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bugfix; operations

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This commit is contained in:
Irlan 2018-04-27 03:32:20 -03:00
parent bd490d7925
commit abc5f59170
2 changed files with 60 additions and 33 deletions
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15
include/bounce/quickhull/qh_hull.h
View File

@ -68,19 +68,25 @@ struct qhFace
struct qhHalfEdge
{
qhVertex* tail;
qhHalfEdge* prev;
qhHalfEdge* next;
qhHalfEdge* twin;
qhFace* face;
qhVertex* tail;
//
qhHalfEdge* freeNext;
bool active;
};
enum qhVertexMark
{
e_conflict,
e_hull
};
struct qhVertex
{
qhVertex* prev;
@ -90,6 +96,8 @@ struct qhVertex
qhFace* conflictFace;
qhVertexMark mark;
//
qhVertex* freeNext;
bool active;
@ -124,6 +132,9 @@ public:
void Draw() const;
private:
bool BuildInitialHull(const b3Vec3* vertices, u32 count);
qhVertex* AddVertex(const b3Vec3& position);
qhFace* AddFace(qhVertex* v1, qhVertex* v2, qhVertex* v3);
qhFace* RemoveFace(qhFace* face);

78
src/bounce/quickhull/qh_hull.cpp
View File

@ -253,17 +253,10 @@ bool qhHull::BuildInitialHull(const b3Vec3* vertices, u32 vertexCount)
// Add okay simplex to the hull.
b3Vec3 D = vertices[i4];
qhVertex* v1 = AllocateVertex();
v1->position = A;
qhVertex* v2 = AllocateVertex();
v2->position = B;
qhVertex* v3 = AllocateVertex();
v3->position = C;
qhVertex* v4 = AllocateVertex();
v4->position = D;
qhVertex* v1 = AddVertex(A);
qhVertex* v2 = AddVertex(B);
qhVertex* v3 = AddVertex(C);
qhVertex* v4 = AddVertex(D);
if (b3Distance(D, plane) < 0.0f)
{
@ -284,10 +277,10 @@ bool qhHull::BuildInitialHull(const b3Vec3* vertices, u32 vertexCount)
// Connectivity check.
Validate();
// Add remaining points to the hull.
// Assign closest face plane to each of them.
// Add remaining points to the conflict lists on each face.
for (u32 i = 0; i < vertexCount; ++i)
{
// Skip hull vertices.
if (i == i1 || i == i2 || i == i3 || i == i4)
{
continue;
@ -295,7 +288,7 @@ bool qhHull::BuildInitialHull(const b3Vec3* vertices, u32 vertexCount)
b3Vec3 p = vertices[i];
// Discard internal points since they can't be in the hull.
// Ignore internal points since they can't be in the hull.
float32 d0 = m_tolerance;
qhFace* f0 = NULL;
@ -312,6 +305,7 @@ bool qhHull::BuildInitialHull(const b3Vec3* vertices, u32 vertexCount)
if (f0)
{
qhVertex* v = AllocateVertex();
v->mark = qhVertexMark::e_conflict;
v->position = p;
v->conflictFace = f0;
f0->conflictList.PushFront(v);
@ -331,6 +325,11 @@ qhVertex* qhHull::FindEyeVertex() const
{
for (qhVertex* v = f->conflictList.head; v != NULL; v = v->next)
{
if (v->mark == qhVertexMark::e_hull)
{
continue;
}
float32 d = b3Distance(v->position, f->plane);
if (d > d0)
{
@ -391,15 +390,6 @@ void qhHull::FindHorizon(qhVertex* eye)
} while (edge != begin);
}
// Ensure unique edges
for (u32 i = 0; i < m_horizonCount; ++i)
{
for (u32 j = i + 1; j < m_horizonCount; ++j)
{
B3_ASSERT(m_horizon[i] != m_horizon[j]);
}
}
// Sort the horizon in CCW order
B3_ASSERT(m_horizonCount > 0);
for (u32 i = 0; i < m_horizonCount - 1; ++i)
@ -409,6 +399,9 @@ void qhHull::FindHorizon(qhVertex* eye)
for (u32 j = i + 1; j < m_horizonCount; ++j)
{
// Ensure unique edges
B3_ASSERT(m_horizon[i] != m_horizon[j]);
qhHalfEdge* e2 = m_horizon[j];
qhVertex* v2 = e2->tail;
@ -442,6 +435,8 @@ void qhHull::AddNewFaces(qhVertex* eye)
qhHalfEdge* edge = m_horizon[i];
qhVertex* v1 = eye;
v1->mark = qhVertexMark::e_hull;
qhVertex* v2 = edge->tail;
qhVertex* v3 = edge->twin->tail;
@ -464,6 +459,12 @@ void qhHull::AddNewFaces(qhVertex* eye)
qhVertex* v = f->conflictList.head;
while (v)
{
if (v->mark == qhVertexMark::e_hull)
{
v = v->next;
continue;
}
b3Vec3 p = v->position;
float32 max = m_tolerance;
@ -529,6 +530,14 @@ void qhHull::AddNewFaces(qhVertex* eye)
}
}
qhVertex* qhHull::AddVertex(const b3Vec3& position)
{
qhVertex* v = AllocateVertex();
v->mark = qhVertexMark::e_hull;
v->position = position;
return v;
}
qhFace* qhHull::AddFace(qhVertex* v1, qhVertex* v2, qhVertex* v3)
{
qhFace* face = AllocateFace();
@ -754,14 +763,23 @@ void qhHull::Validate(const qhHalfEdge* edge) const
B3_ASSERT(edge->active == true);
const qhHalfEdge* twin = edge->twin;
B3_ASSERT(twin->active == true);
B3_ASSERT(twin->twin == edge);
//B3_ASSERT(edge->tail->active == true);
B3_ASSERT(edge->tail->active == true);
B3_ASSERT(edge->tail->mark == qhVertexMark::e_hull);
b3Vec3 A = edge->tail->position;
B3_ASSERT(twin->tail->mark == qhVertexMark::e_hull);
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);
u32 count = 0;
const qhHalfEdge* begin = edge;
do
@ -774,17 +792,15 @@ 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
{
B3_ASSERT(edge->active == true);
B3_ASSERT(edge->face == face);
qhHalfEdge* twin = edge->twin;
qhHalfEdge* next = edge->next;
B3_ASSERT(twin->tail == next->tail);
edge = next;
edge = edge->next;
} while (edge != begin);
Validate(face->edge);