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erase dep, constexpr, cleanup

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This commit is contained in:
Irlan 2018-04-20 19:22:20 -03:00
parent 43f59409de
commit 63f034535e
3 changed files with 74 additions and 62 deletions
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43
include/bounce/quickhull/qh_hull.h
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@ -58,8 +58,8 @@ struct qhFace
b3Vec3 center;
b3Plane plane;
u32 VertexCount() const;
u32 EdgeCount() const;
u32 GetVertexCount() const;
u32 GetEdgeCount() const;
qhHalfEdge* FindTwin(const qhVertex* tail, const qhVertex* head) const;
void ComputeCenterAndPlane();
};
@ -89,12 +89,8 @@ struct qhVertex
qhFace* conflictFace;
};
// Given a number of points return the required memory size in bytes for constructing the
// convex hull of those points. Use this function before allocating the memory buffer passed
// as argument to Construct.
u32 qhGetMemorySize(u32 V);
// A convex hull builder. Given a list of points constructs its convex hull.
// A convex hull builder.
// Given a list of points constructs its convex hull.
// The output convex hull might contain polygonal faces and not only triangles.
// Coplanar face merging is necessary for stable physics simulation.
class qhHull
@ -102,18 +98,23 @@ class qhHull
public:
qhHull();
~qhHull();
// Entry point of qhHull.
// Construct this hull given a memory buffer and a list of points.
// Use qhGetMemorySize to see how many free bytes should be available in the buffer.
void Construct(void* memory, const b3Array<b3Vec3>& vertices);
// Get the list of faces in this hull.
const qhList<qhFace>& GetFaceList() const;
// Construct this hull given a memory buffer and an array of points.
// Use qhGetBufferCapacity to get the buffer capacity from the point array size.
void Construct(void* buffer, const b3Vec3* vertices, u32 vertexCount);
// Get the number of iterations this algorithm ran.
u32 GetIterations() const;
// Get the list of faces in this convex hull.
const qhList<qhFace>& GetFaceList() const;
// Get the number of unique edges in this convex hull.
// u32 GetEdgeCount() const;
// Get the number of unique vertices in this convex hull.
// u32 GetVertexCount() const;
// Validate this hull.
void Validate() const;
void Validate(const qhFace* face) const;
@ -122,7 +123,7 @@ public:
// Draw this hull.
void Draw() const;
private:
bool BuildInitialHull(const b3Array<b3Vec3>& vertices);
bool BuildInitialHull(const b3Vec3* vertices, u32 count);
qhVertex* NextVertex();
@ -146,13 +147,13 @@ private:
// Coplanarity tolerance
float32 m_tolerance;
// Number of Quickhull iterations
u32 m_iteration;
// List of faces
qhList<qhFace> m_faceList;
// Number of Quickhull iterations
u32 m_iteration;
// Memory
qhVertex* AllocateVertex();
void FreeVertex(qhVertex* p);

61
include/bounce/quickhull/qh_hull.inl
View File

@ -1,5 +1,7 @@
// qhHull.h
// Lists
template<class T>
inline void qhList<T>::PushFront(T* link)
{
@ -38,7 +40,9 @@ inline T* qhList<T>::Remove(T* link)
return next;
}
inline u32 qhFace::VertexCount() const
// qhFace
inline u32 qhFace::GetVertexCount() const
{
u32 count = 0;
qhHalfEdge* e = edge;
@ -50,7 +54,7 @@ inline u32 qhFace::VertexCount() const
return count;
}
inline u32 qhFace::EdgeCount() const
inline u32 qhFace::GetEdgeCount() const
{
u32 count = 0;
qhHalfEdge* e = edge;
@ -81,7 +85,7 @@ inline qhHalfEdge* qhFace::FindTwin(const qhVertex* tail, const qhVertex* head)
return NULL;
}
inline b3Vec3 b3Newell(const b3Vec3& a, const b3Vec3& b)
static inline b3Vec3 b3Newell(const b3Vec3& a, const b3Vec3& b)
{
return b3Vec3((a.y - b.y) * (a.z + b.z), (a.z - b.z) * (a.x + b.x), (a.x - b.x) * (a.y + b.y));
}
@ -116,29 +120,21 @@ inline void qhFace::ComputeCenterAndPlane()
center = c;
}
inline qhHalfEdge* qhHull::FindTwin(const qhVertex* tail, const qhVertex* head) const
{
qhFace* face = m_faceList.head;
while (face)
{
qhHalfEdge* e = face->FindTwin(tail, head);
if (e)
{
return e;
}
face = face->next;
}
return NULL;
}
// qhHull
inline u32 qhGetMemorySize(u32 V)
// Given a number of points return the required memory size in
// bytes for constructing the convex hull of those points.
// This function uses constant expression (C++11). Therefore, you can evaluate
// its value at compile-time. That is particularly usefull when you want to
// create a stack buffer from a constant number of vertices.
// Due to the constexpr specifier, this function is automatically inlined.
constexpr u32 qhGetBufferCapacity(u32 pointCount)
{
u32 V = pointCount;
u32 E = 3 * V - 6;
u32 HE = 2 * E;
u32 F = 2 * V - 4;
// V - E + F = 2
HE *= 2;
F *= 2;
@ -149,16 +145,16 @@ inline u32 qhGetMemorySize(u32 V)
return size;
}
inline const qhList<qhFace>& qhHull::GetFaceList() const
{
return m_faceList;
}
inline u32 qhHull::GetIterations() const
{
return m_iteration;
}
inline const qhList<qhFace>& qhHull::GetFaceList() const
{
return m_faceList;
}
inline qhVertex* qhHull::AllocateVertex()
{
qhVertex* v = m_freeVertices;
@ -197,4 +193,19 @@ inline void qhHull::FreeFace(qhFace* f)
f->state = qhFace::e_deleted;
f->freeNext = m_freeFaces;
m_freeFaces = f;
}
inline qhHalfEdge* qhHull::FindTwin(const qhVertex* tail, const qhVertex* head) const
{
qhFace* face = m_faceList.head;
while (face)
{
qhHalfEdge* e = face->FindTwin(tail, head);
if (e)
{
return e;
}
face = face->next;
}
return NULL;
}

32
src/bounce/quickhull/qh_hull.cpp
View File

@ -20,7 +20,7 @@
#include <bounce/common/template/stack.h>
#include <bounce/common/draw.h>
static float32 qhFindAABB(u32 iMin[3], u32 iMax[3], const b3Array<b3Vec3>& vertices)
static float32 qhFindAABB(u32 iMin[3], u32 iMax[3], const b3Vec3* vertices, u32 count)
{
b3Vec3 min(B3_MAX_FLOAT, B3_MAX_FLOAT, B3_MAX_FLOAT);
iMin[0] = 0;
@ -32,21 +32,21 @@ static float32 qhFindAABB(u32 iMin[3], u32 iMax[3], const b3Array<b3Vec3>& verti
iMax[1] = 0;
iMax[2] = 0;
for (u32 i = 0; i < vertices.Count(); ++i)
for (u32 i = 0; i < count; ++i)
{
b3Vec3 p = vertices[i];
b3Vec3 v = vertices[i];
for (u32 j = 0; j < 3; ++j)
{
if (p[j] < min[j])
if (v[j] < min[j])
{
min[j] = p[j];
min[j] = v[j];
iMin[j] = i;
}
if (p[j] > max[j])
if (v[j] > max[j])
{
max[j] = p[j];
max[j] = v[j];
iMax[j] = i;
}
}
@ -63,11 +63,11 @@ qhHull::~qhHull()
{
}
void qhHull::Construct(void* memory, const b3Array<b3Vec3>& vs)
void qhHull::Construct(void* memory, const b3Vec3* vs, u32 count)
{
// Euler's formula
// V - E + F = 2
u32 V = vs.Count();
u32 V = count;
u32 E = 3 * V - 6;
u32 HE = 2 * E;
u32 F = 2 * V - 4;
@ -103,7 +103,7 @@ void qhHull::Construct(void* memory, const b3Array<b3Vec3>& vs)
m_faceList.count = 0;
m_iteration = 0;
if (!BuildInitialHull(vs))
if (!BuildInitialHull(vs, count))
{
return;
}
@ -119,9 +119,9 @@ void qhHull::Construct(void* memory, const b3Array<b3Vec3>& vs)
}
}
bool qhHull::BuildInitialHull(const b3Array<b3Vec3>& vertices)
bool qhHull::BuildInitialHull(const b3Vec3* vertices, u32 vertexCount)
{
if (vertices.Count() < 4)
if (vertexCount < 4)
{
B3_ASSERT(false);
return false;
@ -134,7 +134,7 @@ bool qhHull::BuildInitialHull(const b3Array<b3Vec3>& vertices)
// canonical axes.
// Store tolerance for coplanarity checks.
u32 aabbMin[3], aabbMax[3];
m_tolerance = qhFindAABB(aabbMin, aabbMax, vertices);
m_tolerance = qhFindAABB(aabbMin, aabbMax, vertices, vertexCount);
// Find the longest segment.
float32 d0 = 0.0f;
@ -173,7 +173,7 @@ bool qhHull::BuildInitialHull(const b3Array<b3Vec3>& vertices)
// Find the triangle which has the largest area.
float32 a0 = 0.0f;
for (u32 i = 0; i < vertices.Count(); ++i)
for (u32 i = 0; i < vertexCount; ++i)
{
if (i == i1 || i == i2)
{
@ -214,7 +214,7 @@ bool qhHull::BuildInitialHull(const b3Array<b3Vec3>& vertices)
// Find the furthest point from the triangle plane.
float32 d0 = 0.0f;
for (u32 i = 0; i < vertices.Count(); ++i)
for (u32 i = 0; i < vertexCount; ++i)
{
if (i == i1 || i == i2 || i == i3)
{
@ -280,7 +280,7 @@ bool qhHull::BuildInitialHull(const b3Array<b3Vec3>& vertices)
// Add remaining points to the hull.
// Assign closest face plane to each of them.
for (u32 i = 0; i < vertices.Count(); ++i)
for (u32 i = 0; i < vertexCount; ++i)
{
if (i == i1 || i == i2 || i == i3 || i == i4)
{