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switch hull indices to 32-bit indices

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This commit is contained in:
Irlan
2018-07-19 13:05:14 -03:00
parent ad7c13005f
commit 261c5fc044
18 changed files with 137 additions and 167 deletions
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3
examples/testbed/tests/convex_hull.h
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@ -24,8 +24,7 @@ class ConvexHull : public Test
public:
enum
{
// Half to avoid generation failure due to many vertices
e_count = B3_MAX_HULL_VERTICES / 2
e_count = 256
};
ConvexHull()

3
examples/testbed/tests/hull_collision.h
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@ -24,8 +24,7 @@ class HullCollision : public Collide
public:
enum
{
// Half to avoid generation failure due to many vertices
e_count = B3_MAX_HULL_VERTICES / 2
e_count = 256
};
HullCollision()

2
examples/testbed/tests/hull_contact_test.h
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@ -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)

19
include/bounce/collision/shapes/hull.h
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@ -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;
u8 twin;
u8 face;
u8 next;
u32 origin;
u32 twin;
u32 face;
u32 next;
};
struct b3Hull

8
include/bounce/collision/shapes/hull.inl
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@ -1,10 +1,10 @@
inline b3HalfEdge b3MakeEdge(u32 origin, u32 twin, u32 face, u32 next)
{
b3HalfEdge edge;
edge.origin = u8(origin);
edge.twin = u8(twin);
edge.face = u8(face);
edge.next = u8(next);
edge.origin = origin;
edge.twin = twin;
edge.face = face;
edge.next = next;
return edge;
}

18
include/bounce/collision/shapes/qhull.h
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@ -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];
b3HalfEdge hullEdges[B3_MAX_HULL_EDGES];
b3Face hullFaces[B3_MAX_HULL_FACES];
b3Plane hullPlanes[B3_MAX_HULL_FACES];
b3StackArray<b3Vec3, 256> hullVertices;
b3StackArray<b3HalfEdge, 256> hullEdges;
b3StackArray<b3Face, 256> hullFaces;
b3StackArray<b3Plane, 256> hullPlanes;
b3QHull()
{
// Zero the counters since the user manipulates via setters
vertices = hullVertices;
vertices = hullVertices.Begin();
vertexCount = 0;
edges = hullEdges;
edges = hullEdges.Begin();
edgeCount = 0;
faces = hullFaces;
faces = hullFaces.Begin();
faceCount = 0;
planes = hullPlanes;
planes = hullPlanes.Begin();
centroid.SetZero();
}

32
include/bounce/dynamics/contacts/collide/clip.h
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@ -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
u8 inEdge2; // incoming edge on hull 2
u8 outEdge1; // outgoing edge on hull 1
u8 outEdge2; // outgoing edge on hull 2
u32 inEdge1; // incoming edge on hull 1
u32 outEdge1; // outgoing edge on hull 1
u32 inEdge2; // incoming 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.inEdge2 = u8(inEdge2);
out.outEdge1 = u8(outEdge1);
out.outEdge2 = u8(outEdge2);
out.inEdge1 = inEdge1;
out.inEdge2 = inEdge2;
out.outEdge1 = outEdge1;
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
{

43
include/bounce/dynamics/contacts/manifold.h
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@ -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
u32 key; // point identifier
b3ManifoldPointKey key; // point identifier
float32 normalImpulse; // normal impulse
u32 persisting; // is this point persistent?

104
src/bounce/collision/shapes/qhull.cpp
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@ -19,41 +19,24 @@
#include <bounce/collision/shapes/qhull.h>
#include <bounce/quickhull/qh_hull.h>
#define B3_NULL_HULL_FEATURE 0xFF
// Used to map pointers to indices
// If more performance is required then a use hash-map
template<class T, u32 N>
template <class T>
struct b3UniqueStackArray
{
b3UniqueStackArray()
u32 PushBack(const T& e)
{
count = 0;
}
// Return value index if added
// Return N if the array is full
u32 PushBack(const T& value)
for (u32 i = 0; i < elements.Count(); ++i)
{
for (u32 i = 0; i < count; ++i)
{
if (values[i] == value)
if (elements[i] == e)
{
return i;
}
}
if (count == N)
{
return N;
elements.PushBack(e);
return elements.Count() - 1;
}
values[count++] = value;
return count - 1;
}
T values[N];
u32 count;
b3StackArray<T, 256> elements;
};
//
@ -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<qhHalfEdge*, B3_MAX_HULL_EDGES> es;
u32 fs_count = 0;
b3UniqueStackArray<qhVertex*> vs;
b3UniqueStackArray<qhHalfEdge*> es;
// 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);
vertices[iv] = v->position;
u32 iv = vs.PushBack(v);
hullVertices[iv] = v->position;
u8 iedge = (u8)es.PushBack(edge);
b3HalfEdge* hedge = edges + iedge;
hedge->face = u8(iface);
u32 iedge = es.PushBack(edge);
b3HalfEdge* hedge = hullEdges.Get(iedge);
hedge->face = iface;
hedge->origin = iv;
qhHalfEdge* twin = edge->twin;
u8 itwin = (u8)es.PushBack(twin);
b3HalfEdge* htwin = edges + itwin;
u32 itwin = es.PushBack(twin);
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 = vs.count;
B3_ASSERT(es.count <= B3_MAX_HULL_EDGES);
edgeCount = es.count;
B3_ASSERT(fs_count <= B3_MAX_HULL_FACES);
faceCount = fs_count;
vertexCount = hullVertices.Count();
edgeCount = hullEdges.Count();
faceCount = hullFaces.Count();
// Validate
Validate();

7
src/bounce/dynamics/contacts/collide/collide_capsule_hull.cpp
View File

@ -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;
@ -193,8 +191,9 @@ 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 = 0;
manifold.points[0].key.triangleKey = B3_NULL_TRIANGLE;
manifold.points[0].key.key1 = 0;
manifold.points[0].key.key2 = 0;
return;
}

7
src/bounce/dynamics/contacts/collide/collide_capsules.cpp
View File

@ -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 = 0;
manifold.points[0].key.triangleKey = B3_NULL_TRIANGLE;
manifold.points[0].key.key1 = 0;
manifold.points[0].key.key2 = 0;
return;
}

3
src/bounce/dynamics/contacts/collide/collide_hulls.cpp
View File

@ -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);
}
}

1
src/bounce/dynamics/contacts/collide/collide_hulls_cache.cpp
View File

@ -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);
}
}

15
src/bounce/dynamics/contacts/collide/collide_sphere_capsule.cpp
View File

@ -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 = 0;
manifold.points[0].key.triangleKey = B3_NULL_TRIANGLE;
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 = 0;
manifold.points[0].key.triangleKey = B3_NULL_TRIANGLE;
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 = 2;
manifold.points[0].key.triangleKey = B3_NULL_TRIANGLE;
manifold.points[0].key.key1 = 0;
manifold.points[0].key.key2 = 0;
}

10
src/bounce/dynamics/contacts/collide/collide_sphere_hull.cpp
View File

@ -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 = 0;
manifold.points[0].key.triangleKey = B3_NULL_TRIANGLE;
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 = 1;
manifold.points[0].key.triangleKey = B3_NULL_TRIANGLE;
manifold.points[0].key.key1 = 0;
manifold.points[0].key.key2 = 0;
}

5
src/bounce/dynamics/contacts/collide/collide_spheres.cpp
View File

@ -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 = 0;
manifold.points[0].key.triangleKey = B3_NULL_TRIANGLE;
manifold.points[0].key.key1 = 0;
manifold.points[0].key.key2 = 0;
}

16
src/bounce/dynamics/contacts/manifold.cpp
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@ -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;
for (u32 j = 0; j < pointCount; ++j)
b3ManifoldPoint* p1 = points + i;
for (u32 j = 0; j < oldManifold.pointCount; ++j)
{
b3ManifoldPoint* p2 = points + j;
if (p2->triangleKey == p1->triangleKey && p2->key == p1->key)
const b3ManifoldPoint* p2 = oldManifold.points + j;
if (p2->key == p1->key)
{
p2->normalImpulse = p1->normalImpulse;
p2->persisting = 1;
p1->normalImpulse = p2->normalImpulse;
p1->persisting = 1;
break;
}
}

2
src/bounce/dynamics/contacts/mesh_contact.cpp
View File

@ -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;