switch hull indices to 32-bit indices

examples/testbed/tests/convex_hull.h

@@ -24,8 +24,7 @@ class ConvexHull : public Test
 public:
 	enum
 	{
-		// Half to avoid generation failure due to many vertices
+		e_count = 256
-		e_count = B3_MAX_HULL_VERTICES / 2
 	};
 
 	ConvexHull()

examples/testbed/tests/hull_collision.h

@@ -24,8 +24,7 @@ class HullCollision : public Collide
 public:
 	enum
 	{
-		// Half to avoid generation failure due to many vertices
+		e_count = 256
-		e_count = B3_MAX_HULL_VERTICES / 2
 	};
 
 	HullCollision()

examples/testbed/tests/hull_contact_test.h

@@ -46,7 +46,7 @@ public:
 		{
 			b3QHull* hull = hulls + i;
 
-			const u32 count = B3_MAX_HULL_VERTICES / 4;
+			const u32 count = 32;
 			b3Vec3 points[count];
 
 			for (u32 j = 0; j < count; ++j)

include/bounce/collision/shapes/hull.h

@@ -21,26 +21,17 @@
 
 #include <bounce/common/geometry.h>
 
-// The maximum number of vertices that a hull can have.
-#define B3_MAX_HULL_VERTICES (B3_MAX_U8 + 1)
-
-// The maximum number of half-edges a hull can have.
-#define B3_MAX_HULL_EDGES (B3_MAX_U8 + 1)
-
-// The maximum number of faces and planes a hull can have.
-#define B3_MAX_HULL_FACES (B3_MAX_U8 + 1)
-
 struct b3Face
 {
-	u8 edge;
+	u32 edge;
 };
 
 struct b3HalfEdge
 {
-	u8 origin;
+	u32 origin;
-	u8 twin;
+	u32 twin;
-	u8 face;
+	u32 face;
-	u8 next;
+	u32 next;
 };
 
 struct b3Hull

include/bounce/collision/shapes/hull.inl

@@ -1,10 +1,10 @@
 inline b3HalfEdge b3MakeEdge(u32 origin, u32 twin, u32 face, u32 next)
 {
 	b3HalfEdge edge;
-	edge.origin = u8(origin);
+	edge.origin = origin;
-	edge.twin = u8(twin);
+	edge.twin = twin;
-	edge.face = u8(face);
+	edge.face = face;
-	edge.next = u8(next);
+	edge.next = next;
 	return edge;
 }
 

include/bounce/collision/shapes/qhull.h

@@ -20,25 +20,25 @@
 #define B3_Q_HULL_H
 
 #include <bounce/collision/shapes/hull.h>
+#include <bounce/common/template/array.h>
 
 // This hull can be constructed from an array of points.
 struct b3QHull : public b3Hull
 {
-	b3Vec3 hullVertices[B3_MAX_HULL_VERTICES];
+	b3StackArray<b3Vec3, 256> hullVertices;
-	b3HalfEdge hullEdges[B3_MAX_HULL_EDGES];
+	b3StackArray<b3HalfEdge, 256> hullEdges;
-	b3Face hullFaces[B3_MAX_HULL_FACES];
+	b3StackArray<b3Face, 256> hullFaces;
-	b3Plane hullPlanes[B3_MAX_HULL_FACES];
+	b3StackArray<b3Plane, 256> hullPlanes;
 
 	b3QHull()
 	{
-		// Zero the counters since the user manipulates via setters
+		vertices = hullVertices.Begin();
-		vertices = hullVertices;
 		vertexCount = 0;
-		edges = hullEdges;
+		edges = hullEdges.Begin();
 		edgeCount = 0;
-		faces = hullFaces;
+		faces = hullFaces.Begin();
 		faceCount = 0;
-		planes = hullPlanes;
+		planes = hullPlanes.Begin();
 		centroid.SetZero();
 	}
 

include/bounce/dynamics/contacts/collide/clip.h

@@ -22,41 +22,27 @@
 #include <bounce/common/template/array.h>
 #include <bounce/common/geometry.h>
 
-#define B3_NULL_EDGE (0xFF)
+#define B3_NULL_EDGE B3_MAX_U32
 
 // A combination of features used to uniquely identify a vertex on a feature.
 struct b3FeaturePair
 {
-	u8 inEdge1; // incoming edge on hull 1
+	u32 inEdge1; // incoming edge on hull 1
-	u8 inEdge2; // incoming edge on hull 2
+	u32 outEdge1; // outgoing edge on hull 1
-	u8 outEdge1; // outgoing edge on hull 1
+	u32 inEdge2; // incoming edge on hull 2
-	u8 outEdge2; // outgoing edge on hull 2
+	u32 outEdge2; // outgoing edge on hull 2
 };
 
 inline b3FeaturePair b3MakePair(u32 inEdge1, u32 inEdge2, u32 outEdge1, u32 outEdge2)
 {
 	b3FeaturePair out;
-	out.inEdge1 = u8(inEdge1);
+	out.inEdge1 = inEdge1;
-	out.inEdge2 = u8(inEdge2);
+	out.inEdge2 = inEdge2;
-	out.outEdge1 = u8(outEdge1);
+	out.outEdge1 = outEdge1;
-	out.outEdge2 = u8(outEdge2);
+	out.outEdge2 = outEdge2;
 	return out;
 }
 
-// Make a 32-bit key for a feature pair.
-inline u32 b3MakeKey(const b3FeaturePair& featurePair)
-{
-	union b3FeaturePairKey
-	{
-		b3FeaturePair pair;
-		u32 key;
-	};
-
-	b3FeaturePairKey key;
-	key.pair = featurePair;
-	return key.key;
-}
-
 // A clip vertex.
 struct b3ClipVertex
 {
@@ -110,4 +96,4 @@ u32 b3ClipEdgeToFace(b3ClipVertex vOut[2],
 void b3ClipPolygonToFace(b3ClipPolygon& pOut,
 	const b3ClipPolygon& pIn, const b3Transform& xf, float32 r, u32 index, const b3Hull* hull);
 
-#endif
+#endif

include/bounce/dynamics/contacts/manifold.h

@@ -20,10 +20,48 @@
 #define B3_MANIFOLD_H
 
 #include <bounce/common/math/vec2.h>
-#include <bounce/common/geometry.h>
+#include <bounce/dynamics/contacts/collide/clip.h>
 
 #define B3_NULL_TRIANGLE (0xFFFFFFFF)
 
+// A contact manifold point.
+struct b3ManifoldPointKey
+{
+	bool operator==(const b3ManifoldPointKey& other) const
+	{
+		return triangleKey == other.triangleKey &&
+			key1 == other.key1 && key2 == other.key2;
+	}
+
+	u32 triangleKey; 
+	u64 key1; 
+	u64 key2; 
+};
+
+inline b3ManifoldPointKey b3MakeKey(const b3FeaturePair& featurePair)
+{
+	struct b3Key128
+	{
+		u64 key1;
+		u64 key2;
+	};
+
+	union b3FeaturePairKey
+	{
+		b3FeaturePair pair;
+		b3Key128 key;
+	};
+
+	b3FeaturePairKey fpkey;
+	fpkey.pair = featurePair;
+
+	b3ManifoldPointKey key;
+	key.triangleKey = B3_NULL_TRIANGLE;
+	key.key1 = fpkey.key.key1;
+	key.key2 = fpkey.key.key2;
+	return key;
+}
+
 // A contact manifold point.
 struct b3ManifoldPoint
 {
@@ -31,8 +69,7 @@ struct b3ManifoldPoint
 	b3Vec3 localPoint1; // local point on the first shape without its radius
 	b3Vec3 localPoint2; // local point on the other shape without its radius
 
-	u32 triangleKey; // triangle identifier
+	b3ManifoldPointKey key; // point identifier
-	u32 key; // point identifier
 
 	float32 normalImpulse; // normal impulse
 	u32 persisting; // is this point persistent?

src/bounce/collision/shapes/qhull.cpp

@@ -19,41 +19,24 @@
 #include <bounce/collision/shapes/qhull.h>
 #include <bounce/quickhull/qh_hull.h>
 
-#define B3_NULL_HULL_FEATURE 0xFF
+template <class T>
-
-// Used to map pointers to indices 
-// If more performance is required then a use hash-map
-template<class T, u32 N>
 struct b3UniqueStackArray
 {
-	b3UniqueStackArray()
+	u32 PushBack(const T& e)
 	{
-		count = 0;
+		for (u32 i = 0; i < elements.Count(); ++i)
-	}
-
-	// Return value index if added
-	// Return N if the array is full
-	u32 PushBack(const T& value)
-	{
-		for (u32 i = 0; i < count; ++i)
 		{
-			if (values[i] == value)
+			if (elements[i] == e)
 			{
 				return i;
 			}
 		}
 
-		if (count == N)
+		elements.PushBack(e);
-		{
+		return elements.Count() - 1;
-			return N;
-		}
-
-		values[count++] = value;
-		return count - 1;
 	}
 
-	T values[N];
+	b3StackArray<T, 256> elements;
-	u32 count;
 };
 
 //
@@ -287,22 +270,9 @@ void b3QHull::Set(const b3Vec3* points, u32 count, bool simplify)
 		b3Free(ps);
 	}
 
-	if (hull.GetVertexList().count > B3_MAX_HULL_VERTICES)
-	{
-		// Vertex excess
-		return;
-	}
-
-	if (hull.GetFaceList().count > B3_MAX_HULL_FACES)
-	{
-		// Face excess
-		return;
-	}
-
 	// Convert the constructed hull into a run-time hull.
-	b3UniqueStackArray<qhVertex*, B3_MAX_HULL_VERTICES> vs;
+	b3UniqueStackArray<qhVertex*> vs;
-	b3UniqueStackArray<qhHalfEdge*, B3_MAX_HULL_EDGES> es;
+	b3UniqueStackArray<qhHalfEdge*> es;
-	u32 fs_count = 0;
 
 	// Add vertices to the map
 	for (qhVertex* vertex = hull.GetVertexList().head; vertex != NULL; vertex = vertex->next)
@@ -310,13 +280,9 @@ void b3QHull::Set(const b3Vec3* points, u32 count, bool simplify)
 		vs.PushBack(vertex);
 	}
 
-	// Add faces and half-edges to the map
+	// Add half-edges to the map
 	for (qhFace* face = hull.GetFaceList().head; face != NULL; face = face->next)
 	{
-		// Add face
-		B3_ASSERT(fs_count < B3_MAX_HULL_FACES);
-		++fs_count;
-
 		// Add half-edges 
 		qhHalfEdge* begin = face->edge;
 		qhHalfEdge* edge = begin;
@@ -324,59 +290,54 @@ void b3QHull::Set(const b3Vec3* points, u32 count, bool simplify)
 		{
 			// Add half-edge
 			u32 iedge = es.PushBack(edge);
-			if (iedge == B3_MAX_HULL_EDGES)
-			{
-				// Half-edge excess
-				return;
-			}
 
 			// Add half-edge just after its twin
 			u32 itwin = es.PushBack(edge->twin);
-			if (itwin == B3_MAX_HULL_EDGES)
-			{
-				// Half-edge excess
-				return;
-			}
 
 			edge = edge->next;
 		} while (edge != begin);
 	}
 
+	hullVertices.Resize(hull.GetVertexList().count);
+	hullEdges.Resize(es.elements.Count());
+	hullFaces.Resize(hull.GetFaceList().count);
+	hullPlanes.Resize(hull.GetFaceList().count);
+
 	// Build and link the features
 	u32 iface = 0;
 	for (qhFace* face = hull.GetFaceList().head; face != NULL; face = face->next)
 	{
 		// Build and link the half-edges 
-		b3Face* hface = faces + iface;
+		b3Face* hface = hullFaces.Get(iface);
 
-		planes[iface] = face->plane;
+		hullPlanes[iface] = face->plane;
 
 		qhHalfEdge* begin = face->edge;
-		hface->edge = (u8)es.PushBack(begin);
+		hface->edge = es.PushBack(begin);
 
 		qhHalfEdge* edge = begin;
 		do
 		{
 			qhVertex* v = edge->tail;
-			u8 iv = (u8)vs.PushBack(v);
+			u32 iv = vs.PushBack(v);
-			vertices[iv] = v->position;
+			hullVertices[iv] = v->position;
 
-			u8 iedge = (u8)es.PushBack(edge);
+			u32 iedge = es.PushBack(edge);
-			b3HalfEdge* hedge = edges + iedge;
+			b3HalfEdge* hedge = hullEdges.Get(iedge);
-			hedge->face = u8(iface);
+			hedge->face = iface;
 			hedge->origin = iv;
 
 			qhHalfEdge* twin = edge->twin;
-			u8 itwin = (u8)es.PushBack(twin);
+			u32 itwin = es.PushBack(twin);
-			b3HalfEdge* htwin = edges + itwin;
+			b3HalfEdge* htwin = hullEdges.Get(itwin);
 			htwin->twin = iedge;
 
 			hedge->twin = itwin;
 
 			qhHalfEdge* next = edge->next;
-			u8 inext = (u8)es.PushBack(next);
+			u32 inext = es.PushBack(next);
 
-			edges[iedge].next = inext;
+			hullEdges[iedge].next = inext;
 
 			edge = next;
 		} while (edge != begin);
@@ -384,14 +345,9 @@ void b3QHull::Set(const b3Vec3* points, u32 count, bool simplify)
 		++iface;
 	}
 
-	B3_ASSERT(vs.count <= B3_MAX_HULL_VERTICES);
+	vertexCount = hullVertices.Count();
-	vertexCount = vs.count;
+	edgeCount = hullEdges.Count();
-
+	faceCount = hullFaces.Count();
-	B3_ASSERT(es.count <= B3_MAX_HULL_EDGES);
-	edgeCount = es.count;
-
-	B3_ASSERT(fs_count <= B3_MAX_HULL_FACES);
-	faceCount = fs_count;
 
 	// Validate
 	Validate();

src/bounce/dynamics/contacts/collide/collide_capsule_hull.cpp

@@ -85,7 +85,6 @@ static void b3BuildEdgeContact(b3Manifold& manifold,
 	manifold.points[0].localNormal1 = b3MulT(xf1.rotation, N);
 	manifold.points[0].localPoint1 = b3MulT(xf1, c1);
 	manifold.points[0].localPoint2 = b3MulT(xf2, c2);
-	manifold.points[0].triangleKey = B3_NULL_TRIANGLE;
 	manifold.points[0].key = b3MakeKey(pair);
 }
 
@@ -131,7 +130,6 @@ static void b3BuildFaceContact(b3Manifold& manifold,
 			mp->localNormal1 = b3MulT(xf1.rotation, n1);
 			mp->localPoint1 = b3MulT(xf1, c1);
 			mp->localPoint2 = b3MulT(xf2, c2);
-			mp->triangleKey = B3_NULL_TRIANGLE;
 			mp->key = b3MakeKey(clipEdge1[i].pair);
 			
 			++pointCount;
@@ -193,9 +191,10 @@ void b3CollideCapsuleAndHull(b3Manifold& manifold,
 		manifold.points[0].localNormal1 = b3MulT(xf1.rotation, N1);
 		manifold.points[0].localPoint1 = b3MulT(xf1, gjk.point1);
 		manifold.points[0].localPoint2 = b3MulT(xf2, gjk.point2);
-		manifold.points[0].triangleKey = B3_NULL_TRIANGLE;
+		manifold.points[0].key.triangleKey = B3_NULL_TRIANGLE;
-		manifold.points[0].key = 0;
+		manifold.points[0].key.key1 = 0;
-		
+		manifold.points[0].key.key2 = 0;
+
 		return;
 	}
 	

src/bounce/dynamics/contacts/collide/collide_capsules.cpp

@@ -233,13 +233,11 @@ void b3CollideCapsuleAndCapsule(b3Manifold& manifold,
 					manifold.points[0].localNormal1 = b3MulT(xf1.rotation, n1);
 					manifold.points[0].localPoint1 = b3MulT(xf1, clipEdge1[0].position);
 					manifold.points[0].localPoint2 = b3MulT(xf2, cp1);
-					manifold.points[0].triangleKey = B3_NULL_TRIANGLE;
 					manifold.points[0].key = b3MakeKey(clipEdge1[0].pair);
 
 					manifold.points[1].localNormal1 = b3MulT(xf1.rotation, n2);
 					manifold.points[1].localPoint1 = b3MulT(xf1, clipEdge1[1].position);
 					manifold.points[1].localPoint2 = b3MulT(xf2, cp2);
-					manifold.points[1].triangleKey = B3_NULL_TRIANGLE;
 					manifold.points[1].key = b3MakeKey(clipEdge1[1].pair);
 
 					return;
@@ -253,8 +251,9 @@ void b3CollideCapsuleAndCapsule(b3Manifold& manifold,
 		manifold.points[0].localNormal1 = b3MulT(xf1.rotation, normal);
 		manifold.points[0].localPoint1 = b3MulT(xf1, point1);
 		manifold.points[0].localPoint2 = b3MulT(xf2, point2);
-		manifold.points[0].triangleKey = B3_NULL_TRIANGLE;
+		manifold.points[0].key.triangleKey = B3_NULL_TRIANGLE;
-		manifold.points[0].key = 0;
+		manifold.points[0].key.key1 = 0;
+		manifold.points[0].key.key2 = 0;
 
 		return;
 	}

src/bounce/dynamics/contacts/collide/collide_hulls.cpp

@@ -87,7 +87,6 @@ void b3BuildEdgeContact(b3Manifold& manifold,
 	manifold.points[0].localNormal1 = b3MulT(xf1.rotation, N);
 	manifold.points[0].localPoint1 = b3MulT(xf1, c1);
 	manifold.points[0].localPoint2 = b3MulT(xf2, c2);
-	manifold.points[0].triangleKey = B3_NULL_TRIANGLE;
 	manifold.points[0].key = b3MakeKey(pair);
 }
 
@@ -190,7 +189,6 @@ void b3BuildFaceContact(b3Manifold& manifold,
 			mp->localNormal1 = b3MulT(xf2.rotation, s_normal);
 			mp->localPoint1 = b3MulT(xf2, v2.position);
 			mp->localPoint2 = b3MulT(xf1, v1);
-			mp->triangleKey = B3_NULL_TRIANGLE;
 			mp->key = b3MakeKey(pair);
 		}
 		else
@@ -198,7 +196,6 @@ void b3BuildFaceContact(b3Manifold& manifold,
 			mp->localNormal1 = b3MulT(xf1.rotation, normal);
 			mp->localPoint1 = b3MulT(xf1, v1);
 			mp->localPoint2 = b3MulT(xf2, v2.position);
-			mp->triangleKey = B3_NULL_TRIANGLE;
 			mp->key = b3MakeKey(v2.pair);
 		}
 	}

src/bounce/dynamics/contacts/collide/collide_hulls_cache.cpp

@@ -106,7 +106,6 @@ static void b3RebuildEdgeContact(b3Manifold& manifold,
 		manifold.points[0].localNormal1 = b3MulT(xf1.rotation, N);
 		manifold.points[0].localPoint1 = b3MulT(xf1, c1);
 		manifold.points[0].localPoint2 = b3MulT(xf2, c2);
-		manifold.points[0].triangleKey = B3_NULL_TRIANGLE;
 		manifold.points[0].key = b3MakeKey(pair);
 	}
 }

src/bounce/dynamics/contacts/collide/collide_sphere_capsule.cpp

@@ -59,8 +59,9 @@ void b3CollideSphereAndCapsule(b3Manifold& manifold,
 		manifold.points[0].localNormal1 = b3MulT(xf1.rotation, n);
 		manifold.points[0].localPoint1 = s1->m_center;
 		manifold.points[0].localPoint2 = s2->m_centers[0];
-		manifold.points[0].triangleKey = B3_NULL_TRIANGLE;
+		manifold.points[0].key.triangleKey = B3_NULL_TRIANGLE;
-		manifold.points[0].key = 0;
+		manifold.points[0].key.key1 = 0;
+		manifold.points[0].key.key2 = 0;
 
 		return;
 	}
@@ -87,8 +88,9 @@ void b3CollideSphereAndCapsule(b3Manifold& manifold,
 		manifold.points[0].localNormal1 = b3MulT(xf1.rotation, n);
 		manifold.points[0].localPoint1 = s1->m_center;
 		manifold.points[0].localPoint2 = s2->m_centers[1];
-		manifold.points[0].triangleKey = B3_NULL_TRIANGLE;
+		manifold.points[0].key.triangleKey = B3_NULL_TRIANGLE;
-		manifold.points[0].key = 0;
+		manifold.points[0].key.key1 = 0;
+		manifold.points[0].key.key2 = 0;
 
 		return;
 	}
@@ -126,6 +128,7 @@ void b3CollideSphereAndCapsule(b3Manifold& manifold,
 	manifold.points[0].localNormal1 = b3MulT(xf1.rotation, n);
 	manifold.points[0].localPoint1 = s1->m_center;
 	manifold.points[0].localPoint2 = b3MulT(xf2, P);
-	manifold.points[0].triangleKey = B3_NULL_TRIANGLE;
+	manifold.points[0].key.triangleKey = B3_NULL_TRIANGLE;
-	manifold.points[0].key = 2;
+	manifold.points[0].key.key1 = 0;
-}
+	manifold.points[0].key.key2 = 0;
+}

src/bounce/dynamics/contacts/collide/collide_sphere_hull.cpp

@@ -52,8 +52,9 @@ void b3CollideSphereAndHull(b3Manifold& manifold,
 		manifold.points[0].localNormal1 = b3MulT(xf1.rotation, normal);
 		manifold.points[0].localPoint1 = s1->m_center;
 		manifold.points[0].localPoint2 = b3MulT(xf2, c2);
-		manifold.points[0].triangleKey = B3_NULL_TRIANGLE;
+		manifold.points[0].key.triangleKey = B3_NULL_TRIANGLE;
-		manifold.points[0].key = 0;
+		manifold.points[0].key.key1 = 0;
+		manifold.points[0].key.key2 = 0;
 
 		return;
 	}
@@ -80,6 +81,7 @@ void b3CollideSphereAndHull(b3Manifold& manifold,
 	manifold.points[0].localNormal1 = b3MulT(xf1.rotation, n1);
 	manifold.points[0].localPoint1 = s1->m_center;
 	manifold.points[0].localPoint2 = b3MulT(xf2, c2);
-	manifold.points[0].triangleKey = B3_NULL_TRIANGLE;
+	manifold.points[0].key.triangleKey = B3_NULL_TRIANGLE;
-	manifold.points[0].key = 1;
+	manifold.points[0].key.key1 = 0;
+	manifold.points[0].key.key2 = 0;
 }

src/bounce/dynamics/contacts/collide/collide_spheres.cpp

@@ -50,6 +50,7 @@ void b3CollideSphereAndSphere(b3Manifold& manifold,
 	manifold.points[0].localNormal1 = b3MulT(xf1.rotation, normal);
 	manifold.points[0].localPoint1 = s1->m_center;
 	manifold.points[0].localPoint2 = s2->m_center;
-	manifold.points[0].triangleKey = B3_NULL_TRIANGLE;
+	manifold.points[0].key.triangleKey = B3_NULL_TRIANGLE;
-	manifold.points[0].key = 0;
+	manifold.points[0].key.key1 = 0;
+	manifold.points[0].key.key2 = 0;
 }

src/bounce/dynamics/contacts/manifold.cpp

@@ -36,16 +36,18 @@ void b3Manifold::Initialize(const b3Manifold& oldManifold)
 	tangentImpulse = oldManifold.tangentImpulse;
 	motorImpulse = oldManifold.motorImpulse;
 
-	for (u32 i = 0; i < oldManifold.pointCount; ++i)
+	for (u32 i = 0; i < pointCount; ++i)
 	{
-		const b3ManifoldPoint* p1 = oldManifold.points + i;
+		b3ManifoldPoint* p1 = points + i;
-		for (u32 j = 0; j < pointCount; ++j)
+		
+		for (u32 j = 0; j < oldManifold.pointCount; ++j)
 		{
-			b3ManifoldPoint* p2 = points + j;
+			const b3ManifoldPoint* p2 = oldManifold.points + j;
-			if (p2->triangleKey == p1->triangleKey && p2->key == p1->key)
+			
+			if (p2->key == p1->key)
 			{
-				p2->normalImpulse = p1->normalImpulse;
+				p1->normalImpulse = p2->normalImpulse;
-				p2->persisting = 1;
+				p1->persisting = 1;
 				break;
 			}
 		}

src/bounce/dynamics/contacts/mesh_contact.cpp

@@ -259,7 +259,7 @@ void b3MeshContact::Collide()
 		
 		for (u32 j = 0; j < manifold->pointCount; ++j)
 		{
-			manifold->points[j].triangleKey = triangleIndex;
+			manifold->points[j].key.triangleKey = triangleIndex;
 		}
 		
 		++tempCount;