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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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89
include/bounce/dynamics/contacts/contact_cluster.h
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@ -23,47 +23,92 @@
#include <bounce/common/template/array.h>
#include <bounce/dynamics/contacts/manifold.h>
#define B3_NULL_CLUSTER (0xFFFFFFFF)
// Used for contact cluster reduction.
struct b3ClusterVertex
struct b3ClusterPolygonVertex
{
b3Vec3 position; // point on the cluster plane
u32 clipIndex; // where did this vertex came from (hint: local point)
u32 clipIndex; // where did this vertex came from
};
// Used for contact cluster reduction.
typedef b3Array<b3ClusterVertex> b3ClusterPolygon;
typedef b3Array<b3ClusterPolygonVertex> b3ClusterPolygon;
// A observation represents a contact normal.
// Weld a convex polygon such that the polygon normal points to a given direction.
void b3WeldPolygon(b3ClusterPolygon& pOut,
const b3ClusterPolygon& pIn, const b3Vec3& pNormal);
// Reduce a set of contact points to a quad (approximate convex polygon).
// All points must lie in a common plane and an initial point must be given.
void b3ReducePolygon(b3ClusterPolygon& pOut,
const b3ClusterPolygon& pIn, const b3Vec3& pNormal, u32 initialPoint);
#define B3_NULL_CLUSTER (0xFFFFFFFF)
// An observation represents a contact normal.
struct b3Observation
{
b3Vec3 point;
u32 cluster;
u32 manifold;
u32 manifoldPoint;
b3Vec3 point; // normal
u32 cluster; // normal
};
// A group of contact points with a similar contact normal.
// A group of contact normals pointing to a similar direction.
struct b3Cluster
{
b3Vec3 centroid;
};
// Initialize a set of clusters.
void b3InitializeClusters(b3Array<b3Cluster>& outClusters,
const b3Array<b3Observation>& inObservations);
class b3ClusterSolver
{
public:
b3ClusterSolver();
~b3ClusterSolver();
// Run the cluster algorithm.
void b3Clusterize(b3Array<b3Cluster>& outClusters, b3Array<b3Observation>& outObservations,
const b3Array<b3Cluster>& inClusters, const b3Array<b3Observation>& inObservations);
//
void AddObservation(const b3Observation& observation);
u32 b3Clusterize(b3Manifold outManifolds[3], const b3Manifold* inManifolds, u32 numIn,
const b3Transform& xfA, float32 radiusA, const b3Transform& xfB, float32 radiusB);
//
const b3Array<b3Observation>& GetObservations() const;
// Reduce a set of contact points to a quad (approximate convex polygon).
// All points must lie in a common plane and an initial point must be given.
void b3ReducePolygon(b3ClusterPolygon& pOut, const b3ClusterPolygon& pIn,
u32 startIndex, const b3Vec3& normal);
//
const b3Array<b3Cluster>& GetClusters() const;
#endif
//
void Run(b3Manifold mOut[3], u32& numOut,
const b3Manifold* mIn, u32 numIn,
const b3Transform& xfA, float32 radiusA, const b3Transform& xfB, float32 radiusB);
//
void Solve();
private:
//
void InitializeClusters();
//
void AddCluster(const b3Vec3& centroid);
//
u32 BestCluster(const b3Vec3& point) const;
b3StackArray<b3Observation, 32> m_observations;
b3StackArray<b3Cluster, 32> m_clusters;
};
inline void b3ClusterSolver::AddObservation(const b3Observation& observation)
{
m_observations.PushBack(observation);
}
inline const b3Array<b3Observation>& b3ClusterSolver::GetObservations() const
{
return m_observations;
}
inline const b3Array<b3Cluster>& b3ClusterSolver::GetClusters() const
{
return m_clusters;
}
#endif