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optimization

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This commit is contained in:
Irlan 2018-04-21 13:10:45 -03:00
parent 97ee209bb6
commit 2f202ef9f1
1 changed files with 98 additions and 109 deletions
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207
src/bounce/collision/shapes/qhull.cpp
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@ -21,45 +21,52 @@
#define B3_NULL_HULL_FEATURE 0xFF
//
struct b3PointerIndex
{
void* pointer;
u8 index;
};
//
template<u32 N>
struct b3PIMap
template<class T, u32 N>
struct b3UniqueArray
{
b3PIMap()
b3UniqueArray()
{
count = 0;
}
void Add(const b3PointerIndex& pi)
void PushBack(const T& value)
{
// B3_ASSERT(Find(value) == count)
B3_ASSERT(count < N);
pis[count++] = pi;
values[count++] = value;
}
b3PointerIndex* Find(void* pointer)
u32 Find(const T& value) const
{
for (u32 i = 0; i < count; ++i)
{
b3PointerIndex* index = pis + i;
if (index->pointer == pointer)
if (values[i] == value)
{
return index;
return i;
}
}
return NULL;
return count;
}
T values[N];
u32 count;
b3PointerIndex pis[N];
};
//
template<class T>
static inline u32 b3Find(const T* values, u32 count, const T* value)
{
for (u32 i = 0; i < count; ++i)
{
if (values[i] == value)
{
return i;
}
}
B3_ASSERT(false);
}
//
static b3Vec3 b3ComputeCentroid(b3QHull* hull)
{
@ -182,30 +189,37 @@ void b3QHull::Set(const b3Vec3* points, u32 count)
qhHull hull;
hull.Construct(qhBuffer, ps, psCount);
const qhList<qhFace>& faceList = hull.GetFaceList();
if (faceList.count > B3_MAX_HULL_FACES)
{
// Face excess
return;
}
// Cheaply convert the constructed hull into a run-time hull.
vertexCount = 0;
edgeCount = 0;
faceCount = 0;
// These structures map vertex/edge pointers to indices in the run-time hull
b3PIMap<B3_MAX_HULL_VERTICES> vs;
b3PIMap<B3_MAX_HULL_EDGES> es;
// Unique vertices and edges
b3UniqueArray<qhVertex*, B3_MAX_HULL_VERTICES> vs;
b3UniqueArray<qhHalfEdge*, B3_MAX_HULL_EDGES> es;
u32 fs_count = 0;
// Face half-edges
u8 fhs[B3_MAX_HULL_EDGES];
u32 nfh = 0;
const qhList<qhFace>& faceList = hull.GetFaceList();
qhFace* face = faceList.head;
while (face)
{
qhHalfEdge* edge = face->edge;
if (fs_count == B3_MAX_HULL_FACES)
{
// Face excess
return;
}
// Add face
B3_ASSERT(fs_count < B3_MAX_HULL_FACES);
b3Face* f = faces + fs_count;
u32 fi = fs_count;
++fs_count;
planes[fi] = face->plane;
qhHalfEdge* begin = face->edge;
qhHalfEdge* edge = begin;
do
{
qhHalfEdge* twin = edge->twin;
@ -213,125 +227,87 @@ void b3QHull::Set(const b3Vec3* points, u32 count)
qhVertex* v1 = edge->tail;
qhVertex* v2 = twin->tail;
b3PointerIndex* mv1 = vs.Find(v1);
u8 iv1;
if (mv1)
u32 iv1 = vs.Find(v1);
if (iv1 == vs.count)
{
iv1 = mv1->index;
}
else
{
// Add a unique vertex
// Vertex excess
if (vertexCount == B3_MAX_HULL_VERTICES)
if (vs.count == B3_MAX_HULL_VERTICES)
{
vertexCount = 0;
edgeCount = 0;
faceCount = 0;
return;
}
vertices[vertexCount] = v1->position;
iv1 = vertexCount;
++vertexCount;
// Add to vertex-index pair to the map
vs.Add({ v1, iv1 });
// Add vertex
vs.PushBack(v1);
}
b3PointerIndex* mv2 = vs.Find(v2);
u8 iv2;
if (mv2)
{
iv2 = mv2->index;
}
else
u32 iv2 = vs.Find(v2);
if (iv2 == vs.count)
{
// Vertex excess
if (vertexCount == B3_MAX_HULL_VERTICES)
if (vs.count == B3_MAX_HULL_VERTICES)
{
vertexCount = 0;
edgeCount = 0;
faceCount = 0;
return;
}
vertices[vertexCount] = v2->position;
iv2 = vertexCount;
++vertexCount;
vs.Add({ v2, iv2 });
// Add vertex
vs.PushBack(v2);
}
b3PointerIndex* mte = es.Find(edge);
if (mte)
{
u8 ie2 = mte->index;
b3HalfEdge* e2 = edges + ie2;
B3_ASSERT(e2->face == B3_NULL_HULL_FEATURE);
e2->face = u8(faceCount);
B3_ASSERT(nfh < B3_MAX_HULL_EDGES);
fhs[nfh++] = ie2;
}
else
u32 ie2 = es.Find(edge);
if(ie2 == es.count)
{
// Edge excess
if (edgeCount + 2 >= B3_MAX_HULL_EDGES)
if (es.count + 2 >= B3_MAX_HULL_EDGES)
{
vertexCount = 0;
edgeCount = 0;
faceCount = 0;
return;
}
b3HalfEdge* e1 = edges + edgeCount;
u8 ie1 = edgeCount;
++edgeCount;
b3HalfEdge* e2 = edges + edgeCount;
u8 ie2 = edgeCount;
++edgeCount;
// Add half-edges
u32 ie1 = es.count;
es.PushBack(edge);
e1->face = u8(faceCount);
u32 ie2 = es.count;
es.PushBack(twin);
// Link half-edges
b3HalfEdge* e1 = edges + ie1;
e1->face = u8(fi);
e1->origin = iv1;
e1->twin = ie2;
b3HalfEdge* e2 = edges + ie2;
e2->face = B3_NULL_HULL_FEATURE;
e2->origin = iv2;
e2->twin = ie1;
es.Add({ edge, ie1 });
es.Add({ twin, ie2 });
B3_ASSERT(nfh < B3_MAX_HULL_EDGES);
fhs[nfh++] = ie1;
}
else
{
b3HalfEdge* e2 = edges + ie2;
B3_ASSERT(e2->face == B3_NULL_HULL_FEATURE);
e2->face = u8(fi);
B3_ASSERT(nfh < B3_MAX_HULL_EDGES);
fhs[nfh++] = ie2;
}
edge = edge->next;
} while (edge != face->edge);
} while (edge != begin);
B3_ASSERT(faceCount < B3_MAX_HULL_FACES);
planes[faceCount] = face->plane;
b3Face* f = faces + faceCount;
++faceCount;
// Link any face half-edge to face
B3_ASSERT(nfh > 0);
f->edge = fhs[0];
// Link face half-edges
// Link half-edge list
for (u32 i = 0; i < nfh; ++i)
{
u8 edge = fhs[i];
u8 nextEdge = i < nfh - 1 ? i + 1 : 0;
u32 j = i < nfh - 1 ? i + 1 : 0;
edges[edge].next = fhs[j];
edges[edge].next = fhs[nextEdge];
}
nfh = 0;
@ -339,6 +315,19 @@ void b3QHull::Set(const b3Vec3* points, u32 count)
face = face->next;
}
B3_ASSERT(vs.count <= B3_MAX_HULL_VERTICES);
vertexCount = vs.count;
for (u32 i = 0; i < vs.count; ++i)
{
vertices[i] = vs.values[i]->position;
}
B3_ASSERT(es.count <= B3_MAX_HULL_EDGES);
edgeCount = es.count;
B3_ASSERT(fs_count <= B3_MAX_HULL_FACES);
faceCount = fs_count;
// Validate
Validate();
@ -402,7 +391,7 @@ void b3QHull::SetAsCone(float32 radius, float32 height)
{
B3_ASSERT(radius > 0.0f);
B3_ASSERT(height > 0.0f);
const u32 kEdgeCount = 20;
const u32 kVertexCount = 2 * kEdgeCount + 1;
b3Vec3 vs[kVertexCount];