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abstraction

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This commit is contained in:
Irlan
2018-04-29 00:06:24 -03:00
parent 16ea548248
commit 80ac01f13d
3 changed files with 301 additions and 297 deletions
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429
src/bounce/quickhull/qh_hull.cpp
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@@ -102,7 +102,12 @@ void qhHull::Construct(void* memory, const b3Vec3* vs, u32 count)
m_horizon = (qhHalfEdge**)((u8*)faces + F * sizeof(qhFace*));
m_horizonCount = 0;
m_newFaces = (qhFace**)((u8*)m_horizon + HE * sizeof(qhHalfEdge*));
m_horizonVertices = (qhVertex**)((u8*)m_horizon + HE * sizeof(qhHalfEdge*));
m_conflictVertices = (qhVertex**)((u8*)m_horizonVertices + HE * sizeof(qhVertex*));
m_conflictCount = 0;
m_newFaces = (qhFace**)((u8*)m_conflictVertices + V * sizeof(qhVertex*));
m_newFaceCount = 0;
m_vertexList.head = NULL;
@@ -110,7 +115,7 @@ void qhHull::Construct(void* memory, const b3Vec3* vs, u32 count)
m_faceList.head = NULL;
m_faceList.count = 0;
m_iterations = 0;
if (!BuildInitialHull(vs, count))
@@ -426,105 +431,97 @@ void qhHull::AddNewFaces(qhVertex* eye)
B3_ASSERT(e1->tail == e2->tail);
}
// Save horizon vertices
for (u32 i = 0; i < m_horizonCount; ++i)
{
qhHalfEdge* edge = m_horizon[i];
m_horizonVertices[i] = edge->tail;
}
// Remove the eye vertex from the conflict list
b3Vec3 eyePosition = eye->position;
eye->conflictFace->conflictList.Remove(eye);
FreeVertex(eye);
// Add the eye point to the hull
qhVertex* v1 = AddVertex(eyePosition);
// Create new faces
m_newFaceCount = 0;
for (u32 i = 0; i < m_horizonCount; ++i)
{
qhHalfEdge* edge = m_horizon[i];
// Save conflict vertices
m_conflictCount = 0;
qhVertex* v2 = edge->tail;
qhVertex* v3 = edge->twin->tail;
qhFace* face = AddNewFace(v1, v2, v3);
}
// Remove obsolete faces
// Remove visible faces
qhFace* f = m_faceList.head;
while (f)
{
// Invisible faces are maintained.
// Skip invisible faces.
if (f->mark == qhFaceMark::e_invisible)
{
f = f->next;
continue;
}
// Move the orphaned vertices into the new faces
// Also remove internal points
qhVertex* v = f->conflictList.head;
while (v)
{
b3Vec3 p = v->position;
float32 max = m_tolerance;
qhFace* maxFace = NULL;
for (u32 i = 0; i < m_newFaceCount; ++i)
{
qhFace* newFace = m_newFaces[i];
float32 d = b3Distance(p, newFace->plane);
if (d > max)
{
max = d;
maxFace = newFace;
}
}
if (maxFace)
{
qhVertex* v0 = v;
v->conflictFace = NULL;
v = f->conflictList.Remove(v);
maxFace->conflictList.PushFront(v0);
v0->conflictFace = maxFace;
}
else
{
qhVertex* v0 = v;
v->conflictFace = NULL;
v = f->conflictList.Remove(v);
FreeVertex(v0);
}
// Save vertex
m_conflictVertices[m_conflictCount++] = v;
// Remove vertex from face
v->conflictFace = NULL;
v = f->conflictList.Remove(v);
}
// Remove the face
// Remove face
f = RemoveFace(f);
}
// Add the new faces to the hull
for (u32 i = 0; i < m_newFaceCount; ++i)
// Add new faces to the hull
m_newFaceCount = 0;
for (u32 i = 0; i < m_horizonCount; ++i)
{
qhFace* face = m_newFaces[i];
u32 j = i + 1 < m_horizonCount ? i + 1 : 0;
qhVertex* v2 = m_horizonVertices[i];
qhVertex* v3 = m_horizonVertices[j];
qhHalfEdge* begin = face->edge;
qhHalfEdge* edge = begin;
do
m_newFaces[m_newFaceCount++] = AddFace(v1, v2, v3);
}
// Move the orphaned conflict vertices into the new faces
// Remove internal conflict vertices
for (u32 i = 0; i < m_conflictCount; ++i)
{
qhVertex* v = m_conflictVertices[i];
b3Vec3 p = v->position;
float32 d0 = m_tolerance;
qhFace* f0 = NULL;
for (u32 j = 0; j < m_newFaceCount; ++j)
{
qhVertex* v1 = edge->tail;
qhHalfEdge* next = edge->next;
qhVertex* v2 = next->tail;
edge->twin = FindHalfEdge(v2, v1);
if (edge->twin)
qhFace* nf = m_newFaces[j];
float32 d = b3Distance(p, nf->plane);
if (d > d0)
{
edge->twin->twin = edge;
d0 = d;
f0 = nf;
}
}
edge = next;
} while (edge != begin);
// Add
m_faceList.PushFront(face);
if (f0)
{
// Add conflict vertex to the new face
f0->conflictList.PushFront(v);
v->conflictFace = f0;
}
else
{
// Remove conflict vertex
FreeVertex(v);
}
}
}
@@ -535,10 +532,94 @@ qhVertex* qhHull::AddVertex(const b3Vec3& position)
v->conflictFace = NULL;
m_vertexList.PushFront(v);
return v;
}
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)
{
b3Vec3 n;
n.SetZero();
b3Vec3 c;
c.SetZero();
u32 count = 0;
qhHalfEdge* e = face->edge;
do
{
b3Vec3 v1 = e->tail->position;
b3Vec3 v2 = e->next->tail->position;
n += b3Newell(v1, v2);
c += v1;
++count;
e = e->next;
} while (e != face->edge);
B3_ASSERT(count > 0);
c /= float32(count);
n.Normalize();
plane.normal = n;
plane.offset = b3Dot(n, c);
center = c;
}
qhFace* qhHull::RemoveEdge(qhHalfEdge* e)
{
qhFace* leftFace = e->twin->face;
qhFace* rightFace = e->face;
// Move left vertices into right
qhVertex* v = leftFace->conflictList.head;
while (v)
{
qhVertex* v0 = v;
v = leftFace->conflictList.Remove(v);
rightFace->conflictList.PushFront(v0);
v0->conflictFace = rightFace;
}
// Set right face to reference a non-deleted edge
B3_ASSERT(e->face == rightFace);
rightFace->edge = e->prev;
// Absorb face
qhHalfEdge* te = e->twin;
do
{
te->face = rightFace;
te = te->next;
} while (te != e->twin);
// Link edges
e->prev->next = e->twin->next;
e->next->prev = e->twin->prev;
e->twin->prev->next = e->next;
e->twin->next->prev = e->prev;
FreeEdge(e->twin);
FreeEdge(e);
m_faceList.Remove(leftFace);
FreeFace(leftFace);
// Compute face center and plane
b3ComputePlane(rightFace, rightFace->plane, rightFace->center);
// Validate
Validate(rightFace);
return rightFace;
}
qhFace* qhHull::AddFace(qhVertex* v1, qhVertex* v2, qhVertex* v3)
{
qhFace* face = AllocateFace();
@@ -547,49 +628,97 @@ qhFace* qhHull::AddFace(qhVertex* v1, qhVertex* v2, qhVertex* v3)
if (e1 == NULL)
{
e1 = AllocateEdge();
e1->face = NULL;
e1->tail = NULL;
e1->twin = AllocateEdge();
e1->twin->face = NULL;
e1->twin->tail = NULL;
e1->twin->twin = e1;
}
if (e1->tail == NULL)
{
e1->tail = v1;
}
if (e1->face == NULL)
{
e1->face = face;
}
if (e1->twin->tail == NULL)
{
e1->twin->tail = v2;
}
qhHalfEdge* e2 = FindHalfEdge(v2, v3);
if (e2 == NULL)
{
e2 = AllocateEdge();
e2->face = NULL;
e2->tail = NULL;
e2->twin = AllocateEdge();
e2->twin->face = NULL;
e2->twin->tail = NULL;
e2->twin->twin = e2;
}
if (e2->face == NULL)
{
e2->face = face;
}
if (e2->tail == NULL)
{
e2->tail = v2;
}
if (e2->twin->tail == NULL)
{
e2->twin->tail = v3;
}
qhHalfEdge* e3 = FindHalfEdge(v3, v1);
if (e3 == NULL)
{
e3 = AllocateEdge();
e3->face = NULL;
e3->tail = NULL;
e3->twin = AllocateEdge();
e3->twin->face = NULL;
e3->twin->tail = NULL;
e3->twin->twin = e3;
}
if (e3->face == NULL)
{
e3->face = face;
}
e1->tail = v1;
if (e3->tail == NULL)
{
e3->tail = v3;
}
if (e3->twin->tail == NULL)
{
e3->twin->tail = v1;
}
e1->prev = e3;
e1->next = e2;
e1->twin = FindHalfEdge(v2, v1);
if (e1->twin)
{
e1->twin->twin = e1;
}
e2->tail = v2;
e2->prev = e1;
e2->next = e3;
e2->twin = FindHalfEdge(v3, v2);
if (e2->twin)
{
e2->twin->twin = e2;
}
e3->tail = v3;
e3->prev = e2;
e3->next = e1;
e3->twin = FindHalfEdge(v1, v3);
if (e3->twin)
{
e3->twin->twin = e3;
}
face->edge = e1;
face->center = (v1->position + v2->position + v3->position) / 3.0f;
@@ -606,20 +735,35 @@ qhFace* qhHull::RemoveFace(qhFace* face)
qhHalfEdge* e = face->edge;
do
{
qhHalfEdge* twin = e->twin;
qhHalfEdge* e0 = e;
e = e->next;
// Remove half-edge and its twin if twin face does not exist
if (twin->face == NULL || twin->face == e->face)
qhHalfEdge* twin = e0->twin;
// Is the edge a boundary edge?
if (twin->face == NULL)
{
e->twin = NULL;
e0->twin = NULL;
e0->tail = NULL;
e0->face = NULL;
e0->next = NULL;
e0->prev = NULL;
twin->twin = NULL;
FreeEdge(twin);
qhHalfEdge* e0 = e;
e = e->next;
// Free both half-edges if edge is a boundary.
FreeEdge(e0);
FreeEdge(twin);
}
else
{
e0->tail = NULL;
e0->face = NULL;
e0->next = NULL;
e0->prev = NULL;
}
} while (e != face->edge);
// Remove face
@@ -628,46 +772,6 @@ qhFace* qhHull::RemoveFace(qhFace* face)
return nextFace;
}
qhFace* qhHull::AddNewFace(qhVertex* v1, qhVertex* v2, qhVertex* v3)
{
qhFace* face = AllocateFace();
qhHalfEdge* e1 = AllocateEdge();
e1->face = face;
e1->twin = NULL;
e1->tail = v1;
qhHalfEdge* e2 = AllocateEdge();
e2->face = face;
e2->twin = NULL;
e2->tail = v2;
qhHalfEdge* e3 = AllocateEdge();
e3->face = face;
e3->twin = NULL;
e3->tail = v3;
e1->prev = e3;
e1->next = e2;
e2->prev = e1;
e2->next = e3;
e3->prev = e2;
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);
face->prev = NULL;
face->next = NULL;
m_newFaces[m_newFaceCount++] = face;
return face;
}
bool qhHull::MergeFace(qhFace* rightFace)
{
qhHalfEdge* e = rightFace->edge;
@@ -694,46 +798,7 @@ bool qhHull::MergeFace(qhFace* rightFace)
else
{
// Concave or coplanar
// Move left vertices into right
qhVertex* v = leftFace->conflictList.head;
while (v)
{
qhVertex* v0 = v;
v = leftFace->conflictList.Remove(v);
rightFace->conflictList.PushFront(v0);
v0->conflictFace = rightFace;
}
// Set right face to reference a non-deleted edge
B3_ASSERT(e->face == rightFace);
rightFace->edge = e->prev;
// Absorb face
qhHalfEdge* te = e->twin;
do
{
te->face = rightFace;
te = te->next;
} while (te != e->twin);
// Link edges
e->prev->next = e->twin->next;
e->next->prev = e->twin->prev;
e->twin->prev->next = e->next;
e->twin->next->prev = e->prev;
FreeEdge(e->twin);
FreeEdge(e);
m_faceList.Remove(leftFace);
FreeFace(leftFace);
// Compute face center and plane
rightFace->ComputeCenterAndPlane();
// Validate
Validate(rightFace);
RemoveEdge(e);
return true;
}
@@ -769,12 +834,12 @@ void qhHull::Validate(const qhHalfEdge* edge) const
B3_ASSERT(edge->tail->active == true);
b3Vec3 A = edge->tail->position;
B3_ASSERT(twin->tail->active == true);
b3Vec3 B = twin->tail->position;
B3_ASSERT(b3DistanceSquared(A, B) > B3_EPSILON * B3_EPSILON);
const qhHalfEdge* next = edge->next;
B3_ASSERT(next->active == true);
B3_ASSERT(twin->tail == next->tail);
@@ -792,7 +857,7 @@ void qhHull::Validate(const qhHalfEdge* edge) const
void qhHull::Validate(const qhFace* face) const
{
B3_ASSERT(face->active == true);
const qhHalfEdge* begin = face->edge;
const qhHalfEdge* edge = begin;
do