxhullcount, hacd_maxhullmerge, hacd_maxhullvertexes,
(float)hacd_concavity, (float)hacd_smallclusterthreshold,
(float)hacd_fusetolerance);
mydecompositionHACDv2.ComputeConvexDecomposition();
// Visualize the resulting convex decomposition by creating many
// colored meshes, each per convex hull.
scene::SMesh* mmesh = new scene::SMesh();
// Get the j-th convex hull as a ChTriangleMesh.
geometry::ChTriangleMeshSoup chmesh_hull;
mydecompositionHACDv2.GetConvexHullResult(j, chmesh_hull);
20 + (int)(140. * ChRandom()));
// Convert the j-th convex hull from a ChTriangleMesh to an Irrlicht mesh.
fillIrlichtMeshFromChTrimesh(mmesh, &chmesh_hull, clr);
// Add Irrlicht mesh to the scene, as a scene node.
scene::SAnimatedMesh* Amesh = new scene::SAnimatedMesh();
Amesh->addMesh(mmesh);
mmesh->drop();
scene::IAnimatedMeshSceneNode* piece_node =
application->GetSceneManager()->addAnimatedMeshSceneNode(Amesh, decompositionNode);
piece_node->getMaterial(0).EmissiveColor.set(255, 40, 40, 50); // 255, 50, 50, 50);
// piece_node->getMaterial(0).AmbientColor.set(255,30,30,30);//100, 0,0,0);
piece_node->getMaterial(0)
.DiffuseColor.set(255, clr.getRed(), clr.getGreen(), clr.getBlue()); // 255, 50, 50, 50);
// piece_node->getMaterial(0).Lighting = true;
piece_node->setMaterialFlag(irr::video::EMF_NORMALIZE_NORMALS, true);
scene::IAnimatedMeshSceneNode* piece_node2 =
application->GetSceneManager()->addAnimatedMeshSceneNode(Amesh, decompositionNode);
piece_node2->getMaterial(0).Lighting = true;
piece_node2->getMaterial(0).Wireframe = true;
piece_node2->getMaterial(0).Thickness = 2;
}
modelNode->setVisible(false);
}
// Save the convex decomposition to a
// file using the .obj fileformat.
try {
ChStreamOutAsciiFile decomposed_objfile(filename);
mydecompositionHACDv2.WriteConvexHullsAsWavefrontObj(decomposed_objfile);
} catch (ChException myex) {
application->GetGUIEnvironment()->addMessageBox(L"Save file error", L"Impossible to write into file.");
}
}
// Save the convex decomposition to a
// file using the .obj fileformat.
try {
ChStreamOutAsciiFile decomposed_objfile(filename);
mydecompositionHACDv2.WriteConvexHullsAsChullsFile(decomposed_objfile);
} catch (ChException myex) {
application->GetGUIEnvironment()->addMessageBox(L"Save file error", L"Impossible to write into file.");
}
}
// Define a MyEventReceiver class which will be used to manage input
// from the GUI graphical user interface (the interface will
// be created with the basic -yet flexible- platform
// independent toolset of Irrlicht).
class MyEventReceiver : public IEventReceiver {
public:
MyEventReceiver(ChVisualSystemIrrlicht* vsys) : vis(vsys) {
vis->GetDevice()->setEventReceiver(this);
// create menu
gui::IGUIContextMenu* menu = vis->GetGUIEnvironment()->addMenu();
menu->addItem(L"File", -1, true, true);
menu->addItem(L"View", -1, true, true);
gui::IGUIContextMenu* submenu;
submenu = menu->getSubMenu(0);
submenu->addItem(L"Load OBJ mesh...", 90);
submenu->addItem(L"Load STEP model...", 95);
submenu->addItem(L"Save convex hulls (.obj)", 91);
submenu->addItem(L"Save convex hulls (.chulls)", 96);
submenu->addSeparator();
submenu->addItem(L"Quit", 92);
submenu = menu->getSubMenu(1);
submenu->addItem(L"View model", 93);
submenu->addItem(L"View decomposition", 94);
text_algo_type =
vis->GetGUIEnvironment()->addStaticText(L"HACDv2 algorithm", core::rect<s32>(510, 35, 650, 50), false);
// ..add a GUI
edit_hacd_maxhullcount = vis->GetGUIEnvironment()->addEditBox(
irr::core::stringw((int)hacd_maxhullcount).c_str(), core::rect<s32>(510, 60, 650, 75), true, 0, 121);
text_hacd_maxhullcount =
vis->GetGUIEnvironment()->addStaticText(L"Max. hull count ", core::rect<s32>(650, 60, 750, 75), false);
// ..add a GUI
edit_hacd_maxhullmerge = vis->GetGUIEnvironment()->addEditBox(
irr::core::stringw((int)hacd_maxhullmerge).c_str(), core::rect<s32>(510, 85, 650, 100), true, 0, 122);
text_hacd_maxhullmerge =
vis->GetGUIEnvironment()->addStaticText(L"Max. hull merge ", core::rect<s32>(650, 85, 750, 100), false);
// ..add a GUI
edit_hacd_maxhullvertexes = vis->GetGUIEnvironment()->addEditBox(
irr::core::stringw((int)hacd_maxhullvertexes).c_str(), core::rect<s32>(510, 110, 650, 125), true, 0, 123);
text_hacd_maxhullvertexes = vis->GetGUIEnvironment()->addStaticText(
L"Max. vertexes per hull", core::rect<s32>(650, 110, 750, 125), false);
// ..add a GUI
edit_hacd_concavity = vis->GetGUIEnvironment()->addEditBox(irr::core::stringw(hacd_concavity).c_str(),
core::rect<s32>(510, 135, 650, 150), true, 0, 124);
text_hacd_concavity = vis->GetGUIEnvironment()->addStaticText(L"Max. concavity (0..1)",
core::rect<s32>(650, 135, 750, 150), false);
// ..add a GUI
edit_hacd_smallclusterthreshold = vis->GetGUIEnvironment()->addEditBox(
irr::core::stringw(hacd_smallclusterthreshold).c_str(), core::rect<s32>(510, 160, 650, 175), true, 0, 125);
text_hacd_smallclusterthreshold = vis->GetGUIEnvironment()->addStaticText(
L"Small cluster threshold", core::rect<s32>(650, 160, 750, 175), false);
// ..add a GUI
edit_hacd_fusetolerance = vis->GetGUIEnvironment()->addEditBox(
irr::core::stringw(hacd_fusetolerance).c_str(), core::rect<s32>(510, 185, 650, 200), true, 0, 126);
text_hacd_fusetolerance = vis->GetGUIEnvironment()->addStaticText(L"Vertex fuse tolerance",
core::rect<s32>(650, 185, 750, 200), false);
// .. add buttons..
button_decompose = vis->GetGUIEnvironment()->addButton(core::rect<s32>(510, 210, 650, 225), 0, 106,
L"Decompose", L"Perform convex decomposition");
text_hacd_maxhullcount->setVisible(true);
edit_hacd_maxhullcount->setVisible(true);
text_hacd_maxhullmerge->setVisible(true);
edit_hacd_maxhullmerge->setVisible(true);
text_hacd_maxhullvertexes->setVisible(true);
edit_hacd_maxhullvertexes->setVisible(true);
text_hacd_concavity->setVisible(true);
edit_hacd_concavity->setVisible(true);
text_hacd_smallclusterthreshold->setVisible(true);
edit_hacd_smallclusterthreshold->setVisible(true);
text_hacd_fusetolerance->setVisible(true);
edit_hacd_fusetolerance->setVisible(true);
}
bool OnEvent(const SEvent& event) {
// check if user moved the sliders with mouse..
if (event.EventType == EET_GUI_EVENT) {
s32 id = event.GUIEvent.Caller->getID();
auto env = vis->GetGUIEnvironment();
switch (event.GUIEvent.EventType) {
case gui::EGET_MENU_ITEM_SELECTED: {
// a menu item was clicked
gui::IGUIContextMenu* menu = (gui::IGUIContextMenu*)event.GUIEvent.Caller;
id = menu->getItemCommandId(menu->getSelectedItem());
switch (id) {
case 90:
env->addFileOpenDialog(L"Load a mesh file, in .OBJ/.X/.MAX format", true, 0, 80);
break;
case 95:
env->addFileOpenDialog(L"Load a 3D CAD model, in STEP format", true, 0, 85);
break;
case 91:
env->addFileOpenDialog(L"Save decomposed convex hulls in .obj 3D format", true, 0, 81);
break;
case 96:
env->addFileOpenDialog(L"Save decomposed convex hulls in .chulls 3D format", true, 0, 86);
break;
case 92: // File -> Quit
vis->GetDevice()->closeDevice();
break;
case 93:
if (modelNode)
modelNode->setVisible(true);
if (decompositionNode)
decompositionNode->setVisible(false);
break;
case 94:
if (modelNode)
modelNode->setVisible(false);
if (decompositionNode)
decompositionNode->setVisible(true);
break;
}
break;
}
case gui::EGET_FILE_SELECTED: {
// load the model file, selected in the file open dialog
gui::IGUIFileOpenDialog* dialog = (gui::IGUIFileOpenDialog*)event.GUIEvent.Caller;
switch (id) {
case 80:
LoadModel(vis, core::stringc(dialog->getFileName()).c_str());
break;
case 85:
LoadStepModel(vis, core::stringc(dialog->getFileName()).c_str());
break;
case 81:
SaveHullsWavefront(vis, core::stringc(dialog->getFileName()).c_str());
break;
case 86:
SaveHullsChulls(vis, core::stringc(dialog->getFileName()).c_str());
break;
}
} break;
case gui::EGET_EDITBOX_ENTER: {
// load the model file, selected in the file open dialog
gui::IGUIEditBox* medit = (gui::IGUIEditBox*)event.GUIEvent.Caller;
switch (id) {
case 122:
hacd_maxhullmerge = std::atoi(irr::core::stringc(medit->getText()).c_str());
medit->setText(irr::core::stringw(hacd_maxhullmerge).c_str());
break;
case 123:
hacd_maxhullvertexes = std::atoi(irr::core::stringc(medit->getText()).c_str());
medit->setText(irr::core::stringw(hacd_maxhullvertexes).c_str());
break;
case 124:
hacd_concavity = std::atof(irr::core::stringc(medit->getText()).c_str());
medit->setText(irr::core::stringw(hacd_concavity).c_str());
break;
case 125:
hacd_smallclusterthreshold = std::atof(irr::core::stringc(medit->getText()).c_str());
medit->setText(irr::core::stringw(hacd_smallclusterthreshold).c_str());
break;
case 126:
hacd_fusetolerance = std::atof(irr::core::stringc(medit->getText()).c_str());
medit->setText(irr::core::stringw(hacd_fusetolerance).c_str());
break;
}
} break;
case gui::EGET_BUTTON_CLICKED: {
switch (id) {
case 106:
DecomposeModel(vis);
return true;
default:
return false;
}
break;
}
default:
break;
}
}
return false;
}
private:
ChVisualSystemIrrlicht* vis;
gui::IGUIContextMenu* menu;
gui::IGUIButton* button_decompose;
gui::IGUIStaticText* text_algo_type;
gui::IGUIStaticText* text_hacd_maxhullcount;
gui::IGUIEditBox* edit_hacd_maxhullcount;
gui::IGUIStaticText* text_hacd_maxhullmerge;
gui::IGUIEditBox* edit_hacd_maxhullmerge;
gui::IGUIStaticText* text_hacd_maxhullvertexes;
gui::IGUIEditBox* edit_hacd_maxhullvertexes;
gui::IGUIStaticText* text_hacd_concavity;
gui::IGUIEditBox* edit_hacd_concavity;
gui::IGUIStaticText* text_hacd_smallclusterthreshold;
gui::IGUIEditBox* edit_hacd_smallclusterthreshold;
gui::IGUIStaticText* text_hacd_fusetolerance;
gui::IGUIEditBox* edit_hacd_fusetolerance;
};
//
// This is the program which is executed
//
int main(int argc, char* argv[]) {
// 1- Create a ChronoENGINE physical system: all bodies and constraints
// will be handled by this ChSystemNSC object.
ChSystemNSC sys;
// 4- Create the Irrlicht visualization system
auto vis = chrono_types::make_shared<ChVisualSystemIrrlicht>();
vis->AttachSystem(&sys);
vis->SetWindowSize(800, 600);
vis->SetWindowTitle("Convex decomposition of a mesh");
vis->Initialize();
vis->AddLogo();
vis->AddSkyBox();
vis->AddCamera(ChVector<>(0, 1.5, -2));
vis->AddTypicalLights();
// Initial settings
modelMesh = 0;
modelNode = 0;
decompositionNode = 0;
hacd_maxhullcount = 512;
hacd_maxhullmerge = 256;
hacd_maxhullvertexes = 64;
hacd_concavity = 0.2;
hacd_smallclusterthreshold = 0.0;
hacd_fusetolerance = 1e-9;
//
// USER INTERFACE
//
// Create some graphical-user-interface (GUI) items to show on the screen.
// This requires an event receiver object.
MyEventReceiver receiver(vis.get());
// note how to add a custom event receiver to the default interface:
vis->AddUserEventReceiver(&receiver);
// Rendering loop
while (vis->Run()) {
vis->BeginScene();
vis->Render();
vis->EndScene();
}
return 0;
}
virtual int ComputeConvexDecomposition()
Perform the convex decomposition.
Definition: ChConvexDecomposition.cpp:352
virtual bool GetConvexHullResult(unsigned int hullIndex, geometry::ChTriangleMesh &convextrimesh)
Get the n-th computed convex hull, by filling a ChTriangleMesh object that is passed as a parameter.
Definition: ChConvexDecomposition.cpp:418
void SetParameters(unsigned int mMaxHullCount=256, unsigned int mMaxMergeHullCount=256, unsigned int mMaxHullVertices=64, float mConcavity=0.2f, float mSmallClusterThreshold=0.0f, float mFuseTolerance=1e-9)
Set the parameters for this convex decomposition algorithm.
Definition: ChConvexDecomposition.cpp:327
ChLog & GetLog()
Global function to get the current ChLog object.
Definition: ChLog.cpp:39
Class for wrapping the HACD convex decomposition code revisited by John Ratcliff.
Definition: ChConvexDecomposition.h:149
virtual bool AddTriangleMesh(const geometry::ChTriangleMesh &tm)
Add a triangle mesh soup, by passing an entire ChTriangleMesh object.
Definition: ChConvexDecomposition.cpp:319
virtual void Reset(void)
Reset the input mesh data.
Definition: ChConvexDecomposition.cpp:298
virtual unsigned int GetHullCount()
Get the number of computed hulls after the convex decomposition.
Definition: ChConvexDecomposition.cpp:395
Definition of general purpose 3d vector variables, such as points in 3D.
Definition: ChVector.h:35
virtual void WriteConvexHullsAsWavefrontObj(ChStreamOutAscii &mstream)
Save the computed convex hulls as a Wavefront file using the '.obj' fileformat, with each hull as a s...
Definition: ChConvexDecomposition.cpp:441
double ChRandom()
Returns random value in (0..1) interval with Park-Miller method.
Definition: ChMathematics.cpp:53
static void fillIrrlichtMeshFromCascade(scene::IMesh *pMesh, const TopoDS_Shape &mshape, double deflection=1, bool relative_deflection=false, double angulardeflection=0.5, video::SColor clr=video::SColor(255, 255, 255, 255))
Function to convert an OpenCASCADE shape into a Irrlicht mesh, for visualization.
Definition: ChCascadeIrrMeshTools.h:119
A basic triangle mesh: just a list of triangles (no edge connectivity info).
Definition: ChTriangleMeshSoup.h:26
This is a specialized class for ASCII output on system's file,.
Definition: ChStream.h:789
Class for a physical system in which contact is modeled using a non-smooth (complementarity-based) me...
Definition: ChSystemNSC.h:29
virtual bool WriteConvexHullsAsChullsFile(ChStreamOutAscii &mstream)
Write the convex decomposition to a ".chulls" file, where each hull is a sequence of x y z coords.
Definition: ChConvexDecomposition.cpp:79
Irrlicht-based Chrono run-time visualization system.
Definition: ChVisualSystemIrrlicht.h:47
