Updating the JCAD to check for bad faces in Obj generation

build.gradle

@@ -222,7 +222,7 @@ dependencies {
 	//compile group: 'com.neuronrobotics', name:'GithubPasswordManager', version:'0.6.1'
 	//compile "com.neuronrobotics:JavaCad:0.14.0"
 	//compile project('JCSG')
-	compile group: 'com.neuronrobotics', name: 'JavaCad', version:'1.0.7'
+	compile group: 'com.neuronrobotics', name: 'JavaCad', version:'1.0.8'
 
 	//compile "com.neuronrobotics:CHDK-PTP-Java:0.5.3-SNAPSHOT"
 	//compile "com.neuronrobotics:java-bowler:3.25.4"

src/main/java/com/neuronrobotics/bowlerstudio/physics/MuJoCoPhysicsManager.java

@@ -1,8 +1,11 @@
 package com.neuronrobotics.bowlerstudio.physics;
 
+import java.io.ByteArrayInputStream;
 import java.io.File;
 import java.io.IOException;
+import java.io.InputStream;
 import java.math.BigDecimal;
+import java.nio.charset.StandardCharsets;
 import java.nio.file.Files;
 import java.nio.file.Paths;
 import java.util.ArrayList;
@@ -49,6 +52,8 @@
 import eu.mihosoft.vrl.v3d.Sphere;
 import eu.mihosoft.vrl.v3d.Transform;
 import eu.mihosoft.vrl.v3d.Vector3d;
+import eu.mihosoft.vrl.v3d.ext.openjfx.importers.obj.ObjImporter;
+import eu.mihosoft.vrl.v3d.ext.quickhull3d.HullUtil;
 import javafx.scene.paint.Color;
 import javafx.scene.transform.Affine;
 
@@ -805,7 +810,7 @@ public void addFreePart(List<CSG> partsIn) throws IOException {
 			if (!checkForPhysics(part))
 				continue;
 			;
-			try {
+//			try {
 				CSG hull = part.moveToCenter();
 
 				Vector3d center = part.getCenter();
@@ -827,14 +832,14 @@ public void addFreePart(List<CSG> partsIn) throws IOException {
 				hull = hull.move(center.minus(centerGroup));
 				hull.setManipulator(new Affine());
 				ArrayList<CSG> parts = getMapNameToCSGParts(nameOfBODY);
-				putCSGInAssets(nameOfCSG, hull.hull(), true);
+				putCSGInAssets(nameOfCSG, hull, true);
 				org.mujoco.xml.body.GeomType.Builder<?> geom;
 				geom = addBody.addGeom().withMass(BigDecimal.valueOf(part.getMassKG(0.001)));
 				parts.add(hull);
 				setCSGMeshToGeom(nameOfCSG, geom);
-			}catch(Throwable t) {
-				t.printStackTrace(System.out);
-			}
+//			}catch(Throwable t) {
+//				t.printStackTrace(System.out);
+//			}
 		}
 	}
 
@@ -931,9 +936,23 @@ public void putCSGInAssets(String nameOfCSG, CSG hull, boolean isFree) throws IO
 		if (!useCache) {
 			long start = System.currentTimeMillis();
 			System.out.print("\nWriting " + tempFile.getName());
-			String xml = hull.toObjString();
-			Files.write(Paths.get(tempFile.getAbsolutePath()), xml.getBytes());
-			System.out.print(" " + (System.currentTimeMillis() - start));
+			ArrayList<Vector3d> points = new ArrayList<>();
+			List<Polygon> polygons = hull.getPolygons();
+			for (int j = 0; j < polygons.size(); j++) {
+				Polygon p = polygons.get(j);
+				List<Vector3d> points2 = p.getPoints();
+				for (int i = 0; i < points2.size(); i++) {
+					Vector3d v = points2.get(i);
+					points.add(v);
+				}
+			}
+			String obj = HullUtil.hull(points).toObjString();
+//			InputStream in=new ByteArrayInputStream(obj.getBytes(StandardCharsets.UTF_8));
+//			
+//			ObjImporter importer = new ObjImporter(in);
+
+			Files.write(Paths.get(tempFile.getAbsolutePath()), obj.getBytes());
+			System.out.print(" " + (System.currentTimeMillis() - start+"\n"));
 		} else {
 			System.out.println("Loading cache " + tempFile.getName());
 		}

test/java/src/junit/bowler/MuJoCoBowlerIntegrationTest.java

@@ -22,63 +22,52 @@ public class MuJoCoBowlerIntegrationTest {
 
 	@Test
 	public void test() throws Exception {
-//		try {
-//			JavaFXInitializer.go();
-//		} catch (Throwable t) {
-//			t.printStackTrace();
-//			System.err.println("ERROR No UI engine availible");
-//		}
-//		ArrayList<MobileBase> bases = new ArrayList<>();
-//		ArrayList<CSG> lifted =new ArrayList<>();
-//		ArrayList<CSG> terrain = new ArrayList<>();
-//
-////		MobileBase cat = (MobileBase) ScriptingEngine.gitScriptRun(
-////				"https://github.com/OperationSmallKat/Marcos.git",
-////				"Marcos.xml");
-////		cat.connect();
-////		bases.add(cat);
-//		List<CSG> parts = new ArrayList<>();// uncomment the line below to run the full test with all the pieces. this is removed to work with CI ram limits
-////		List<CSG> parts = (List<CSG>) ScriptingEngine.gitScriptRun(
-////				"https://gist.github.com/4814b39ee72e9f590757.git",
-////				"javaCad.groovy");
-//		System.out.println("Parts size = "+parts.size());
-//		//terrain.add(new Cube(10000,10000,100).toCSG().toZMax());
-//		if(parts.size()>45)
-//			for(int i=45;i<parts.size();i++) {
-//				if (i==27||i==25)
-//					continue;
-//				CSG p= parts.get(i);
-//				CSG pl=p.roty(15).movez(200);
-//				pl.setName(p.getName());
-//				lifted.add(pl);
-//				terrain.add(p);
-//			}
-//		MuJoCoPhysicsManager manager = new MuJoCoPhysicsManager("javaCadTest", bases, lifted, terrain, new File("./physicsTest"));
+		try {
+			JavaFXInitializer.go();
+		} catch (Throwable t) {
+			t.printStackTrace();
+			System.err.println("ERROR No UI engine availible");
+		}
+		ArrayList<MobileBase> bases = new ArrayList<>();
+		ArrayList<CSG> free =new ArrayList<>();
+		ArrayList<CSG> terrain = new ArrayList<>();
+
+
+		List<CSG> parts = (List<CSG>) ScriptingEngine.gitScriptRun(
+				"https://github.com/madhephaestus/VexHighStakes2024.git",
+				"fieldElements.groovy");
+		terrain= (ArrayList<CSG>) ScriptingEngine.gitScriptRun(
+				"https://github.com/madhephaestus/VexHighStakes2024.git",
+				"field.groovy");
+		System.out.println("Parts size = "+parts.size());
+		//terrain.add(new Cube(10000,10000,100).toCSG().toZMax());
+		free.addAll(parts);
+		MuJoCoPhysicsManager manager = new MuJoCoPhysicsManager("javaCadTest", bases, free, terrain, new File("./physicsTest"));
 //		manager.setTimestep(0.005);
 //		manager.setIntegratorType(IntegratorType.IMPLICITFAST);
-//		manager.generateNewModel();// generate model before start counting time
-//		long start = System.currentTimeMillis();
-//		double now = 0;
-//		boolean first=true;
-//		while((now=manager.getCurrentSimulationTimeSeconds())<5) {
-//			long took;
-//			if((took = manager.stepAndWait())>(manager.getCurrentSimulationTimeSeconds()*1000.0)) {
-//				if(first) {
-//					first=false;
-//					continue;
-//				}
-//				fail("Real time broken! "+took+" instead of expected "+manager.getCurrentSimulationTimeSeconds());
-//			}else {
-//				System.out.println("Time "+now);
-//			}
-//			long timeSinceStart = System.currentTimeMillis()-start;
-//			double sec = ((double)timeSinceStart)/1000.0;
-//			if((sec-1)>now) {
-//				fail("Simulation froze and restarted! "+sec+" expected "+now);
-//			}
-//		}
-//		manager.close();
-//		System.out.println("Success!");
+		manager.generateNewModel();// generate model before start counting time
+		long start = System.currentTimeMillis();
+		double now = 0;
+		boolean first=true;
+		while((now=manager.getCurrentSimulationTimeSeconds())<5) {
+			long took;
+			if((took = manager.stepAndWait())>(manager.getCurrentSimulationTimeSeconds()*1000.0)) {
+				if(first) {
+					first=false;
+					continue;
+				}
+				fail("Real time broken! "+took+" instead of expected "+manager.getCurrentSimulationTimeSeconds());
+			}else {
+				System.out.println("Time "+now);
+			}
+			long timeSinceStart = System.currentTimeMillis()-start;
+			double sec = ((double)timeSinceStart)/1000.0;
+			if((sec-1)>now) {
+				fail("Simulation froze and restarted! "+sec+" expected "+now);
+			}
+		}
+		manager.close();
+		System.out.println("Success!");
 
 	}