Refactored HullScene making tests easier to visualize.

master
Martin Felis 2021-11-07 20:19:25 +01:00
parent 1adf0c611f
commit 7830840d81
3 changed files with 218 additions and 140 deletions

View File

@ -524,7 +524,7 @@ float sch_query_face_directions(
sch_hull_get_support(hull_B, simd4f_sub(simd4f_zero(), plane_n_B), &vert_B);
simd4f vert_A;
simd4x4f_inv_ortho_matrix_point3_mul(trans_BtoA, &vert_B, &vert_A);
simd4x4f_matrix_point3_mul(trans_BtoA, &vert_B, &vert_A);
float distance = sch_plane_distance(&plane, &vert_A);
if (distance > result->dist) {
result->dist = distance;
@ -730,7 +730,9 @@ bool sch_hull_sat(
}
sch_face_query query_B_A;
sch_query_face_directions(hull_B, &trans_BtoA, hull_A, &query_B_A);
simd4x4f trans_AtoB;
sch_simd4x4f_transform_inv(&trans_BtoA, &trans_AtoB);
sch_query_face_directions(hull_B, &trans_AtoB, hull_A, &query_B_A);
if (query_B_A.dist > 0.f) {
return true;
}

View File

@ -471,16 +471,28 @@ void SimulatorSceneRender(srcmdbuf* render_commands) {
}
}
sch_hull box_hull;
srmeshdata* box_hull_mesh;
simd4x4f box_hull_trasform {
struct SceneHull {
sch_hull hull;
srmeshdata* mesh = nullptr;
simd4x4f transform = {
simd4f_create(1.f, 0.f, 0.0, 0.f),
simd4f_create(0.f, 1.f, 0.f, 0.f),
simd4f_create(0.f, 0.f, 1.f, 0.f),
simd4f_create(0.f, 0.f, 0.f, 1.f)};
void SconvHUllSceneInit() {
sch_create_unitbox(&box_hull);
~SceneHull() {
if (mesh != nullptr) {
destroy();
}
};
void destroy() {
srmesh_destroy(mesh);
mesh = nullptr;
}
void createMesh() {
assert(mesh == nullptr);
// create mesh for hull
static srvrtxdata mesh_buffer_data[1024];
@ -489,12 +501,10 @@ void SconvHUllSceneInit() {
int index_count = -1;
int triangle_count = 0;
sch_hull* hull = &box_hull;
int face_vert0_idx = 0;
for (int fi = 0; fi < hull->num_faces; fi++) {
sch_face* face = &hull->faces[fi];
for (int fi = 0; fi < hull.num_faces; fi++) {
sch_face* face = &hull.faces[fi];
sch_edge* edge0 = face->edge;
sch_vert* face_vert0 = edge0->vert;
sch_edge* cur_edge = edge0->next;
@ -507,7 +517,7 @@ void SconvHUllSceneInit() {
int tri_vert_2_idx = 0;
sch_plane plane;
sch_hull_calc_plane(hull, fi, &plane);
sch_hull_calc_plane(&hull, fi, &plane);
// add face_vert0 (later used as tri_vert_0)
vertex_index++;
@ -573,7 +583,7 @@ void SconvHUllSceneInit() {
} while (next_edge->next != edge0);
}
box_hull_mesh = srmesh_create(
mesh = srmesh_create(
mesh_buffer_data,
vertex_index + 1,
index_buffer_data,
@ -581,12 +591,37 @@ void SconvHUllSceneInit() {
GL_TRIANGLES,
index_count + 1);
}
};
void SconvHUllSceneCleanup() { srmesh_destroy(box_hull_mesh); }
struct SconvHullScene {
SceneHull mHullA;
SceneHull mHullB;
SceneHull* mCurrentHull;
void SconvHUllSceneUpdate() {}
void init() {
sch_create_unitbox(&mHullA.hull);
mHullA.createMesh();
void SconvHullSceneRender(srcmdbuf* render_commands) {
sch_create_unitbox(&mHullB.hull);
mHullB.createMesh();
simd4x4f rot;
simd4x4f_axis_rotation(&rot, 0.4f, simd4f_create (0.f, 1.f, 0.f, 1.f));
simd4x4f translation;
simd4x4f_translation(&translation, -0.5f - 0.51f * sqrtf(2.), 0.0f, 0.f);
simd4x4f_matrix_mul(&translation, &rot, &mHullB.transform);
mCurrentHull = &mHullA;
};
void destroy() {
mHullA.destroy();
mHullB.destroy();
}
void draw(srcmdbuf* render_commands) {
// Populate render commands
srcmdbuf_clear(render_commands);
@ -610,25 +645,33 @@ void SconvHullSceneRender(srcmdbuf* render_commands) {
}
}
ImGuizmo::Manipulate(
(float*)&(gCameraState->mtxView),
(float*)&(gProjMatrix),
ImGuizmo::TRANSLATE,
ImGuizmo::WORLD,
(float*)(&box_hull_trasform),
NULL
);
(float*)(&mCurrentHull->transform),
NULL);
// Render hull
// Render hulls
srcmd cmd;
cmd.type = SrndrCmdTypeMesh;
cmd.color = simd4f_create(1.f, 1.f, 1.f, 1.f);
cmd.mat = box_hull_trasform;
cmd.meshdata = box_hull_mesh;
cmd.mat = mHullA.transform;
cmd.meshdata = mHullA.mesh;
srcmdbuf_add(render_commands, &cmd);
cmd.type = SrndrCmdTypeMesh;
cmd.color = simd4f_create(1.f, 1.f, 1.f, 1.f);
cmd.mat = mHullB.transform;
cmd.meshdata = mHullB.mesh;
srcmdbuf_add(render_commands, &cmd);
}
};
SconvHullScene gHullScene;
void ImSRenderWidget(srndr* renderer, srview* view) {
ZoneScoped;
@ -777,7 +820,7 @@ int main() {
// Scene init
//
simulator_init();
SconvHUllSceneInit();
gHullScene.init();
simd4x4f_translation(&gCameraState->mtxView, 0.1f, 0.1f, -0.5f);
simd4f eye = simd4f_create(5.f, 4.f, 5.f, 1.f);
@ -929,14 +972,13 @@ int main() {
ImGui::End();
}
SconvHullSceneRender(gRndrCmds);
gHullScene.draw(gRndrCmds);
// SimulatorSceneRender(gRndrCmds);
srndr_render(gRndr, gView, gRndrCmds);
ImSRenderWidget(gRndr, gView);
}
simulator_update(gTimer->mDeltaTime);
SconvHUllSceneUpdate();
{
ZoneNamedN(render_submit, "RenderSubmit", true);
@ -986,7 +1028,7 @@ int main() {
gLog("Exiting application");
SconvHUllSceneCleanup();
gHullScene.destroy();
srview_destroy(gView);
srndr_destroy(gRndr);

View File

@ -350,13 +350,12 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
sch_manifold_alloc(&manifold, SCH_BUILDER_MAX_NUM_FACE_VERTICES);
GIVEN ("Two unit boxes separated by 1.1 along x axis") {
simd4f r = simd4f_create(0.5f + 0.4f * sqrtf(2.), 0.f, 0.f, 1.f);
simd4x4f translation;
simd4x4f_translation(
&translation,
simd4f_get_x(r),
simd4f_get_y(r),
simd4f_get_z(r));
0.5f + 0.4f * sqrtf(2.),
0.f,
0.f);
THEN("Boxes separated") {
sch_hull_transform(&hull_B, translation);
@ -374,7 +373,7 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
}
THEN("Boxes separated when supplying trans_A") {
simd4f r = simd4f_create(-0.5f -0.4f * sqrtf(2.), 0.f, 0.f, 1.f);
simd4f r = simd4f_create(-0.5f -0.51f * sqrtf(2.), 0.f, 0.f, 1.f);
simd4x4f_translation(
&translation,
simd4f_get_x(r),
@ -386,6 +385,41 @@ TEST_CASE ("UnitCubeSAT", "[sconvcol]") {
bool separated = sch_hull_sat(&hull_A, &translation, &hull_B, &identity, &manifold);
REQUIRE(separated);
}
THEN("Boxes separated when supplying rot_trans to B") {
simd4x4f identity;
simd4x4f_identity(&identity);
simd4x4f rot;
simd4x4f_axis_rotation(&rot, 0.4f, simd4f_create (0.f, 1.f, 0.f, 1.f));
simd4x4f translation;
simd4x4f_translation(&translation, 0.5f + 0.51f * sqrtf(2.), 0.0f, 0.f);
simd4x4f rot_trans;
simd4x4f_matrix_mul(&translation, &rot, &rot_trans);
bool separated = sch_hull_sat(&hull_A, &identity, &hull_B, &rot_trans, &manifold);
REQUIRE(separated);
}
THEN("Boxes separated when supplying rot_trans to A") {
simd4x4f identity;
simd4x4f_identity(&identity);
simd4x4f rot;
simd4x4f_axis_rotation(&rot, 0.4f, simd4f_create (0.f, 1.f, 0.f, 1.f));
simd4x4f translation;
simd4x4f_translation(&translation, -0.5f - 0.51f * sqrtf(2.), 0.0f, 0.f);
simd4x4f rot_trans;
simd4x4f_matrix_mul(&translation, &rot, &rot_trans);
bool separated = sch_hull_sat(&hull_A, &rot_trans, &hull_B, &identity, &manifold);
REQUIRE(separated);
}
}
GIVEN("Box B rotated by 45 degrees around y and translated along x by 1.1") {