Added face-face contact manifold computation to sconvcol.
Martin Felis
parent
f06da4445f
commit
0e378b6a60
203
src/sconvcol.h
203
src/sconvcol.h
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@ -11,6 +11,8 @@ extern "C" {
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#include "vectorial/simd4x4f.h"
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#define SCH_EPS 0.001
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inline bool sch_simd4f_equal(simd4f a, simd4f b) {
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return (simd4f_get_x(simd4f_length4_squared(simd4f_sub(a, b))) == 0.f);
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}
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@ -26,6 +28,7 @@ typedef struct sch_hull sch_hull;
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typedef struct sch_plane sch_plane;
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typedef struct sch_hull_builder sch_hull_builder;
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typedef struct sch_face_query sch_face_query;
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typedef struct sch_manifold sch_manifold;
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struct sch_edge {
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sch_vert* vert;
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@ -65,6 +68,13 @@ struct sch_face_query {
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simd4f vert;
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};
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struct sch_manifold {
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int num_points;
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int num_vertices;
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simd4f* vertices;
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simd4f normal;
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};
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//
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// Hull Builder
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//
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@ -102,12 +112,24 @@ void sch_builder_face_end(sch_hull_builder* builder);
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SchHullResult sch_builder_create_hull(sch_hull_builder* builder, sch_hull* out_hull);
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//
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// Helper data structures
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//
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void sch_manifold_alloc (sch_manifold* manifold, int num_vertices);
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void sch_manifold_add_point (sch_manifold* manifold, simd4f p);
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void sch_manifold_reset (sch_manifold* manifold);
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void sch_manifold_free_memory (sch_manifold* manifold);
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//
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// Calculations
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//
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float sch_plane_distance(const sch_plane* plane, const simd4f* v);
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bool sch_plane_intersection(const sch_plane* plane, const simd4f* p0, const simd4f* p1, simd4f* result);
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void sch_plane_point_project(const sch_plane* plane, simd4f* p);
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void sch_edge_get_dir(const sch_edge* edge, simd4f* out_dir);
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void sch_hull_free_memory (sch_hull* hull);
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@ -118,7 +140,7 @@ void sch_hull_rotate (sch_hull* hull, const float radians, const simd4f axis);
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void sch_hull_transform (sch_hull* hull, simd4x4f mat);
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void sch_hull_get_plane(const sch_hull* hull, const int index, sch_plane* out_plane);
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void sch_hull_calc_plane(const sch_hull* hull, const int index, sch_plane* out_plane);
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sch_edge* sch_hull_find_edge (const sch_hull* hull, const simd4f v0, const simd4f v1);
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@ -126,7 +148,11 @@ void sch_hull_get_support(const sch_hull* hull, simd4f n, simd4f* out_vert);
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float sch_query_face_directions (const sch_hull* hull_A, const sch_hull* hull_B, sch_face_query* result);
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bool sch_hull_sat (const sch_hull* hullA, const sch_hull* hullB);
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void sch_clip_faces (const sch_face* ref_face, const sch_face* inc_face, sch_manifold* manifold);
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void sch_create_face_contact (const sch_face_query* query_A_B, const sch_hull* hull_A, const sch_face_query* query_B_A, const sch_hull* hull_B, sch_manifold *result);
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bool sch_hull_sat(const sch_hull* hull_A, const sch_hull* hull_B, sch_manifold* result);
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int sch_hull_is_vertex_concave(const sch_hull* hull, const simd4f p);
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@ -144,10 +170,53 @@ void sch_create_unitbox(sch_hull* out_hull);
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#ifdef SCONVCOL_IMPLEMENTATION
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void sch_manifold_alloc (sch_manifold* manifold, int num_vertices) {
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manifold->vertices = (simd4f*) aligned_alloc(16, sizeof(simd4f) * num_vertices);
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assert (manifold->vertices != NULL);
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manifold->num_vertices = num_vertices;
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}
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void sch_manifold_add_point (sch_manifold* manifold, simd4f p) {
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assert (manifold->num_vertices > manifold->num_points);
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manifold->vertices[manifold->num_points] = p;
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manifold->num_points++;
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}
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void sch_manifold_reset (sch_manifold* manifold) {
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manifold->num_points = 0;
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}
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void sch_manifold_free_memory (sch_manifold* manifold) {
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free (manifold->vertices);
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manifold->vertices = NULL;
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manifold->num_vertices = 0;
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}
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float sch_plane_distance(const sch_plane* plane, const simd4f* v) {
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return simd4f_dot3_scalar(simd4f_sub(*v, plane->p), plane->n);
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}
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bool sch_plane_intersection(const sch_plane* plane, const simd4f* p0, const simd4f* p1, simd4f* result) {
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simd4f line = simd4f_sub (*p1, *p0);
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float line_dot_n = simd4f_dot3_scalar(plane->n, line);
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if (fabs(line_dot_n) < SCH_EPS) {
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return false;
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}
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float s = -simd4f_dot3_scalar(simd4f_sub(*p0, plane->p), plane->n) / line_dot_n;
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*result = simd4f_add(*p0, simd4f_mul(line, simd4f_splat(s)));
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if (fabs (sch_plane_distance(plane, result)) <= SCH_EPS) {
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return true;
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}
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return false;
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}
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void sch_plane_point_project(const sch_plane* plane, simd4f* p) {
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float s = -simd4f_dot3_scalar(simd4f_sub(*p, plane->p), plane->n);
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*p = simd4f_add (*p, simd4f_mul(plane->n, simd4f_splat(s)));
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}
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void sch_create_face(int num_vert, simd4f* vertices, sch_face* out_face) {
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assert(out_face != NULL);
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assert(out_face->edge == NULL);
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@ -348,13 +417,10 @@ void sch_builder_face_vertex(sch_hull_builder* builder, simd4f vertex) {
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builder->face_vert_idx[face_end_idx] = vert_index;
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}
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void sch_hull_get_plane(const sch_hull* hull, const int index, sch_plane* out_plane) {
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assert(hull != NULL);
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assert(index >= 0 && index < hull->num_faces);
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assert(out_plane != NULL);
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void sch_face_calc_plane(const sch_face* face, sch_plane* out_plane) {
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assert (face != NULL);
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assert (out_plane != NULL);
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// TODO move plane calculation to create hull?
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sch_face* face = &hull->faces[index];
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sch_edge* edge0 = face->edge;
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sch_edge* edge1 = edge0->next;
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simd4f dir0;
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@ -366,6 +432,15 @@ void sch_hull_get_plane(const sch_hull* hull, const int index, sch_plane* out_pl
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out_plane->n = simd4f_cross3(dir0, dir1);
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}
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void sch_hull_calc_plane(const sch_hull* hull, const int index, sch_plane* out_plane) {
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assert(hull != NULL);
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assert(index >= 0 && index < hull->num_faces);
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assert(out_plane != NULL);
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// TODO move plane calculation to create hull?
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sch_face_calc_plane(&hull->faces[index], out_plane);
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}
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sch_edge* sch_hull_find_edge (const sch_hull* hull, const simd4f v0, const simd4f v1) {
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for (int fi = 0; fi < hull->num_faces; fi++) {
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sch_face* face = &hull->faces[fi];
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@ -407,7 +482,7 @@ float sch_query_face_directions (const sch_hull* hull_A, const sch_hull* hull_B,
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result->dist = -FLT_MAX;
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for (int fi = 0; fi < hull_A->num_faces; fi++) {
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sch_plane plane;
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sch_hull_get_plane(hull_A, fi, &plane);
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sch_hull_calc_plane(hull_A, fi, &plane);
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simd4f vert;
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sch_hull_get_support(hull_B, simd4f_sub(simd4f_zero(), plane.n), &vert);
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float distance = sch_plane_distance(&plane, &vert);
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@ -439,7 +514,7 @@ float sch_query_edge_directions (const sch_hull* hull_A, const sch_hull* hull_B,
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axis = simd4f_sub(simd4f_zero(), axis);
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}
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if (simd4f_get_x(simd4f_length3_squared(axis)) < 0.001) {
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if (simd4f_get_x(simd4f_length3_squared(axis)) < SCH_EPS) {
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continue;
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}
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@ -467,7 +542,103 @@ float sch_query_edge_directions (const sch_hull* hull_A, const sch_hull* hull_B,
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return result->dist;
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}
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bool sch_hull_sat (const sch_hull* hull_A, const sch_hull* hull_B) {
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void sch_clip_faces (const sch_face* ref_face, const sch_face* inc_face, sch_manifold* manifold) {
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simd4f* input_vertices = malloc(sizeof(simd4f) * manifold->num_vertices);
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assert (input_vertices != NULL);
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sch_edge* inc_start_edge = inc_face->edge;
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sch_edge* inc_cur_edge = inc_face->edge;
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sch_manifold_reset(manifold);
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int num_input_vertices = 0;
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do {
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sch_manifold_add_point(manifold, inc_cur_edge->vert->p);
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inc_cur_edge = inc_cur_edge->next;
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} while (inc_cur_edge != inc_start_edge);
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sch_edge* ref_start_edge = ref_face->edge;
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sch_edge* ref_cur_edge = ref_face->edge;
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sch_plane ref_face_plane;
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sch_face_calc_plane(ref_face, &ref_face_plane);
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do {
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memcpy(input_vertices, manifold->vertices, sizeof(simd4f) * manifold->num_points);
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num_input_vertices = manifold->num_points;
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sch_manifold_reset(manifold);
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// construct plane orthogonal to reference face that contains current edge.
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sch_plane edge_plane;
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edge_plane.n = simd4f_normalize3(simd4f_cross3(ref_face_plane.n, simd4f_sub(ref_cur_edge->next->vert->p, ref_cur_edge->vert->p)));
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edge_plane.p = ref_cur_edge->vert->p;
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for (int i = 0; i < num_input_vertices; i++) {
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simd4f current = input_vertices[i];
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simd4f prev = input_vertices[(i + num_input_vertices - 1) % num_input_vertices];
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simd4f intersection;
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bool is_intersecting = sch_plane_intersection(&edge_plane, ¤t, &prev, &intersection);
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if (sch_plane_distance(&edge_plane, ¤t) >= SCH_EPS) {
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if (sch_plane_distance(&edge_plane, &prev) <= SCH_EPS) {
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sch_manifold_add_point(manifold, intersection);
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}
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sch_manifold_add_point(manifold, current);
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} else if (sch_plane_distance(&edge_plane, &prev) >= SCH_EPS) {
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sch_manifold_add_point(manifold, intersection);
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}
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}
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ref_cur_edge = ref_cur_edge->next;
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} while (ref_cur_edge != ref_start_edge);
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free(input_vertices);
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}
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void sch_create_face_contact (const sch_face_query* query_A_B, const sch_hull* hull_A, const sch_face_query* query_B_A, const sch_hull* hull_B, sch_manifold *result) {
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const sch_plane* ref_plane = &query_A_B->plane;
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int ref_face_idx = query_A_B->face_idx;
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const sch_hull* ref_hull = hull_A;
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const sch_hull* inc_hull = hull_B;
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const sch_face* ref_face = &hull_A->faces[query_A_B->face_idx];
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// normalize input
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if (query_A_B->dist < query_B_A->dist) {
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ref_plane = &query_B_A->plane;
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ref_face_idx = query_B_A->face_idx;
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ref_face = &hull_B->faces[query_B_A->face_idx];
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ref_hull = hull_B;
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inc_hull = hull_A;
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}
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result->normal = ref_plane->n;
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// find most antiparallel face
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float dot_min = 1.0f;
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int inc_face_idx = -1;
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for (int i = 0; i < inc_hull->num_faces; i++) {
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sch_plane face_plane;
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sch_hull_calc_plane(inc_hull, i, &face_plane);
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float normal_dot = simd4f_dot3_scalar(result->normal, face_plane.n);
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if (normal_dot < dot_min) {
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dot_min = normal_dot;
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inc_face_idx = i;
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}
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}
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assert (inc_face_idx >= 0);
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const sch_face* inc_face = &inc_hull->faces[inc_face_idx];
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sch_clip_faces(ref_face, inc_face, result);
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// project points onto plane of reference face
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for (int i = 0; i < result->num_points; i++) {
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sch_plane_point_project(ref_plane, &result->vertices[i]);
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}
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}
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bool sch_hull_sat(
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const sch_hull* hull_A,
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const sch_hull* hull_B,
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sch_manifold* result) {
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sch_face_query query_A_B;
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sch_query_face_directions(hull_A, hull_B, &query_A_B);
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if (query_A_B.dist > 0.f) {
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@ -486,10 +657,10 @@ bool sch_hull_sat (const sch_hull* hull_A, const sch_hull* hull_B) {
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return true;
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}
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bool is_face_contact_A = query_A_B.dist > query_edge.dist;
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bool is_face_contact_B = query_B_A.dist > query_edge.dist;
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bool is_face_contact_A = query_A_B.dist >= query_edge.dist;
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bool is_face_contact_B = query_B_A.dist >= query_edge.dist;
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if (is_face_contact_A && is_face_contact_B) {
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// sch_create_face_contact (manifold, &query_A_B, &hull_A, &query_B_A, &hull_B);
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sch_create_face_contact (&query_A_B, hull_A, &query_B_A, hull_B, result);
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} else {
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// sch_create_edge_contact (manifold, &query_edge, &hull_A, &hull_B);
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}
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@ -500,7 +671,7 @@ bool sch_hull_sat (const sch_hull* hull_A, const sch_hull* hull_B) {
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int sch_hull_is_vertex_concave(const sch_hull* hull, const simd4f v) {
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sch_plane plane;
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for (int i = 0; i < hull->num_faces; i++) {
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sch_hull_get_plane(hull, i, &plane);
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sch_hull_calc_plane(hull, i, &plane);
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float distance = sch_plane_distance(&plane, &v);
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return (distance > 0.);
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}
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@ -595,7 +766,7 @@ void sch_create_unitbox(sch_hull* out_hull) {
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sch_builder_face_vertex(&builder, simd4f_create (-0.5f, 0.5f, 0.5f, 1.f));
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sch_builder_face_end(&builder);
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// +y
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// -y
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sch_builder_face_begin(&builder);
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sch_builder_face_vertex(&builder, simd4f_create (-0.5f, -0.5f, -0.5f, 1.f));
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sch_builder_face_vertex(&builder, simd4f_create ( 0.5f, -0.5f, -0.5f, 1.f));
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@ -327,6 +327,9 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
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sch_hull hull_B;
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sch_create_unitbox(&hull_B);
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sch_manifold manifold;
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sch_manifold_alloc(&manifold, SCH_BUILDER_MAX_NUM_FACE_VERTICES);
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GIVEN ("Two unit boxes separated by 1.1 along x axis") {
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simd4f r = simd4f_create(0.5f + 0.4f * sqrtf(2.), 0.f, 0.f, 1.f);
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simd4x4f translation;
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@ -338,7 +341,7 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
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sch_hull_transform(&hull_B, translation);
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THEN("Boxes separated") {
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bool separated = sch_hull_sat(&hull_A, &hull_B);
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bool separated = sch_hull_sat(&hull_A, &hull_B, &manifold);
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REQUIRE(separated);
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}
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}
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@ -348,7 +351,7 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
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sch_hull_translate(&hull_B, 1.1f, 0.f, 0.f);
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THEN("Boxes overlap") {
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bool separated = sch_hull_sat(&hull_A, &hull_B);
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bool separated = sch_hull_sat(&hull_A, &hull_B, &manifold);
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REQUIRE(!separated);
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}
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}
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@ -359,7 +362,7 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
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sch_hull_translate(&hull_B, sqrt(2.f), 0.f, 0.f);
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THEN("Boxes overlap") {
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bool separated = sch_hull_sat(&hull_A, &hull_B);
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bool separated = sch_hull_sat(&hull_A, &hull_B, &manifold);
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REQUIRE(!separated);
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}
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@ -367,12 +370,156 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
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sch_hull_translate(&hull_B, 0.001f, 0.f, 0.f);
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THEN("Boxes are separated") {
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bool separated = sch_hull_sat(&hull_A, &hull_B);
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bool separated = sch_hull_sat(&hull_A, &hull_B, &manifold);
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REQUIRE(separated);
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}
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}
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}
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GIVEN("Box B translated by 1z and rotated 45 degrees around z") {
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sch_hull_rotate(&hull_B, M_PI / 180.0f * 45.f, simd4f_create(0.f, 0.f, 1.f, 1.f));
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sch_hull_translate(&hull_B, 0., 0.f, 1.f);
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THEN("Boxes overlap") {
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bool separated = sch_hull_sat(&hull_A, &hull_B, &manifold);
|
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REQUIRE(!separated);
|
||||
REQUIRE(manifold.num_points == 8);
|
||||
}
|
||||
}
|
||||
|
||||
sch_manifold_free_memory(&manifold);
|
||||
sch_hull_free_memory(&hull_A);
|
||||
sch_hull_free_memory(&hull_B);
|
||||
}
|
||||
|
||||
TEST_CASE("PlaneTests", "[sconvcol]") {
|
||||
GIVEN("Z=0 Plane") {
|
||||
sch_plane plane;
|
||||
plane.n = simd4f_create(0.f, 0.f, 1.f, 1.f);
|
||||
plane.p = simd4f_create(1.f, 1.2354f, 0.f, 1.f);
|
||||
|
||||
WHEN("Querying point with z = -0.1") {
|
||||
simd4f p = simd4f_create (1231.3f, 552.2f, -0.1f, 1.f);
|
||||
float dist = sch_plane_distance (&plane, &p);
|
||||
THEN ("distance is -0.1") {
|
||||
REQUIRE (dist == -0.1f);
|
||||
}
|
||||
}
|
||||
|
||||
WHEN ("Intersecting with line (5., 3., 2.) - (12., 332., SCH_EPS") {
|
||||
simd4f p0 = simd4f_create (5.f, 3.f, 1.f, 1.f);
|
||||
simd4f p1 = simd4f_create (12.f, 332.f, SCH_EPS, 1.f);
|
||||
simd4f result;
|
||||
bool is_intersecting = sch_plane_intersection(&plane, &p0, &p1, &result);
|
||||
THEN ("have intersection") {
|
||||
REQUIRE (is_intersecting);
|
||||
}
|
||||
|
||||
WHEN ("Reversing the query") {
|
||||
simd4f result;
|
||||
bool is_intersecting = sch_plane_intersection(&plane, &p1, &p0, &result);
|
||||
THEN ("have intersection") {
|
||||
REQUIRE (is_intersecting);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
WHEN ("Intersecting with line (5., 3., 2.) - (12., 332., SCH_EPS * 2") {
|
||||
simd4f p0 = simd4f_create (5.f, 3.f, 1.f, 1.f);
|
||||
simd4f p1 = simd4f_create (12.f, 332.f, SCH_EPS * 2.f, 1.f);
|
||||
simd4f result;
|
||||
bool is_intersecting = sch_plane_intersection(&plane, &p0, &p1, &result);
|
||||
THEN ("have no intersection") {
|
||||
REQUIRE (is_intersecting);
|
||||
}
|
||||
|
||||
WHEN ("Reversing the query") {
|
||||
simd4f result;
|
||||
bool is_intersecting = sch_plane_intersection(&plane, &p1, &p0, &result);
|
||||
THEN ("have no intersection") {
|
||||
REQUIRE (is_intersecting);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
WHEN("Projecting point (123.4, 332., 212.) onto plane") {
|
||||
simd4f p = simd4f_create (123.4f, 332.f, 212.f, 1.f);
|
||||
sch_plane_point_project(&plane, &p);
|
||||
THEN ("z component is 0.") {
|
||||
REQUIRE (simd4f_get_z(p) == 0.f);
|
||||
}
|
||||
|
||||
WHEN("Using z = -212.0") {
|
||||
p = simd4f_create(123.4f, 332.f, -212.f, 1.f);
|
||||
sch_plane_point_project(&plane, &p);
|
||||
THEN("projected z component is 0.") {
|
||||
REQUIRE(simd4f_get_z(p) == 0.f);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
TEST_CASE ("ClipFaces", "[sconvcol]") {
|
||||
sch_hull_builder builder;
|
||||
sch_hull triangle_hull;
|
||||
sch_hull quad_hull;
|
||||
|
||||
// Build triangle
|
||||
sch_builder_reset(&builder);
|
||||
|
||||
// top
|
||||
sch_builder_face_begin(&builder);
|
||||
sch_builder_face_vertex(&builder, simd4f_create (0.5f, -0.5f, 0.f, 1.f));
|
||||
sch_builder_face_vertex(&builder, simd4f_create ( 0.0f, 0.5f, 0.f, 1.f));
|
||||
sch_builder_face_vertex(&builder, simd4f_create ( -0.5f, -0.5f, 0.f, 1.f));
|
||||
|
||||
sch_builder_face_end(&builder);
|
||||
|
||||
// bottom
|
||||
sch_builder_face_begin(&builder);
|
||||
sch_builder_face_vertex(&builder, simd4f_create (0.5f, -0.5f, 0.f, 1.f));
|
||||
sch_builder_face_vertex(&builder, simd4f_create ( -0.5f, -0.5f, 0.f, 1.f));
|
||||
sch_builder_face_vertex(&builder, simd4f_create ( 0.0f, 0.5f, 0.f, 1.f));
|
||||
sch_builder_face_end(&builder);
|
||||
|
||||
int hull_result = sch_builder_create_hull(&builder, &triangle_hull);
|
||||
triangle_hull.center = simd4f_create(0.f, 0.f, 0.f, 1.f);
|
||||
REQUIRE (hull_result == SchHullResultOK);
|
||||
|
||||
// Build quad
|
||||
sch_builder_reset(&builder);
|
||||
|
||||
// top
|
||||
sch_builder_face_begin(&builder);
|
||||
sch_builder_face_vertex(&builder, simd4f_create (-0.5f, -0.5f, 0.f, 1.f));
|
||||
sch_builder_face_vertex(&builder, simd4f_create ( 0.5f, -0.5f, 0.f, 1.f));
|
||||
sch_builder_face_vertex(&builder, simd4f_create ( 0.5f, 0.5f, 0.f, 1.f));
|
||||
sch_builder_face_vertex(&builder, simd4f_create (-0.5f, 0.5f, 0.f, 1.f));
|
||||
sch_builder_face_end(&builder);
|
||||
|
||||
// bottom
|
||||
sch_builder_face_begin(&builder);
|
||||
sch_builder_face_vertex(&builder, simd4f_create(0.5f, -0.5f, 0.f, 1.f));
|
||||
sch_builder_face_vertex(&builder, simd4f_create(-0.5f, -0.5f, 0.f, 1.f));
|
||||
sch_builder_face_vertex(&builder, simd4f_create(-0.5f, 0.5f, 0.f, 1.f));
|
||||
sch_builder_face_vertex(&builder, simd4f_create(0.5f, 0.5f, 0.f, 1.f));
|
||||
sch_builder_face_end(&builder);
|
||||
|
||||
hull_result = sch_builder_create_hull(&builder, &quad_hull);
|
||||
quad_hull.center = simd4f_create(0.f, 0.f, 0.f, 1.f);
|
||||
REQUIRE (hull_result == SchHullResultOK);
|
||||
|
||||
GIVEN ("A Triangle and a Quad") {
|
||||
WHEN ("Translating the Quad along +Y") {
|
||||
sch_hull_translate(&quad_hull, 0.f, 0.5f, 0.f);
|
||||
sch_manifold manifold;
|
||||
sch_manifold_alloc(&manifold, SCH_BUILDER_MAX_NUM_FACE_VERTICES);
|
||||
sch_manifold_reset(&manifold);
|
||||
|
||||
sch_clip_faces(&triangle_hull.faces[0], &quad_hull.faces[1], &manifold);
|
||||
REQUIRE (manifold.num_points == 3);
|
||||
sch_manifold_free_memory(&manifold);
|
||||
}
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue