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Optimize Convex Collision

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Implements the Gauss Mapping optimization to SAT convex collision test.

* Described [here](https://ubm-twvideo01.s3.amazonaws.com/o1/vault/gdc2013/slides/822403Gregorius_Dirk_TheSeparatingAxisTest.pdf) by Dirk Gregorius.
* Requires adding of face information to edges in MeshData
* Took the chance to convert MeshData to LocalVector for performance.
This commit is contained in:
Juan Linietsky
2022-09-23 12:37:40 +02:00
parent 99bc4905cb
commit 71d2e38cb5
11 changed files with 170 additions and 81 deletions
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50
core/math/geometry_3d.cpp
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@@ -141,21 +141,21 @@ real_t Geometry3D::get_closest_distance_between_segments(const Vector3 &p_p0, co
void Geometry3D::MeshData::optimize_vertices() {
HashMap<int, int> vtx_remap;
for (int i = 0; i < faces.size(); i++) {
for (int j = 0; j < faces[i].indices.size(); j++) {
for (uint32_t i = 0; i < faces.size(); i++) {
for (uint32_t j = 0; j < faces[i].indices.size(); j++) {
int idx = faces[i].indices[j];
if (!vtx_remap.has(idx)) {
int ni = vtx_remap.size();
vtx_remap[idx] = ni;
}
faces.write[i].indices.write[j] = vtx_remap[idx];
faces[i].indices[j] = vtx_remap[idx];
}
}
for (int i = 0; i < edges.size(); i++) {
int a = edges[i].a;
int b = edges[i].b;
for (uint32_t i = 0; i < edges.size(); i++) {
int a = edges[i].vertex_a;
int b = edges[i].vertex_b;
if (!vtx_remap.has(a)) {
int ni = vtx_remap.size();
@@ -166,16 +166,16 @@ void Geometry3D::MeshData::optimize_vertices() {
vtx_remap[b] = ni;
}
edges.write[i].a = vtx_remap[a];
edges.write[i].b = vtx_remap[b];
edges[i].vertex_a = vtx_remap[a];
edges[i].vertex_b = vtx_remap[b];
}
Vector<Vector3> new_vertices;
LocalVector<Vector3> new_vertices;
new_vertices.resize(vtx_remap.size());
for (int i = 0; i < vertices.size(); i++) {
for (uint32_t i = 0; i < vertices.size(); i++) {
if (vtx_remap.has(i)) {
new_vertices.write[vtx_remap[i]] = vertices[i];
new_vertices[vtx_remap[i]] = vertices[i];
}
}
vertices = new_vertices;
@@ -751,7 +751,7 @@ Geometry3D::MeshData Geometry3D::build_convex_mesh(const Vector<Plane> &p_planes
Vector3 center = p.center();
// make a quad clockwise
Vector<Vector3> vertices = {
LocalVector<Vector3> vertices = {
center - up * subplane_size + right * subplane_size,
center - up * subplane_size - right * subplane_size,
center + up * subplane_size - right * subplane_size,
@@ -763,7 +763,7 @@ Geometry3D::MeshData Geometry3D::build_convex_mesh(const Vector<Plane> &p_planes
continue;
}
Vector<Vector3> new_vertices;
LocalVector<Vector3> new_vertices;
Plane clip = p_planes[j];
if (clip.normal.dot(p.normal) > 0.95f) {
@@ -774,7 +774,7 @@ Geometry3D::MeshData Geometry3D::build_convex_mesh(const Vector<Plane> &p_planes
break;
}
for (int k = 0; k < vertices.size(); k++) {
for (uint32_t k = 0; k < vertices.size(); k++) {
int k_n = (k + 1) % vertices.size();
Vector3 edge0_A = vertices[k];
@@ -816,9 +816,9 @@ Geometry3D::MeshData Geometry3D::build_convex_mesh(const Vector<Plane> &p_planes
MeshData::Face face;
// Add face indices.
for (int j = 0; j < vertices.size(); j++) {
for (uint32_t j = 0; j < vertices.size(); j++) {
int idx = -1;
for (int k = 0; k < mesh.vertices.size(); k++) {
for (uint32_t k = 0; k < mesh.vertices.size(); k++) {
if (mesh.vertices[k].distance_to(vertices[j]) < 0.001f) {
idx = k;
break;
@@ -837,28 +837,34 @@ Geometry3D::MeshData Geometry3D::build_convex_mesh(const Vector<Plane> &p_planes
// Add edge.
for (int j = 0; j < face.indices.size(); j++) {
for (uint32_t j = 0; j < face.indices.size(); j++) {
int a = face.indices[j];
int b = face.indices[(j + 1) % face.indices.size()];
bool found = false;
for (int k = 0; k < mesh.edges.size(); k++) {
if (mesh.edges[k].a == a && mesh.edges[k].b == b) {
int found_idx = -1;
for (uint32_t k = 0; k < mesh.edges.size(); k++) {
if (mesh.edges[k].vertex_a == a && mesh.edges[k].vertex_b == b) {
found = true;
found_idx = k;
break;
}
if (mesh.edges[k].b == a && mesh.edges[k].a == b) {
if (mesh.edges[k].vertex_b == a && mesh.edges[k].vertex_a == b) {
found = true;
found_idx = k;
break;
}
}
if (found) {
mesh.edges[found_idx].face_b = j;
continue;
}
MeshData::Edge edge;
edge.a = a;
edge.b = b;
edge.vertex_a = a;
edge.vertex_b = b;
edge.face_a = j;
edge.face_b = -1;
mesh.edges.push_back(edge);
}
}