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simplification

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This commit is contained in:
Irlan 2018-04-21 15:19:44 -03:00
parent 97c092f136
commit 72ded5edb0
1 changed files with 63 additions and 105 deletions
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154
src/bounce/collision/shapes/qhull.cpp
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@ -21,7 +21,8 @@
#define B3_NULL_HULL_FEATURE 0xFF
//
// Used to map pointers to indices
// If more performance is required then a use hash-map
template<class T, u32 N>
struct b3UniqueArray
{
@ -30,14 +31,10 @@ struct b3UniqueArray
count = 0;
}
void PushBack(const T& value)
{
// B3_ASSERT(Find(value) == count)
B3_ASSERT(count < N);
values[count++] = value;
}
u32 Find(const T& value) const
// Add the value if not found
// Return value index if added
// Return N if the array is full
u32 Find(const T& value)
{
for (u32 i = 0; i < count; ++i)
{
@ -46,7 +43,14 @@ struct b3UniqueArray
return i;
}
}
return count;
if (count == N)
{
return N;
}
values[count++] = value;
return count - 1;
}
T values[N];
@ -175,138 +179,92 @@ void b3QHull::Set(const b3Vec3* points, u32 count)
qhHull hull;
hull.Construct(qhBuffer, ps, psCount);
// Cheaply convert the constructed hull into a run-time hull.
// Convert the constructed hull into a run-time hull.
// 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)
for (qhFace* face = hull.GetFaceList().head; face != NULL; face = face->next)
{
// Add face
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;
b3Face* hface = faces + fs_count;
planes[fs_count] = face->plane;
u32 iface = fs_count;
++fs_count;
planes[fi] = face->plane;
// Add vertices and half-edges
qhHalfEdge* begin = face->edge;
qhHalfEdge* edge = begin;
do
{
qhHalfEdge* twin = edge->twin;
qhVertex* v1 = edge->tail;
qhVertex* v2 = twin->tail;
u32 iv1 = vs.Find(v1);
if (iv1 == vs.count)
// Add vertex
u32 iv = vs.Find(edge->tail);
if (iv == B3_MAX_HULL_VERTICES)
{
// Vertex excess
if (vs.count == B3_MAX_HULL_VERTICES)
{
return;
}
// Add vertex
vs.PushBack(v1);
}
u32 iv2 = vs.Find(v2);
if (iv2 == vs.count)
{
// Vertex excess
if (vs.count == B3_MAX_HULL_VERTICES)
// Add half-edge
u32 iedge = es.Find(edge);
if (iedge == B3_MAX_HULL_EDGES)
{
// Half-edge excess
return;
}
// Add vertex
vs.PushBack(v2);
}
u32 ie2 = es.Find(edge);
if(ie2 == es.count)
{
// Edge excess
if (es.count + 2 >= B3_MAX_HULL_EDGES)
// Add half-edge just after its twin
u32 itwin = es.Find(edge->twin);
if (itwin == B3_MAX_HULL_EDGES)
{
// Half-edge excess
return;
}
// Add half-edges
u32 ie1 = es.count;
es.PushBack(edge);
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;
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 != begin);
// Link any face half-edge to face
B3_ASSERT(nfh > 0);
f->edge = fhs[0];
// Build and link the half-edges
hface->edge = es.Find(begin);
// Link half-edge list
for (u32 i = 0; i < nfh; ++i)
edge = begin;
do
{
u8 edge = fhs[i];
u8 nextEdge = i < nfh - 1 ? i + 1 : 0;
qhVertex* v = edge->tail;
u8 iv = (u8)vs.Find(v);
vertices[iv] = v->position;
edges[edge].next = fhs[nextEdge];
}
u8 iedge = (u8)es.Find(edge);
b3HalfEdge* hedge = edges + iedge;
hedge->face = u8(iface);
hedge->origin = (u8)vs.Find(edge->tail);
nfh = 0;
qhHalfEdge* twin = edge->twin;
u8 itwin = (u8)es.Find(twin);
b3HalfEdge* htwin = edges + itwin;
htwin->twin = iedge;
face = face->next;
hedge->twin = itwin;
qhHalfEdge* next = edge->next;
u8 inext = (u8)es.Find(next);
edges[iedge].next = inext;
edge = next;
} while (edge != begin);
}
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;