fix mesh size, decouple mesh topology from geometry, add polygon triangulation to make mass calculation O(n) in memory
This commit is contained in:
Irlan
parent
4f18e46268
commit
d59b67c3c3
@ -22,6 +22,43 @@
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#include <bounce/common/geometry.h>
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#include <bounce/collision/trees/static_tree.h>
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// A triangle in indexed form.
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struct b3Triangle
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{
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// Does nothing for performance.
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b3Triangle() { }
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// Set this triangle from three vertices.
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b3Triangle(u32 _v1, u32 _v2, u32 _v3)
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{
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v1 = _v1;
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v2 = _v2;
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v3 = _v3;
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}
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// Set this triangle from three vertices.
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void Set(u32 _v1, u32 _v2, u32 _v3)
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{
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v1 = _v1;
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v2 = _v2;
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v3 = _v3;
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}
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// Test if this triangle contains a given vertex.
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bool TestVertex(u32 v) const
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{
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return v == v1 || v == v2 || v == v3;
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}
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// Test if this triangle contains two vertices.
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bool TestEdge(u32 _v1, u32 _v2) const
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{
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return TestVertex(_v1) && TestVertex(_v2);
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}
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u32 v1, v2, v3;
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};
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struct b3Mesh
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{
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u32 vertexCount;
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@ -102,13 +139,12 @@ inline b3AABB3 b3Mesh::GetTriangleAABB(u32 index) const
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inline u32 b3Mesh::GetSize() const
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{
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u32 memory = 0;
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memory += sizeof(b3Mesh);
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memory += sizeof(b3Vec3) * vertexCount;
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memory += sizeof(b3Triangle) * triangleCount;
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memory += sizeof(b3Plane) * triangleCount;
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memory += sizeof(b3StaticTree);
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return memory;
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u32 size = 0;
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size += sizeof(b3Mesh);
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size += sizeof(b3Vec3) * vertexCount;
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size += sizeof(b3Triangle) * triangleCount;
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size += tree.GetSize();
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return size;
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}
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#endif
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@ -57,6 +57,8 @@ public:
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// Draw this tree.
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void Draw(b3Draw* draw) const;
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u32 GetSize() const;
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private :
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// A node in a static tree.
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struct b3Node
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@ -198,4 +200,12 @@ inline void b3StaticTree::RayCast(T* callback, const b3RayCastInput& input) cons
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}
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}
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inline u32 b3StaticTree::GetSize() const
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{
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u32 size = 0;
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size += sizeof(b3StaticTree);
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size += m_nodeCount * sizeof(b3Node);
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return size;
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}
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#endif
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@ -22,43 +22,6 @@
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#include <bounce/common/math/math.h>
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#include <bounce/common/math/transform.h>
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// A triangle in indexed form.
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struct b3Triangle
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{
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// Does nothing for performance.
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b3Triangle() { }
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// Set this triangle from three vertices.
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b3Triangle(u32 _v1, u32 _v2, u32 _v3)
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{
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v1 = _v1;
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v2 = _v2;
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v3 = _v3;
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}
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// Set this triangle from three vertices.
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void Set(u32 _v1, u32 _v2, u32 _v3)
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{
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v1 = _v1;
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v2 = _v2;
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v3 = _v3;
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}
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// Test if this triangle contains a given vertex.
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bool TestVertex(u32 v) const
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{
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return v == v1 || v == v2 || v == v3;
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}
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// Test if this triangle contains two vertices.
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bool TestEdge(u32 _v1, u32 _v2) const
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{
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return TestVertex(_v1) && TestVertex(_v2);
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}
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u32 v1, v2, v3;
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};
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// A plane in constant normal form.
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// dot(n, p) - d = 0.
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struct b3Plane
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@ -39,41 +39,6 @@ void b3HullShape::Swap(const b3HullShape& other)
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void b3HullShape::ComputeMass(b3MassData* massData, float32 density) const
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{
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// Build triangles for hull
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b3StackArray<b3Triangle, 256> triangles;
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// Use a small buffer for polygons.
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u32 polygon[B3_MAX_HULL_FEATURES];
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u32 vCount = 0;
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// Convert polygons to triangles
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for (u32 i = 0; i < m_hull->faceCount; ++i)
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{
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// Build convex polygon for loop
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const b3Face* face = m_hull->GetFace(i);
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const b3HalfEdge* begin = m_hull->GetEdge(face->edge);
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const b3HalfEdge* edge = begin;
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do
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{
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polygon[vCount++] = u32(edge->origin);
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edge = m_hull->GetEdge(edge->next);
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} while (edge != begin);
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// Triangulate convex polygon
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B3_ASSERT(vCount > 2);
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for (u32 j = 1; j < vCount - 1; ++j)
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{
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b3Triangle triangle;
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triangle.v1 = polygon[0];
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triangle.v2 = polygon[j];
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triangle.v3 = polygon[j + 1];
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triangles.PushBack(triangle);
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}
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vCount = 0;
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}
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vCount = 0;
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// Compute mass data
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b3Vec3 center(0.0f, 0.0f, 0.0f);
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float32 volume = 0.0f;
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@ -92,41 +57,56 @@ void b3HullShape::ComputeMass(b3MassData* massData, float32 density) const
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b3Vec3 diag(0.0f, 0.0f, 0.0f);
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b3Vec3 offDiag(0.0f, 0.0f, 0.0f);
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for (u32 i = 0; i < triangles.Count(); ++i)
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// Triangulate convex polygons
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for (u32 i = 0; i < m_hull->faceCount; ++i)
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{
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const b3Triangle* triangle = triangles.Get(i);
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b3Vec3 v2 = m_hull->GetVertex(triangle->v1);
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b3Vec3 v3 = m_hull->GetVertex(triangle->v2);
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b3Vec3 v4 = m_hull->GetVertex(triangle->v3);
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b3Vec3 tetraCenter = inv4 * (v1 + v2 + v3 + v4);
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b3Vec3 e1 = v2 - v1;
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b3Vec3 e2 = v3 - v1;
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b3Vec3 e3 = v4 - v1;
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float32 det = b3Det(e1, e2, e3);
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float32 tetraVolume = inv6 * det;
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// Volume weighted center of mass
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center += tetraVolume * tetraCenter;
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volume += tetraVolume;
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// Volume weighted inertia tensor
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// https://github.com/melax/sandbox
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for (u32 j = 0; j < 3; ++j)
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const b3Face* face = m_hull->GetFace(i);
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const b3HalfEdge* begin = m_hull->GetEdge(face->edge);
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const b3HalfEdge* edge = m_hull->GetEdge(begin->next);
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do
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{
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u32 j1 = (j + 1) % 3;
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u32 j2 = (j + 2) % 3;
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u32 i1 = begin->origin;
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u32 i2 = edge->origin;
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const b3HalfEdge* next = m_hull->GetEdge(edge->next);
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u32 i3 = next->origin;
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diag[j] += inv60 * det *
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(e1[j] * e2[j] + e2[j] * e3[j] + e3[j] * e1[j] +
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e1[j] * e1[j] + e2[j] * e2[j] + e3[j] * e3[j]);
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b3Vec3 v2 = m_hull->vertices[i1];
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b3Vec3 v3 = m_hull->vertices[i2];
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b3Vec3 v4 = m_hull->vertices[i3];
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//
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b3Vec3 tetraCenter = inv4 * (v1 + v2 + v3 + v4);
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offDiag[j] += inv120 * det *
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(e1[j1] * e2[j2] + e2[j1] * e3[j2] + e3[j1] * e1[j2] +
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e1[j1] * e3[j2] + e2[j1] * e1[j2] + e3[j1] * e2[j2] +
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e1[j1] * e1[j2] * 2.0f + e2[j1] * e2[j2] * 2.0f + e3[j1] * e3[j2] * 2.0f);
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}
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b3Vec3 e1 = v2 - v1;
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b3Vec3 e2 = v3 - v1;
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b3Vec3 e3 = v4 - v1;
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float32 det = b3Det(e1, e2, e3);
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float32 tetraVolume = inv6 * det;
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// Volume weighted center of mass
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center += tetraVolume * tetraCenter;
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volume += tetraVolume;
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// Volume weighted inertia tensor
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// https://github.com/melax/sandbox
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for (u32 j = 0; j < 3; ++j)
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{
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u32 j1 = (j + 1) % 3;
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u32 j2 = (j + 2) % 3;
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diag[j] += inv60 * det *
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(e1[j] * e2[j] + e2[j] * e3[j] + e3[j] * e1[j] +
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e1[j] * e1[j] + e2[j] * e2[j] + e3[j] * e3[j]);
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offDiag[j] += inv120 * det *
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(e1[j1] * e2[j2] + e2[j1] * e3[j2] + e3[j1] * e1[j2] +
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e1[j1] * e3[j2] + e2[j1] * e1[j2] + e3[j1] * e2[j2] +
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e1[j1] * e1[j2] * 2.0f + e2[j1] * e2[j2] * 2.0f + e3[j1] * e3[j2] * 2.0f);
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}
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edge = next;
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} while (m_hull->GetEdge(edge->next) != begin);
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}
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B3_ASSERT(volume > 0.0f);
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@ -32,7 +32,7 @@ Mat44 Camera::BuildProjectionMatrix() const
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// Tangent of the half cone angle along the y-axis
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float32 t = tan(0.5f * m_fovy);
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float32 sy = 1.0f / t;
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// Set the x-scale equals to the y-scale and
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// proportional to the aspect ratio
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float32 aspect = m_width / m_height;
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@ -104,7 +104,7 @@ Ray3 Camera::ConvertScreenToWorld(const b3Vec2& ps) const
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// Essential Math, page 250.
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float32 t = tan(0.5f * m_fovy);
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float32 aspect = m_width / m_height;
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b3Vec3 pv;
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pv.x = 2.0f * aspect * ps.x / m_width - aspect;
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pv.y = -2.0f * ps.y / m_height + 1.0f;
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@ -112,7 +112,7 @@ Ray3 Camera::ConvertScreenToWorld(const b3Vec2& ps) const
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b3Transform xf = BuildWorldTransform();
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b3Vec3 pw = xf * pv;
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Ray3 rw;
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rw.direction = b3Normalize(pw - xf.position);
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rw.origin = xf.position;
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@ -155,7 +155,7 @@ struct DrawPoints
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m_quads[m_count].color = color;
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++m_count;
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}
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void Submit()
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{
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// Build local quads
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@ -207,7 +207,7 @@ struct DrawPoints
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m_count = 0;
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}
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struct Quad
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{
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b3Vec3 center;
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@ -260,7 +260,7 @@ struct DrawLines
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glMatrixMode(GL_MODELVIEW);
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glLoadIdentity();
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glMultMatrixf(&xf1.x.x);
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for (u32 i = 0; i < m_count; ++i)
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{
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b3Vec3 p = m_lines[i].p;
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@ -272,7 +272,7 @@ struct DrawLines
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glVertex3f(p.x, p.y, p.z);
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glVertex3f(q.x, q.y, q.z);
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glEnd();
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}
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}
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m_count = 0;
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}
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@ -338,7 +338,7 @@ struct DrawTriangles
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b3Vec3 b = m_triangles[i].b;
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b3Vec3 c = m_triangles[i].c;
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b3Color col = m_triangles[i].col;
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glBegin(GL_TRIANGLES);
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glColor4f(col.r, col.g, col.b, col.a);
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glVertex3f(a.x, a.y, a.z);
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@ -384,14 +384,14 @@ struct DrawShapes
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{
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float32 radius = s->m_radius;
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Mat44 xf4 = GetMat44(xf);
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glMatrixMode(GL_MODELVIEW);
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glPushMatrix();
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glMultMatrixf(&xf4.x.x);
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gluSphere(m_sphere, radius, 10, 10);
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glPopMatrix();
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}
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void DrawCapsule(const b3CapsuleShape* s, const b3Transform& xf)
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{
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b3Vec3 c1 = s->m_centers[0];
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@ -405,11 +405,11 @@ struct DrawShapes
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b3Transform xfc;
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xfc.rotation = xf.rotation;
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xfc.position = xf * c1;
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Mat44 m = GetMat44(xfc);
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glMatrixMode(GL_MODELVIEW);
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glPushMatrix();
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glPushMatrix();
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glMultMatrixf(&m.x.x);
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GLdouble plane[4];
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@ -422,7 +422,7 @@ struct DrawShapes
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glEnable(GL_CLIP_PLANE0);
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gluSphere(m_sphere, radius, 10, 10);
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glDisable(GL_CLIP_PLANE0);
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glPopMatrix();
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}
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@ -430,9 +430,9 @@ struct DrawShapes
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b3Transform xfc;
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xfc.rotation = xf.rotation;
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xfc.position = xf * c2;
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Mat44 m = GetMat44(xfc);
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glMatrixMode(GL_MODELVIEW);
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glPushMatrix();
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glMultMatrixf(&m.x.x);
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@ -467,52 +467,65 @@ struct DrawShapes
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void DrawHull(const b3HullShape* s, const b3Transform& xf)
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{
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const b3Hull* hull = s->m_hull;
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for (u32 i = 0; i < hull->faceCount; ++i)
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{
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b3Vec3 n = xf.rotation * hull->planes[i].normal;
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glBegin(GL_POLYGON);
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glNormal3f(n.x, n.y, n.z);
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const b3Face* face = hull->GetFace(i);
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const b3HalfEdge* begin = hull->GetEdge(face->edge);
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const b3HalfEdge* edge = begin;
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b3Vec3 n = xf.rotation * hull->planes[i].normal;
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const b3HalfEdge* edge = hull->GetEdge(begin->next);
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do
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{
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b3Vec3 v = xf * hull->GetVertex(edge->origin);
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glVertex3f(v.x, v.y, v.z);
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edge = hull->GetEdge(edge->next);
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} while (edge != begin);
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glEnd();
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u32 i1 = begin->origin;
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u32 i2 = edge->origin;
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const b3HalfEdge* next = hull->GetEdge(edge->next);
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u32 i3 = next->origin;
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b3Vec3 v1 = xf * hull->vertices[i1];
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b3Vec3 v2 = xf * hull->vertices[i2];
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b3Vec3 v3 = xf * hull->vertices[i3];
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glBegin(GL_TRIANGLES);
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glNormal3f(n.x, n.y, n.z);
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glVertex3f(v1.x, v1.y, v1.z);
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glVertex3f(v2.x, v2.y, v2.z);
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glVertex3f(v3.x, v3.y, v3.z);
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glEnd();
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edge = next;
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} while (hull->GetEdge(edge->next) != begin);
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}
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}
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void DrawMesh(const b3MeshShape* s, const b3Transform& xf)
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{
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const b3Mesh* mesh = s->m_mesh;
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for (u32 i = 0; i < mesh->triangleCount; ++i)
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{
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const b3Triangle* triangle = mesh->triangles + i;
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const b3Triangle* t = mesh->triangles + i;
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b3Vec3 v1 = xf * mesh->vertices[t->v1];
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b3Vec3 v2 = xf * mesh->vertices[t->v2];
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b3Vec3 v3 = xf * mesh->vertices[t->v3];
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b3Vec3 v1 = xf * mesh->vertices[triangle->v1];
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b3Vec3 v2 = xf * mesh->vertices[triangle->v2];
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b3Vec3 v3 = xf * mesh->vertices[triangle->v3];
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b3Vec3 n = b3Cross(v2 - v1, v3 - v1);
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n.Normalize();
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glBegin(GL_TRIANGLES);
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glNormal3f(n.x, n.y, n.z);
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glVertex3f(v1.x, v1.y, v1.z);
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glVertex3f(v1.x, v1.y, v1.z);
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glVertex3f(v2.x, v2.y, v2.z);
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glVertex3f(v3.x, v3.y, v3.z);
|
||||
|
||||
|
||||
glEnd();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void DrawShape(const b3Shape* s, const b3Transform& xf)
|
||||
@ -592,12 +605,12 @@ struct DrawShapes
|
||||
glEnable(GL_COLOR_MATERIAL);
|
||||
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
|
||||
glColor4fv(&fillColor.r);
|
||||
|
||||
|
||||
const b3Transform& xf = b->GetTransform();
|
||||
b3Shape* s = b->GetShapeList().m_head;
|
||||
while (s)
|
||||
{
|
||||
DrawShape(s, xf);
|
||||
DrawShape(s, xf);
|
||||
s = s->GetNext();
|
||||
}
|
||||
|
||||
@ -605,7 +618,7 @@ struct DrawShapes
|
||||
|
||||
b = b->GetNext();
|
||||
}
|
||||
|
||||
|
||||
glDisable(GL_LIGHT0);
|
||||
glDisable(GL_LIGHTING);
|
||||
}
|
||||
@ -672,7 +685,7 @@ void DebugDraw::DrawCircle(const b3Vec3& normal, const b3Vec3& center, float32 r
|
||||
float32 cosInc = cos(kAngleInc);
|
||||
float32 sinInc = sin(kAngleInc);
|
||||
float32 tInc = 1.0f - cosInc;
|
||||
|
||||
|
||||
b3Vec3 n1 = b3Perp(normal);
|
||||
b3Vec3 v1 = center + radius * n1;
|
||||
for (u32 i = 0; i < kEdgeCount; ++i)
|
||||
@ -748,13 +761,13 @@ void DebugDraw::DrawAABB(const b3AABB3& aabb, const b3Color& color)
|
||||
b3Vec3 upper = aabb.m_upper;
|
||||
|
||||
b3Vec3 vs[8];
|
||||
|
||||
|
||||
// Face 1
|
||||
vs[0] = lower;
|
||||
vs[1] = b3Vec3(lower.x, upper.y, lower.z);
|
||||
vs[2] = b3Vec3(upper.x, upper.y, lower.z);
|
||||
vs[3] = b3Vec3(upper.x, lower.y, lower.z);
|
||||
|
||||
|
||||
// Face 2
|
||||
vs[4] = upper;
|
||||
vs[5] = b3Vec3(upper.x, lower.y, upper.z);
|
||||
@ -766,17 +779,17 @@ void DebugDraw::DrawAABB(const b3AABB3& aabb, const b3Color& color)
|
||||
DrawSegment(vs[1], vs[2], color);
|
||||
DrawSegment(vs[2], vs[3], color);
|
||||
DrawSegment(vs[3], vs[0], color);
|
||||
|
||||
|
||||
// Face 2 edges
|
||||
DrawSegment(vs[4], vs[5], color);
|
||||
DrawSegment(vs[5], vs[6], color);
|
||||
DrawSegment(vs[6], vs[7], color);
|
||||
DrawSegment(vs[7], vs[4], color);
|
||||
|
||||
|
||||
// Face 3 edges
|
||||
DrawSegment(vs[2], vs[4], color);
|
||||
DrawSegment(vs[5], vs[3], color);
|
||||
|
||||
|
||||
// Face 4 edges
|
||||
DrawSegment(vs[6], vs[0], color);
|
||||
DrawSegment(vs[1], vs[7], color);
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user