redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

Extras/ConvexDecomposition/ConvexBuilder.cpp
350 строк8 KB
erwincoumans
Code-style consistency improvement:
24 сен 2018, 00:17
24 сен 2018, 00:17ab8f169
#include "float_math.h"
#include "ConvexBuilder.h"
#include "meshvolume.h"
#include "bestfit.h"
#include <assert.h>
#include "cd_hull.h"

#include "fitsphere.h"
#include "bestfitobb.h"

unsigned int MAXDEPTH = 8;
float CONCAVE_PERCENT = 1.0f;
float MERGE_PERCENT = 2.0f;

CHull::CHull(const ConvexDecomposition::ConvexResult &result)
{
	mResult = new ConvexDecomposition::ConvexResult(result);
	mVolume = computeMeshVolume(result.mHullVertices, result.mHullTcount, result.mHullIndices);

	mDiagonal = getBoundingRegion(result.mHullVcount, result.mHullVertices, sizeof(float) * 3, mMin, mMax);

	float dx = mMax[0] - mMin[0];
	float dy = mMax[1] - mMin[1];
	float dz = mMax[2] - mMin[2];

	dx *= 0.1f;  // inflate 1/10th on each edge
	dy *= 0.1f;  // inflate 1/10th on each edge
	dz *= 0.1f;  // inflate 1/10th on each edge

	mMin[0] -= dx;
	mMin[1] -= dy;
	mMin[2] -= dz;

	mMax[0] += dx;
	mMax[1] += dy;
	mMax[2] += dz;
}

CHull::~CHull(void)
{
	delete mResult;
}

bool CHull::overlap(const CHull &h) const
{
	return overlapAABB(mMin, mMax, h.mMin, h.mMax);
}

ConvexBuilder::ConvexBuilder(ConvexDecompInterface *callback)
{
	mCallback = callback;
}

ConvexBuilder::~ConvexBuilder(void)
{
	int i;
	for (i = 0; i < mChulls.size(); i++)
	{
		CHull *cr = mChulls[i];
		delete cr;
	}
}

bool ConvexBuilder::isDuplicate(unsigned int i1, unsigned int i2, unsigned int i3,
								unsigned int ci1, unsigned int ci2, unsigned int ci3)
{
	unsigned int dcount = 0;

	assert(i1 != i2 && i1 != i3 && i2 != i3);
	assert(ci1 != ci2 && ci1 != ci3 && ci2 != ci3);

	if (i1 == ci1 || i1 == ci2 || i1 == ci3) dcount++;
	if (i2 == ci1 || i2 == ci2 || i2 == ci3) dcount++;
	if (i3 == ci1 || i3 == ci2 || i3 == ci3) dcount++;

	return dcount == 3;
}

void ConvexBuilder::getMesh(const ConvexDecomposition::ConvexResult &cr, VertexLookup vc, UintVector &indices)
{
	unsigned int *src = cr.mHullIndices;

	for (unsigned int i = 0; i < cr.mHullTcount; i++)
	{
		unsigned int i1 = *src++;
		unsigned int i2 = *src++;
		unsigned int i3 = *src++;

		const float *p1 = &cr.mHullVertices[i1 * 3];
		const float *p2 = &cr.mHullVertices[i2 * 3];
		const float *p3 = &cr.mHullVertices[i3 * 3];

		i1 = Vl_getIndex(vc, p1);
		i2 = Vl_getIndex(vc, p2);
		i3 = Vl_getIndex(vc, p3);

#if 0
		bool duplicate = false;

		unsigned int tcount = indices.size()/3;
		for (unsigned int j=0; j<tcount; j++)
		{
			unsigned int ci1 = indices[j*3+0];
			unsigned int ci2 = indices[j*3+1];
			unsigned int ci3 = indices[j*3+2];
			if ( isDuplicate(i1,i2,i3, ci1, ci2, ci3 ) )
			{
				duplicate = true;
				break;
			}
		}

		if ( !duplicate )
		{
			indices.push_back(i1);
			indices.push_back(i2);
			indices.push_back(i3);
		}
#endif
	}
}

CHull *ConvexBuilder::canMerge(CHull *a, CHull *b)
{
	if (!a->overlap(*b)) return 0;  // if their AABB's (with a little slop) don't overlap, then return.

	CHull *ret = 0;

	// ok..we are going to combine both meshes into a single mesh
	// and then we are going to compute the concavity...

	VertexLookup vc = Vl_createVertexLookup();

	UintVector indices;

	getMesh(*a->mResult, vc, indices);
	getMesh(*b->mResult, vc, indices);

	unsigned int vcount = Vl_getVcount(vc);
	const float *vertices = Vl_getVertices(vc);
	unsigned int tcount = indices.size() / 3;

	//don't do anything if hull is empty
	if (!tcount)
	{
		Vl_releaseVertexLookup(vc);
		return 0;
	}

	ConvexDecomposition::HullResult hresult;
	ConvexDecomposition::HullLibrary hl;
	ConvexDecomposition::HullDesc desc;

	desc.SetHullFlag(ConvexDecomposition::QF_TRIANGLES);

	desc.mVcount = vcount;
	desc.mVertices = vertices;
	desc.mVertexStride = sizeof(float) * 3;

	ConvexDecomposition::HullError hret = hl.CreateConvexHull(desc, hresult);

	if (hret == ConvexDecomposition::QE_OK)
	{
		float combineVolume = computeMeshVolume(hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices);
		float sumVolume = a->mVolume + b->mVolume;

		float percent = (sumVolume * 100) / combineVolume;
		if (percent >= (100.0f - MERGE_PERCENT))
		{
			ConvexDecomposition::ConvexResult cr(hresult.mNumOutputVertices, hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices);
			ret = new CHull(cr);
		}
	}

	Vl_releaseVertexLookup(vc);

	return ret;
}

bool ConvexBuilder::combineHulls(void)
{
	bool combine = false;

	sortChulls(mChulls);  // sort the convex hulls, largest volume to least...

	CHullVector output;  // the output hulls...

	int i;

	for (i = 0; i < mChulls.size() && !combine; ++i)
	{
		CHull *cr = mChulls[i];

		int j;
		for (j = 0; j < mChulls.size(); j++)
		{
			CHull *match = mChulls[j];

			if (cr != match)  // don't try to merge a hull with itself, that be stoopid
			{
				CHull *merge = canMerge(cr, match);  // if we can merge these two....

				if (merge)
				{
					output.push_back(merge);

					++i;
					while (i != mChulls.size())
					{
						CHull *cr = mChulls[i];
						if (cr != match)
						{
							output.push_back(cr);
						}
						i++;
					}

					delete cr;
					delete match;
					combine = true;
					break;
				}
			}
		}

		if (combine)
		{
			break;
		}
		else
		{
			output.push_back(cr);
		}
	}

	if (combine)
	{
		mChulls.clear();
		mChulls.copyFromArray(output);
		output.clear();
	}

	return combine;
}

unsigned int ConvexBuilder::process(const ConvexDecomposition::DecompDesc &desc)
{
	unsigned int ret = 0;

	MAXDEPTH = desc.mDepth;
	CONCAVE_PERCENT = desc.mCpercent;
	MERGE_PERCENT = desc.mPpercent;

	calcConvexDecomposition(desc.mVcount, desc.mVertices, desc.mTcount, desc.mIndices, this, 0, 0);

	while (combineHulls())
		;  // keep combinging hulls until I can't combine any more...

	int i;
	for (i = 0; i < mChulls.size(); i++)
	{
		CHull *cr = mChulls[i];

		// before we hand it back to the application, we need to regenerate the hull based on the
		// limits given by the user.

		const ConvexDecomposition::ConvexResult &c = *cr->mResult;  // the high resolution hull...

		ConvexDecomposition::HullResult result;
		ConvexDecomposition::HullLibrary hl;
		ConvexDecomposition::HullDesc hdesc;

		hdesc.SetHullFlag(ConvexDecomposition::QF_TRIANGLES);

		hdesc.mVcount = c.mHullVcount;
		hdesc.mVertices = c.mHullVertices;
		hdesc.mVertexStride = sizeof(float) * 3;
		hdesc.mMaxVertices = desc.mMaxVertices;  // maximum number of vertices allowed in the output

		if (desc.mSkinWidth)
		{
			hdesc.mSkinWidth = desc.mSkinWidth;
			hdesc.SetHullFlag(ConvexDecomposition::QF_SKIN_WIDTH);  // do skin width computation.
		}

		ConvexDecomposition::HullError ret = hl.CreateConvexHull(hdesc, result);

		if (ret == ConvexDecomposition::QE_OK)
		{
			ConvexDecomposition::ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices);

			r.mHullVolume = computeMeshVolume(result.mOutputVertices, result.mNumFaces, result.mIndices);  // the volume of the hull.

			// compute the best fit OBB
			computeBestFitOBB(result.mNumOutputVertices, result.mOutputVertices, sizeof(float) * 3, r.mOBBSides, r.mOBBTransform);

			r.mOBBVolume = r.mOBBSides[0] * r.mOBBSides[1] * r.mOBBSides[2];  // compute the OBB volume.

			fm_getTranslation(r.mOBBTransform, r.mOBBCenter);  // get the translation component of the 4x4 matrix.

			fm_matrixToQuat(r.mOBBTransform, r.mOBBOrientation);  // extract the orientation as a quaternion.

			r.mSphereRadius = computeBoundingSphere(result.mNumOutputVertices, result.mOutputVertices, r.mSphereCenter);
			r.mSphereVolume = fm_sphereVolume(r.mSphereRadius);

			mCallback->ConvexDecompResult(r);
		}

		hl.ReleaseResult(result);

		delete cr;
	}

	ret = mChulls.size();

	mChulls.clear();

	return ret;
}

void ConvexBuilder::ConvexDebugTri(const float *p1, const float *p2, const float *p3, unsigned int color)
{
	mCallback->ConvexDebugTri(p1, p2, p3, color);
}

void ConvexBuilder::ConvexDebugOBB(const float *sides, const float *matrix, unsigned int color)
{
	mCallback->ConvexDebugOBB(sides, matrix, color);
}
void ConvexBuilder::ConvexDebugPoint(const float *p, float dist, unsigned int color)
{
	mCallback->ConvexDebugPoint(p, dist, color);
}

void ConvexBuilder::ConvexDebugBound(const float *bmin, const float *bmax, unsigned int color)
{
	mCallback->ConvexDebugBound(bmin, bmax, color);
}

void ConvexBuilder::ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
{
	CHull *ch = new CHull(result);
	mChulls.push_back(ch);
}

void ConvexBuilder::sortChulls(CHullVector &hulls)
{
	hulls.quickSort(CHullSort());
	//hulls.heapSort(CHullSort());
}