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bugfix

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This commit is contained in:
Irlan
2018-05-01 03:56:41 -03:00
parent 5f2e8627d3
commit 6550a92e4b
2 changed files with 156 additions and 23 deletions
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5
include/bounce/quickhull/qh_hull.h
View File

@ -53,6 +53,7 @@ struct qhFace
b3Vec3 center;
b3Plane plane;
float32 area;
qhFaceMark mark;
@ -132,6 +133,8 @@ private:
bool MergeFace(qhFace* face);
bool MergeLargeFace(qhFace* face);
qhHalfEdge* FindHalfEdge(const qhVertex* v1, const qhVertex* v2) const;
//
@ -145,6 +148,8 @@ private:
void AddNewFaces(qhVertex* eye);
void MergeNewFaces();
void ResolveOrphans();
// List of vertices
qhList<qhVertex> m_vertexList;

154
src/bounce/quickhull/qh_hull.cpp
View File

@ -350,6 +350,7 @@ void qhHull::AddEyeVertex(qhVertex* eye)
FindHorizon(eye);
AddNewFaces(eye);
MergeNewFaces();
ResolveOrphans();
}
void qhHull::FindHorizon(qhVertex* eye)
@ -443,6 +444,8 @@ void qhHull::AddNewFaces(qhVertex* eye)
b3Vec3 eyePosition = eye->position;
eye->conflictFace->conflictList.Remove(eye);
eye->conflictFace = NULL;
FreeVertex(eye);
// Add the eye point to the hull
@ -488,7 +491,10 @@ void qhHull::AddNewFaces(qhVertex* eye)
m_newFaces[m_newFaceCount++] = AddFace(v1, v2, v3);
}
}
void qhHull::ResolveOrphans()
{
// Move the orphaned conflict vertices into the new faces
// Remove internal conflict vertices
for (u32 i = 0; i < m_conflictCount; ++i)
@ -503,6 +509,13 @@ void qhHull::AddNewFaces(qhVertex* eye)
for (u32 j = 0; j < m_newFaceCount; ++j)
{
qhFace* nf = m_newFaces[j];
// Was the face deleted due to merging?
if (nf->active == false)
{
continue;
}
float32 d = b3Distance(p, nf->plane);
if (d > d0)
{
@ -541,7 +554,7 @@ 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));
}
static inline void b3ComputePlane(const qhFace* face, b3Plane& plane, b3Vec3& center)
static inline void b3ComputeFaceData(const qhFace* face, b3Plane& plane, b3Vec3& center, float32& area)
{
b3Vec3 n;
n.SetZero();
@ -565,12 +578,19 @@ static inline void b3ComputePlane(const qhFace* face, b3Plane& plane, b3Vec3& ce
B3_ASSERT(count > 0);
c /= float32(count);
n.Normalize();
center = c;
float32 len = b3Length(n);
area = 0.5f * len;
if (len > B3_EPSILON)
{
n /= len;
}
plane.normal = n;
plane.offset = b3Dot(n, c);
center = c;
}
qhFace* qhHull::RemoveEdge(qhHalfEdge* e)
@ -612,10 +632,10 @@ qhFace* qhHull::RemoveEdge(qhHalfEdge* e)
FreeFace(leftFace);
// Compute face center and plane
b3ComputePlane(rightFace, rightFace->plane, rightFace->center);
b3ComputeFaceData(rightFace, rightFace->plane, rightFace->center, rightFace->area);
// Validate
Validate(rightFace);
//Validate(rightFace);
return rightFace;
}
@ -721,8 +741,19 @@ qhFace* qhHull::AddFace(qhVertex* v1, qhVertex* v2, qhVertex* v3)
e3->next = e1;
face->edge = e1;
face->center = (v1->position + v2->position + v3->position) / 3.0f;
face->plane = b3Plane(v1->position, v2->position, v3->position);
b3Vec3 A = v1->position, B = v2->position, C = v3->position;
b3Vec3 N = b3Cross(B - A, C - A);
float32 L = b3Length(N);
if (L > B3_EPSILON)
{
N /= L;
}
face->center = (A + B + C) / 3.0f;
face->plane = b3Plane(N, face->center);
face->area = 0.5f * L;
m_faceList.PushFront(face);
@ -774,6 +805,9 @@ qhFace* qhHull::RemoveFace(qhFace* face)
bool qhHull::MergeFace(qhFace* rightFace)
{
// Non-convex edge
qhHalfEdge* edge = NULL;
qhHalfEdge* e = rightFace->edge;
do
@ -791,24 +825,104 @@ bool qhHull::MergeFace(qhFace* rightFace)
if (d1 < -m_tolerance && d2 < -m_tolerance)
{
// Convex
// Edge is convex
e = e->next;
continue;
}
else
// Edge is concave or coplanar
edge = e;
break;
} while (e != rightFace->edge);
if (edge)
{
// Concave or coplanar
RemoveEdge(e);
RemoveEdge(edge);
return true;
}
return false;
}
bool qhHull::MergeLargeFace(qhFace* rightFace)
{
// Non-convex edge
qhHalfEdge* edge = NULL;
qhHalfEdge* e = rightFace->edge;
do
{
qhFace* leftFace = e->twin->face;
if (leftFace == rightFace)
{
e = e->next;
continue;
}
if (rightFace->area > leftFace->area)
{
// Right face merge
float32 d = b3Distance(leftFace->center, rightFace->plane);
if (d < -m_tolerance)
{
// Edge is convex wrt to the right face
e = e->next;
continue;
}
// Edge is concave or coplanar wrt to the right face
edge = e;
break;
}
else
{
// Left face merge
float32 d = b3Distance(rightFace->center, leftFace->plane);
if (d < -m_tolerance)
{
// Edge is convex wrt to the left face
e = e->next;
continue;
}
// Edge is concave or coplanar wrt to the left face
edge = e;
break;
}
e = e->next;
} while (e != rightFace->edge);
if (edge)
{
RemoveEdge(edge);
return true;
}
return false;
}
void qhHull::MergeNewFaces()
{
// Merge with respect to the largest face.
for (u32 i = 0; i < m_newFaceCount; ++i)
{
qhFace* face = m_newFaces[i];
// Was the face deleted due to merging?
if (face->active == false)
{
continue;
}
while (MergeLargeFace(face));
}
// Merge with respect to the both faces.
for (u32 i = 0; i < m_newFaceCount; ++i)
{
qhFace* face = m_newFaces[i];
@ -819,7 +933,6 @@ void qhHull::MergeNewFaces()
continue;
}
// Merge the faces while there is no face left to merge.
while (MergeFace(face));
}
}
@ -864,6 +977,21 @@ void qhHull::Validate(const qhFace* face) const
{
B3_ASSERT(edge->active == true);
B3_ASSERT(edge->face == face);
// Validate face convexity
//B3_ASSERT(edge->twin->active == true);
//qhFace* other = edge->twin->face;
//B3_ASSERT(other->active == true);
//float32 d1 = b3Distance(other->center, face->plane);
//float32 d2 = b3Distance(face->center, other->plane);
//B3_ASSERT(d1 < -m_tolerance);
//B3_ASSERT(d2 < -m_tolerance);
// Verify vertex redundancy
//B3_ASSERT(edge->next->twin->face != edge->twin->face);
edge = edge->next;
} while (edge != begin);