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api stuff, bugfix, comment

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This commit is contained in:
Irlan 2018-04-21 13:10:10 -03:00
parent 1c71bbaa90
commit 97ee209bb6
2 changed files with 34 additions and 42 deletions
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10
include/bounce/quickhull/qh_hull.h
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@ -119,19 +119,17 @@ private:
bool BuildInitialHull(const b3Vec3* vertices, u32 count); bool BuildInitialHull(const b3Vec3* vertices, u32 count);
qhVertex* NextVertex(); qhVertex* NextVertex();
void AddVertex(qhVertex* v); void AddVertex(qhVertex* v);
void BuildHorizon(qhVertex* eye); void FindHorizon(qhVertex* eye);
void BuildHorizon(qhVertex* eye, qhHalfEdge* edge); void FindHorizon(qhVertex* eye, qhHalfEdge* edge);
void AddNewFaces(qhVertex* eye); void AddNewFaces(qhVertex* eye);
void MergeFaces(); void MergeFaces();
bool MergeFace(qhFace* face); bool MergeFace(qhFace* face);
qhFace* AddTriangle(qhVertex* v1, qhVertex* v2, qhVertex* v3); qhFace* CreateTriangle(qhVertex* v1, qhVertex* v2, qhVertex* v3);
qhHalfEdge* CreateAdjoiningTriangle(qhVertex* v, qhHalfEdge* he);
qhHalfEdge* AddAdjoiningTriangle(qhVertex* v, qhHalfEdge* he);
qhHalfEdge* FindTwin(const qhVertex* tail, const qhVertex* head) const; qhHalfEdge* FindTwin(const qhVertex* tail, const qhVertex* head) const;

66
src/bounce/quickhull/qh_hull.cpp
View File

@ -115,8 +115,6 @@ void qhHull::Construct(void* memory, const b3Vec3* vs, u32 count)
return; return;
} }
Validate();
qhVertex* eye = NextVertex(); qhVertex* eye = NextVertex();
while (eye) while (eye)
{ {
@ -124,6 +122,8 @@ void qhHull::Construct(void* memory, const b3Vec3* vs, u32 count)
eye = NextVertex(); eye = NextVertex();
++m_iteration; ++m_iteration;
} }
Validate();
} }
bool qhHull::BuildInitialHull(const b3Vec3* vertices, u32 vertexCount) bool qhHull::BuildInitialHull(const b3Vec3* vertices, u32 vertexCount)
@ -268,18 +268,18 @@ bool qhHull::BuildInitialHull(const b3Vec3* vertices, u32 vertexCount)
if (b3Distance(D, plane) < 0.0f) if (b3Distance(D, plane) < 0.0f)
{ {
faces[0] = AddTriangle(v1, v2, v3); faces[0] = CreateTriangle(v1, v2, v3);
faces[1] = AddTriangle(v4, v2, v1); faces[1] = CreateTriangle(v4, v2, v1);
faces[2] = AddTriangle(v4, v3, v2); faces[2] = CreateTriangle(v4, v3, v2);
faces[3] = AddTriangle(v4, v1, v3); faces[3] = CreateTriangle(v4, v1, v3);
} }
else else
{ {
// Ensure CCW order. // Ensure CCW order.
faces[0] = AddTriangle(v1, v3, v2); faces[0] = CreateTriangle(v1, v3, v2);
faces[1] = AddTriangle(v4, v1, v2); faces[1] = CreateTriangle(v4, v1, v2);
faces[2] = AddTriangle(v4, v2, v3); faces[2] = CreateTriangle(v4, v2, v3);
faces[3] = AddTriangle(v4, v3, v1); faces[3] = CreateTriangle(v4, v3, v1);
} }
// Connectivity check. // Connectivity check.
@ -353,12 +353,12 @@ qhVertex* qhHull::NextVertex()
void qhHull::AddVertex(qhVertex* eye) void qhHull::AddVertex(qhVertex* eye)
{ {
BuildHorizon(eye); FindHorizon(eye);
AddNewFaces(eye); AddNewFaces(eye);
MergeFaces(); MergeFaces();
} }
void qhHull::BuildHorizon(qhVertex* eye) void qhHull::FindHorizon(qhVertex* eye)
{ {
// Clean visited flags // Clean visited flags
for (qhFace* face = m_faceList.head; face != NULL; face = face->next) for (qhFace* face = m_faceList.head; face != NULL; face = face->next)
@ -366,12 +366,12 @@ void qhHull::BuildHorizon(qhVertex* eye)
face->state = qhFace::e_invisible; face->state = qhFace::e_invisible;
} }
// Build horizon. // Find the horizon
m_horizonCount = 0; m_horizonCount = 0;
BuildHorizon(eye, eye->conflictFace->edge); FindHorizon(eye, eye->conflictFace->edge);
} }
void qhHull::BuildHorizon(qhVertex* eye, qhHalfEdge* begin) void qhHull::FindHorizon(qhVertex* eye, qhHalfEdge* begin)
{ {
// Mark face as visible/visited. // Mark face as visible/visited.
qhFace* face = begin->face; qhFace* face = begin->face;
@ -388,7 +388,7 @@ void qhHull::BuildHorizon(qhVertex* eye, qhHalfEdge* begin)
{ {
if (b3Distance(eye->position, adjFace->plane) > m_tolerance) if (b3Distance(eye->position, adjFace->plane) > m_tolerance)
{ {
BuildHorizon(eye, adjEdge); FindHorizon(eye, adjEdge);
} }
else else
{ {
@ -412,7 +412,7 @@ void qhHull::AddNewFaces(qhVertex* eye)
{ {
qhHalfEdge* edge = m_horizon[0]; qhHalfEdge* edge = m_horizon[0];
qhHalfEdge* leftEdge = AddAdjoiningTriangle(eye, edge); qhHalfEdge* leftEdge = CreateAdjoiningTriangle(eye, edge);
qhHalfEdge* rightEdge = leftEdge->prev; qhHalfEdge* rightEdge = leftEdge->prev;
prevEdge = rightEdge; prevEdge = rightEdge;
@ -425,7 +425,7 @@ void qhHull::AddNewFaces(qhVertex* eye)
for (u32 i = 1; i < m_horizonCount - 1; ++i) for (u32 i = 1; i < m_horizonCount - 1; ++i)
{ {
qhHalfEdge* edge = m_horizon[i]; qhHalfEdge* edge = m_horizon[i];
qhHalfEdge* leftEdge = AddAdjoiningTriangle(eye, edge); qhHalfEdge* leftEdge = CreateAdjoiningTriangle(eye, edge);
qhHalfEdge* rightEdge = leftEdge->prev; qhHalfEdge* rightEdge = leftEdge->prev;
leftEdge->twin = prevEdge; leftEdge->twin = prevEdge;
@ -438,7 +438,7 @@ void qhHull::AddNewFaces(qhVertex* eye)
{ {
qhHalfEdge* edge = m_horizon[m_horizonCount - 1]; qhHalfEdge* edge = m_horizon[m_horizonCount - 1];
qhHalfEdge* leftEdge = AddAdjoiningTriangle(eye, edge); qhHalfEdge* leftEdge = CreateAdjoiningTriangle(eye, edge);
qhHalfEdge* rightEdge = leftEdge->prev; qhHalfEdge* rightEdge = leftEdge->prev;
leftEdge->twin = prevEdge; leftEdge->twin = prevEdge;
@ -513,7 +513,7 @@ void qhHull::AddNewFaces(qhVertex* eye)
} }
} }
qhFace* qhHull::AddTriangle(qhVertex* v1, qhVertex* v2, qhVertex* v3) qhFace* qhHull::CreateTriangle(qhVertex* v1, qhVertex* v2, qhVertex* v3)
{ {
qhFace* face = AllocateFace(); qhFace* face = AllocateFace();
@ -561,7 +561,7 @@ qhFace* qhHull::AddTriangle(qhVertex* v1, qhVertex* v2, qhVertex* v3)
return face; return face;
} }
qhHalfEdge* qhHull::AddAdjoiningTriangle(qhVertex* eye, qhHalfEdge* horizonEdge) qhHalfEdge* qhHull::CreateAdjoiningTriangle(qhVertex* eye, qhHalfEdge* horizonEdge)
{ {
B3_ASSERT(horizonEdge->face->state == qhFace::e_visible); B3_ASSERT(horizonEdge->face->state == qhFace::e_visible);
@ -619,12 +619,12 @@ bool qhHull::MergeFace(qhFace* rightFace)
if (d1 < -m_tolerance && d2 < -m_tolerance) if (d1 < -m_tolerance && d2 < -m_tolerance)
{ {
// convex // Convex
e = e->next; e = e->next;
} }
else else
{ {
// concave or coplanar // Concave or coplanar
if (leftFace == rightFace) if (leftFace == rightFace)
{ {
e = e->next; e = e->next;
@ -641,11 +641,11 @@ bool qhHull::MergeFace(qhFace* rightFace)
v0->conflictFace = rightFace; v0->conflictFace = rightFace;
} }
// set right face to reference a non-deleted edge // Set right face to reference a non-deleted edge
B3_ASSERT(e->face == rightFace); B3_ASSERT(e->face == rightFace);
rightFace->edge = e->prev; rightFace->edge = e->prev;
// absorb face // Absorb face
qhHalfEdge* te = e->twin; qhHalfEdge* te = e->twin;
do do
{ {
@ -653,7 +653,7 @@ bool qhHull::MergeFace(qhFace* rightFace)
te = te->next; te = te->next;
} while (te != e->twin); } while (te != e->twin);
// link edges // Link edges
e->prev->next = e->twin->next; e->prev->next = e->twin->next;
e->next->prev = e->twin->prev; e->next->prev = e->twin->prev;
e->twin->prev->next = e->next; e->twin->prev->next = e->next;
@ -664,17 +664,11 @@ bool qhHull::MergeFace(qhFace* rightFace)
m_faceList.Remove(leftFace); m_faceList.Remove(leftFace);
FreeFace(leftFace); FreeFace(leftFace);
// Compute face center and plane
rightFace->ComputeCenterAndPlane(); rightFace->ComputeCenterAndPlane();
{ // Validate
qhHalfEdge* he = rightFace->edge; Validate(rightFace);
do
{
B3_ASSERT(he->face == rightFace);
B3_ASSERT(he->twin->twin == he);
he = he->next;
} while (he != rightFace->edge);
}
return true; return true;
} }
@ -707,7 +701,7 @@ void qhHull::Validate(const qhHalfEdge* edge) const
b3Vec3 A = edge->tail->position; b3Vec3 A = edge->tail->position;
b3Vec3 B = twin->tail->position; b3Vec3 B = twin->tail->position;
B3_ASSERT(b3DistanceSquared(A, B) > B3_EPSILON * B3_EPSILON); B3_ASSERT(b3DistanceSquared(A, B) >= B3_LINEAR_SLOP * B3_LINEAR_SLOP);
u32 count = 0; u32 count = 0;
const qhHalfEdge* begin = edge; const qhHalfEdge* begin = edge;