abstraction
This commit is contained in:
Irlan
parent
16ea548248
commit
80ac01f13d
@ -21,6 +21,8 @@
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#include <bounce/common/geometry.h>
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#define B3_NULL_U32 B3_MAX_U32
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template<class T>
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struct qhList
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{
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@ -31,8 +33,8 @@ struct qhList
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u32 count;
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};
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struct qhHalfEdge;
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struct qhVertex;
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struct qhHalfEdge;
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enum qhFaceMark
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{
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@ -54,13 +56,6 @@ struct qhFace
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qhFaceMark mark;
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u32 GetVertexCount() const;
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u32 GetEdgeCount() const;
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qhHalfEdge* FindHalfEdge(const qhVertex* v1, const qhVertex* v2) const;
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void ComputeCenterAndPlane();
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//
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qhFace* freeNext;
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bool active;
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@ -70,6 +65,7 @@ struct qhHalfEdge
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{
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qhHalfEdge* prev;
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qhHalfEdge* next;
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qhHalfEdge* twin;
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qhFace* face;
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@ -109,15 +105,15 @@ public:
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// Use qhGetBufferSize to get the buffer size given the number of points.
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void Construct(void* buffer, const b3Vec3* vertices, u32 vertexCount);
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// Get the number of iterations this algorithm ran.
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u32 GetIterations() const;
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// Get the list of vertices in this convex hull.
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const qhList<qhVertex>& GetVertexList() const;
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// Get the list of faces in this convex hull.
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const qhList<qhFace>& GetFaceList() const;
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// Get the number of iterations this algorithm ran.
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u32 GetIterations() const;
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// Validate this hull.
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void Validate() const;
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void Validate(const qhFace* face) const;
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@ -126,38 +122,41 @@ public:
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// Draw this hull.
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void Draw() const;
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private:
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bool BuildInitialHull(const b3Vec3* vertices, u32 count);
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//
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qhVertex* AddVertex(const b3Vec3& position);
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qhFace* RemoveEdge(qhHalfEdge* edge);
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qhFace* AddFace(qhVertex* v1, qhVertex* v2, qhVertex* v3);
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qhFace* RemoveFace(qhFace* face);
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qhHalfEdge* FindHalfEdge(const qhVertex* v1, const qhVertex* v2) const;
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//
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bool BuildInitialHull(const b3Vec3* vertices, u32 count);
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qhVertex* FindEyeVertex() const;
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void AddEyeVertex(qhVertex* eye);
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void FindHorizon(qhVertex* eye);
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void AddNewFaces(qhVertex* eye);
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qhFace* AddNewFace(qhVertex* v1, qhVertex* v2, qhVertex* v3);
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void MergeFaces();
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bool MergeFace(qhFace* face);
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qhHalfEdge* FindHalfEdge(const qhVertex* v1, const qhVertex* v2) const;
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// Coplanarity tolerance
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float32 m_tolerance;
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// Number of Quickhull iterations
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u32 m_iterations;
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// List of vertices
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qhList<qhVertex> m_vertexList;
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// List of faces
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qhList<qhFace> m_faceList;
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// Coplanarity tolerance
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float32 m_tolerance;
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// Number of Quickhull iterations
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u32 m_iterations;
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// Memory
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qhVertex* AllocateVertex();
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void FreeVertex(qhVertex* p);
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@ -174,6 +173,10 @@ private:
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qhHalfEdge** m_horizon;
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u32 m_horizonCount;
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qhVertex** m_horizonVertices;
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qhVertex** m_conflictVertices;
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u32 m_conflictCount;
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qhFace** m_newFaces;
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u32 m_newFaceCount;
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@ -1,6 +1,6 @@
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// qhHull.h
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// Lists
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// qhList
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template<class T>
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inline void qhList<T>::PushFront(T* link)
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@ -40,83 +40,6 @@ inline T* qhList<T>::Remove(T* link)
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return next;
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}
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// qhFace
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inline u32 qhFace::GetVertexCount() const
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{
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u32 count = 0;
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qhHalfEdge* e = edge;
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do
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{
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++count;
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e = e->next;
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} while (e != edge);
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return count;
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}
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inline u32 qhFace::GetEdgeCount() const
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{
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u32 count = 0;
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qhHalfEdge* e = edge;
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do
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{
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++count;
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e = e->next;
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} while (e != edge);
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return count;
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}
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inline qhHalfEdge* qhFace::FindHalfEdge(const qhVertex* v1, const qhVertex* v2) const
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{
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qhHalfEdge* e = edge;
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do
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{
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if (e->tail == v1 && e->next->tail == v2)
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{
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return e;
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}
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e = e->next;
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} while (e != edge);
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return NULL;
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}
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static inline b3Vec3 b3Newell(const b3Vec3& a, const b3Vec3& b)
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{
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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));
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}
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inline void qhFace::ComputeCenterAndPlane()
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{
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b3Vec3 c;
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c.SetZero();
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b3Vec3 n;
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n.SetZero();
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u32 count = 0;
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qhHalfEdge* e = edge;
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do
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{
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b3Vec3 v1 = e->tail->position;
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b3Vec3 v2 = e->next->tail->position;
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n += b3Newell(v1, v2);
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c += v1;
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++count;
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e = e->next;
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} while (e != edge);
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B3_ASSERT(count > 0);
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c /= float32(count);
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n.Normalize();
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plane.normal = n;
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plane.offset = b3Dot(n, c);
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center = c;
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}
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// qhHull
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// Given a number of points return the required memory size in
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@ -135,13 +58,16 @@ inline u32 qhGetBufferSize(u32 pointCount)
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size += HE * sizeof(qhHalfEdge);
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size += F * sizeof(qhFace);
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// Extra
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size += HE * sizeof(qhHalfEdge);
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size += F * sizeof(qhFace);
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// Horizon
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size += HE * sizeof(qhHalfEdge*);
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// Saved horizon vertices
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// One vertex per horizon edge
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size += HE * sizeof(qhVertex*);
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// Saved conflict vertices
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size += V * sizeof(qhVertex*);
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// New Faces
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// One face per horizon edge
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size += HE * sizeof(qhFace*);
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@ -149,11 +75,6 @@ inline u32 qhGetBufferSize(u32 pointCount)
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return size;
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}
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inline u32 qhHull::GetIterations() const
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{
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return m_iterations;
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}
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inline const qhList<qhVertex>& qhHull::GetVertexList() const
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{
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return m_vertexList;
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@ -164,6 +85,11 @@ inline const qhList<qhFace>& qhHull::GetFaceList() const
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return m_faceList;
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}
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inline u32 qhHull::GetIterations() const
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{
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return m_iterations;
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}
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inline qhVertex* qhHull::AllocateVertex()
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{
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qhVertex* v = m_freeVertices;
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@ -219,11 +145,21 @@ inline qhHalfEdge* qhHull::FindHalfEdge(const qhVertex* v1, const qhVertex* v2)
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{
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for (qhFace* face = m_faceList.head; face != NULL; face = face->next)
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{
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qhHalfEdge* e = face->FindHalfEdge(v1, v2);
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if (e)
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qhHalfEdge* e = face->edge;
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do
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{
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if (e->tail == v1 && e->next->tail == v2)
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{
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return e;
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}
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if (e->tail == v2 && e->next->tail == v1)
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{
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return e->twin;
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}
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e = e->next;
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} while (e != face->edge);
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}
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return NULL;
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}
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@ -102,7 +102,12 @@ void qhHull::Construct(void* memory, const b3Vec3* vs, u32 count)
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m_horizon = (qhHalfEdge**)((u8*)faces + F * sizeof(qhFace*));
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m_horizonCount = 0;
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m_newFaces = (qhFace**)((u8*)m_horizon + HE * sizeof(qhHalfEdge*));
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m_horizonVertices = (qhVertex**)((u8*)m_horizon + HE * sizeof(qhHalfEdge*));
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m_conflictVertices = (qhVertex**)((u8*)m_horizonVertices + HE * sizeof(qhVertex*));
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m_conflictCount = 0;
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m_newFaces = (qhFace**)((u8*)m_conflictVertices + V * sizeof(qhVertex*));
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m_newFaceCount = 0;
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m_vertexList.head = NULL;
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@ -426,6 +431,14 @@ void qhHull::AddNewFaces(qhVertex* eye)
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B3_ASSERT(e1->tail == e2->tail);
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}
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// Save horizon vertices
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for (u32 i = 0; i < m_horizonCount; ++i)
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{
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qhHalfEdge* edge = m_horizon[i];
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m_horizonVertices[i] = edge->tail;
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}
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// Remove the eye vertex from the conflict list
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b3Vec3 eyePosition = eye->position;
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@ -435,96 +448,80 @@ void qhHull::AddNewFaces(qhVertex* eye)
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// Add the eye point to the hull
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qhVertex* v1 = AddVertex(eyePosition);
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// Create new faces
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m_newFaceCount = 0;
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for (u32 i = 0; i < m_horizonCount; ++i)
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{
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qhHalfEdge* edge = m_horizon[i];
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// Save conflict vertices
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m_conflictCount = 0;
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qhVertex* v2 = edge->tail;
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qhVertex* v3 = edge->twin->tail;
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qhFace* face = AddNewFace(v1, v2, v3);
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}
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// Remove obsolete faces
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// Remove visible faces
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qhFace* f = m_faceList.head;
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while (f)
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{
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// Invisible faces are maintained.
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// Skip invisible faces.
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if (f->mark == qhFaceMark::e_invisible)
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{
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f = f->next;
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continue;
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}
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// Move the orphaned vertices into the new faces
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// Also remove internal points
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qhVertex* v = f->conflictList.head;
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while (v)
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{
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b3Vec3 p = v->position;
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// Save vertex
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m_conflictVertices[m_conflictCount++] = v;
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float32 max = m_tolerance;
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qhFace* maxFace = NULL;
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for (u32 i = 0; i < m_newFaceCount; ++i)
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{
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qhFace* newFace = m_newFaces[i];
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float32 d = b3Distance(p, newFace->plane);
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if (d > max)
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{
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max = d;
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maxFace = newFace;
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}
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}
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if (maxFace)
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{
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qhVertex* v0 = v;
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// Remove vertex from face
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v->conflictFace = NULL;
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v = f->conflictList.Remove(v);
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maxFace->conflictList.PushFront(v0);
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v0->conflictFace = maxFace;
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}
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else
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{
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qhVertex* v0 = v;
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v->conflictFace = NULL;
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v = f->conflictList.Remove(v);
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FreeVertex(v0);
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}
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}
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// Remove the face
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// Remove face
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f = RemoveFace(f);
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}
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// Add the new faces to the hull
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for (u32 i = 0; i < m_newFaceCount; ++i)
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// Add new faces to the hull
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m_newFaceCount = 0;
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for (u32 i = 0; i < m_horizonCount; ++i)
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{
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qhFace* face = m_newFaces[i];
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u32 j = i + 1 < m_horizonCount ? i + 1 : 0;
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qhHalfEdge* begin = face->edge;
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qhHalfEdge* edge = begin;
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do
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{
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qhVertex* v1 = edge->tail;
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qhVertex* v2 = m_horizonVertices[i];
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qhVertex* v3 = m_horizonVertices[j];
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qhHalfEdge* next = edge->next;
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qhVertex* v2 = next->tail;
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edge->twin = FindHalfEdge(v2, v1);
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if (edge->twin)
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{
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edge->twin->twin = edge;
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m_newFaces[m_newFaceCount++] = AddFace(v1, v2, v3);
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}
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edge = next;
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} while (edge != begin);
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// Move the orphaned conflict vertices into the new faces
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// Remove internal conflict vertices
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for (u32 i = 0; i < m_conflictCount; ++i)
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{
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qhVertex* v = m_conflictVertices[i];
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// Add
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m_faceList.PushFront(face);
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b3Vec3 p = v->position;
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float32 d0 = m_tolerance;
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qhFace* f0 = NULL;
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for (u32 j = 0; j < m_newFaceCount; ++j)
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{
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qhFace* nf = m_newFaces[j];
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float32 d = b3Distance(p, nf->plane);
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if (d > d0)
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{
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d0 = d;
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f0 = nf;
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}
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}
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if (f0)
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{
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// Add conflict vertex to the new face
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f0->conflictList.PushFront(v);
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v->conflictFace = f0;
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}
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else
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{
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// Remove conflict vertex
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FreeVertex(v);
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}
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}
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}
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@ -539,161 +536,47 @@ qhVertex* qhHull::AddVertex(const b3Vec3& position)
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return v;
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}
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qhFace* qhHull::AddFace(qhVertex* v1, qhVertex* v2, qhVertex* v3)
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static inline b3Vec3 b3Newell(const b3Vec3& a, const b3Vec3& b)
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{
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qhFace* face = AllocateFace();
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qhHalfEdge* e1 = FindHalfEdge(v1, v2);
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if (e1 == NULL)
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{
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e1 = AllocateEdge();
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e1->face = face;
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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));
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}
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qhHalfEdge* e2 = FindHalfEdge(v2, v3);
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if (e2 == NULL)
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static inline void b3ComputePlane(const qhFace* face, b3Plane& plane, b3Vec3& center)
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{
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e2 = AllocateEdge();
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e2->face = face;
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}
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b3Vec3 n;
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n.SetZero();
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qhHalfEdge* e3 = FindHalfEdge(v3, v1);
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if (e3 == NULL)
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{
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e3 = AllocateEdge();
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e3->face = face;
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}
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b3Vec3 c;
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c.SetZero();
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e1->tail = v1;
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e1->prev = e3;
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e1->next = e2;
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e1->twin = FindHalfEdge(v2, v1);
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if (e1->twin)
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{
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e1->twin->twin = e1;
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}
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e2->tail = v2;
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e2->prev = e1;
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e2->next = e3;
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e2->twin = FindHalfEdge(v3, v2);
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if (e2->twin)
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{
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e2->twin->twin = e2;
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}
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e3->tail = v3;
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e3->prev = e2;
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e3->next = e1;
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e3->twin = FindHalfEdge(v1, v3);
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if (e3->twin)
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{
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e3->twin->twin = e3;
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}
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|
||||
face->edge = e1;
|
||||
face->center = (v1->position + v2->position + v3->position) / 3.0f;
|
||||
face->plane = b3Plane(v1->position, v2->position, v3->position);
|
||||
|
||||
m_faceList.PushFront(face);
|
||||
|
||||
return face;
|
||||
}
|
||||
|
||||
qhFace* qhHull::RemoveFace(qhFace* face)
|
||||
{
|
||||
// Remove half-edges
|
||||
u32 count = 0;
|
||||
qhHalfEdge* e = face->edge;
|
||||
do
|
||||
{
|
||||
qhHalfEdge* twin = e->twin;
|
||||
b3Vec3 v1 = e->tail->position;
|
||||
b3Vec3 v2 = e->next->tail->position;
|
||||
|
||||
// Remove half-edge and its twin if twin face does not exist
|
||||
if (twin->face == NULL || twin->face == e->face)
|
||||
{
|
||||
e->twin = NULL;
|
||||
n += b3Newell(v1, v2);
|
||||
c += v1;
|
||||
|
||||
FreeEdge(twin);
|
||||
|
||||
qhHalfEdge* e0 = e;
|
||||
++count;
|
||||
e = e->next;
|
||||
FreeEdge(e0);
|
||||
}
|
||||
|
||||
} while (e != face->edge);
|
||||
|
||||
// Remove face
|
||||
qhFace* nextFace = m_faceList.Remove(face);
|
||||
FreeFace(face);
|
||||
return nextFace;
|
||||
B3_ASSERT(count > 0);
|
||||
c /= float32(count);
|
||||
n.Normalize();
|
||||
|
||||
plane.normal = n;
|
||||
plane.offset = b3Dot(n, c);
|
||||
|
||||
center = c;
|
||||
}
|
||||
|
||||
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;
|
||||
|
||||
do
|
||||
qhFace* qhHull::RemoveEdge(qhHalfEdge* e)
|
||||
{
|
||||
qhFace* leftFace = e->twin->face;
|
||||
|
||||
if (leftFace == rightFace)
|
||||
{
|
||||
e = e->next;
|
||||
continue;
|
||||
}
|
||||
|
||||
float32 d1 = b3Distance(leftFace->center, rightFace->plane);
|
||||
float32 d2 = b3Distance(rightFace->center, leftFace->plane);
|
||||
|
||||
if (d1 < -m_tolerance && d2 < -m_tolerance)
|
||||
{
|
||||
// Convex
|
||||
e = e->next;
|
||||
continue;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Concave or coplanar
|
||||
qhFace* rightFace = e->face;
|
||||
|
||||
// Move left vertices into right
|
||||
qhVertex* v = leftFace->conflictList.head;
|
||||
@ -729,11 +612,193 @@ bool qhHull::MergeFace(qhFace* rightFace)
|
||||
FreeFace(leftFace);
|
||||
|
||||
// Compute face center and plane
|
||||
rightFace->ComputeCenterAndPlane();
|
||||
b3ComputePlane(rightFace, rightFace->plane, rightFace->center);
|
||||
|
||||
// Validate
|
||||
Validate(rightFace);
|
||||
|
||||
return rightFace;
|
||||
}
|
||||
|
||||
qhFace* qhHull::AddFace(qhVertex* v1, qhVertex* v2, qhVertex* v3)
|
||||
{
|
||||
qhFace* face = AllocateFace();
|
||||
|
||||
qhHalfEdge* e1 = FindHalfEdge(v1, v2);
|
||||
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;
|
||||
}
|
||||
|
||||
if (e3->tail == NULL)
|
||||
{
|
||||
e3->tail = v3;
|
||||
}
|
||||
|
||||
if (e3->twin->tail == NULL)
|
||||
{
|
||||
e3->twin->tail = v1;
|
||||
}
|
||||
|
||||
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);
|
||||
|
||||
m_faceList.PushFront(face);
|
||||
|
||||
return face;
|
||||
}
|
||||
|
||||
qhFace* qhHull::RemoveFace(qhFace* face)
|
||||
{
|
||||
// Remove half-edges
|
||||
qhHalfEdge* e = face->edge;
|
||||
do
|
||||
{
|
||||
qhHalfEdge* e0 = e;
|
||||
e = e->next;
|
||||
|
||||
qhHalfEdge* twin = e0->twin;
|
||||
|
||||
// Is the edge a boundary edge?
|
||||
if (twin->face == NULL)
|
||||
{
|
||||
e0->twin = NULL;
|
||||
|
||||
e0->tail = NULL;
|
||||
e0->face = NULL;
|
||||
e0->next = NULL;
|
||||
e0->prev = NULL;
|
||||
|
||||
twin->twin = NULL;
|
||||
|
||||
// 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
|
||||
qhFace* nextFace = m_faceList.Remove(face);
|
||||
FreeFace(face);
|
||||
return nextFace;
|
||||
}
|
||||
|
||||
bool qhHull::MergeFace(qhFace* rightFace)
|
||||
{
|
||||
qhHalfEdge* e = rightFace->edge;
|
||||
|
||||
do
|
||||
{
|
||||
qhFace* leftFace = e->twin->face;
|
||||
|
||||
if (leftFace == rightFace)
|
||||
{
|
||||
e = e->next;
|
||||
continue;
|
||||
}
|
||||
|
||||
float32 d1 = b3Distance(leftFace->center, rightFace->plane);
|
||||
float32 d2 = b3Distance(rightFace->center, leftFace->plane);
|
||||
|
||||
if (d1 < -m_tolerance && d2 < -m_tolerance)
|
||||
{
|
||||
// Convex
|
||||
e = e->next;
|
||||
continue;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Concave or coplanar
|
||||
RemoveEdge(e);
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user