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improve contact clustering algorithm

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This commit is contained in:
Irlan
2018-03-23 00:12:59 -03:00
parent 3da2a25bd7
commit 5a80171744
5 changed files with 425 additions and 357 deletions
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44
examples/testbed/tests/cluster_test.h
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@@ -32,27 +32,28 @@ public:
g_camera.m_zoom = 10.0f;
// Initialize observations
b3StackArray<b3Observation, 256> tempObservations;
tempObservations.Resize(90);
for (u32 i = 0; i < tempObservations.Count(); ++i)
for (u32 i = 0; i < 90; ++i)
{
float32 x = RandomFloat(-1.0f, 1.0f);
float32 y = RandomFloat(-1.0f, 1.0f);
float32 z = RandomFloat(-1.0f, 1.0f);
tempObservations[i].point.Set(x, y, z);
tempObservations[i].point = b3Normalize(tempObservations[i].point);
tempObservations[i].cluster = 0xFFFFFFFF;
b3Observation obs;
obs.point.Set(x, y, z);
obs.point = b3Normalize(obs.point);
obs.cluster = B3_NULL_CLUSTER;
m_solver.AddObservation(obs);
}
// Initialize clusters
b3StackArray<b3Cluster, 3> tempClusters;
b3InitializeClusters(tempClusters, tempObservations);
m_solver.Solve();
// Clusterize
b3Clusterize(m_clusters, m_observs, tempClusters, tempObservations);
for (u32 i = 0; i < m_clusters.Count(); ++i)
const b3Array<b3Cluster>& clusters = m_solver.GetClusters();
m_colors.Resize(clusters.Count());
for (u32 i = 0; i < clusters.Count(); ++i)
{
m_colors[i] = b3Color(RandomFloat(0.0f, 1.0f), RandomFloat(0.0f, 1.0f), RandomFloat(0.0f, 1.0f));
}
@@ -60,14 +61,17 @@ public:
void Step()
{
for (u32 i = 0; i < m_clusters.Count(); ++i)
const b3Array<b3Observation>& observations = m_solver.GetObservations();
const b3Array<b3Cluster>& clusters = m_solver.GetClusters();
for (u32 i = 0; i < clusters.Count(); ++i)
{
g_debugDraw->DrawSegment(b3Vec3(0, 0, 0), m_clusters[i].centroid, b3Color(1, 1, 1));
g_debugDraw->DrawPoint(m_clusters[i].centroid, 4.0f, m_colors[i]);
g_debugDraw->DrawSegment(b3Vec3(0, 0, 0), clusters[i].centroid, b3Color(1, 1, 1));
g_debugDraw->DrawPoint(clusters[i].centroid, 4.0f, m_colors[i]);
for (u32 j = 0; j < m_observs.Count(); ++j)
for (u32 j = 0; j < observations.Count(); ++j)
{
b3Observation obs = m_observs[j];
b3Observation obs = observations[j];
if (obs.cluster == i)
{
g_debugDraw->DrawPoint(obs.point, 4.0f, m_colors[i]);
@@ -81,9 +85,9 @@ public:
return new Cluster();
}
b3StackArray<b3Observation, 256> m_observs;
b3StackArray<b3Cluster, 3> m_clusters;
b3Color m_colors[3];
b3ClusterSolver m_solver;
b3StackArray<b3Color, 32> m_colors;
};
#endif