Initial work on a convex hull builder object.
Martin Felis
parent
0081cff8bc
commit
9356ec14f8
164
src/sconvcol.h
164
src/sconvcol.h
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@ -5,8 +5,8 @@
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extern "C" {
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#endif
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#include <stdbool.h>
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#include <assert.h>
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#include <stdbool.h>
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#include "vectorial/simd4x4f.h"
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@ -15,6 +15,8 @@ typedef struct sch_vert sch_vert;
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typedef struct sch_face sch_face;
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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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struct sch_edge {
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sch_vert* vert;
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@ -35,6 +37,8 @@ struct sch_face {
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struct sch_hull {
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int num_faces;
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sch_face* faces;
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sch_edge* edges;
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sch_vert* vertices;
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};
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struct sch_plane {
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@ -42,21 +46,64 @@ struct sch_plane {
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simd4f n;
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};
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struct sch_face_query {
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sch_hull* hull_A;
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sch_hull* hull_B;
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float dist;
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int face_idx_A;
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int face_idx_B;
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};
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//
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// Hull Builder
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//
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#define SCH_BUILDER_MAX_NUM_VERTICES 1024
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#define SCH_BUILDER_MAX_NUM_FACES 256
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#define SCH_BUILDER_MAX_NUM_FACE_VERTICES 32
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struct sch_hull_builder {
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int num_vertices;
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int num_faces;
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simd4f vertices[SCH_BUILDER_MAX_NUM_VERTICES];
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int face_vert_idx[SCH_BUILDER_MAX_NUM_FACES * SCH_BUILDER_MAX_NUM_VERTICES];
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int face_vert_idx_start[SCH_BUILDER_MAX_NUM_FACES];
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int face_vert_idx_end[SCH_BUILDER_MAX_NUM_FACES];
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};
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void sch_builder_reset(sch_hull_builder* builder);
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void sch_builder_face_begin(sch_hull_builder* builder);
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void sch_builder_face_vertex(sch_hull_builder* builder, simd4f vertex);
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void sch_builder_face_end(sch_hull_builder* builder);
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void sch_builder_create_hull(sch_hull_builder* builder, sch_hull* out_hull);
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//
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// Calculations
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//
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float sch_plane_distance(sch_plane* plane, simd4f* v);
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void sch_edge_get_dir(sch_edge* edge, simd4f* dir);
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void sch_hull_get_plane (sch_hull* hull, int index, sch_plane *out_plane);
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void sch_hull_get_plane(const sch_hull* hull, int index, sch_plane* out_plane);
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void sch_hull_get_support (sch_hull* hull, simd4f n, simd4f* out_vert);
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void sch_hull_get_support(const sch_hull* hull, simd4f n, simd4f* out_vert);
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void sch_create_face(int num_vert, simd4f* vertices, sch_face* out_face);
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void sch_create_hull (int num_faces, sch_face* faces,
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sch_hull* out_hull);
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void sch_create_hull(int num_faces, sch_face* faces, sch_hull* out_hull);
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void sch_query_face_dir(
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const sch_hull* hull_A,
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const sch_hull* hull_B,
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sch_face_query* out_query);
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//
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// srender Implementation
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// sconvcol Implementation
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//
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#ifdef SCONVCOL_IMPLEMENTATION
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@ -93,20 +140,115 @@ void sch_create_face (int num_vert, simd4f* vertices, sch_face* out_face) {
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void sch_edge_get_dir(sch_edge* edge, simd4f* out_dir) {
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*out_dir = simd4f_sub(edge->next->vert->p, edge->vert->p);
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float recip_len = 1. / sqrt(simd4f_dot3_scalar (*out_dir, *out_dir));
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float recip_len = 1.f / sqrtf(simd4f_dot3_scalar(*out_dir, *out_dir));
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*out_dir = simd4f_mul(*out_dir, simd4f_splat(recip_len));
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}
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void sch_create_hull (int num_faces, sch_face* faces,
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sch_hull* out_hull) {
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void sch_builder_reset(sch_hull_builder* builder) {
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builder->num_vertices = 0;
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builder->num_faces = 0;
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}
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void sch_builder_face_begin(sch_hull_builder* builder) {
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int face_index = builder->num_faces;
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builder->face_vert_idx_start[face_index] = builder->num_vertices;
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builder->face_vert_idx_end[face_index] = -1;
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}
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void sch_builder_face_end(sch_hull_builder* builder) { builder->num_faces++; }
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void sch_builder_create_hull(sch_hull_builder* builder, sch_hull* out_hull) {
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out_hull->num_faces = builder->num_faces;
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out_hull->faces = (sch_face*)malloc(sizeof(sch_face) * builder->num_faces);
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out_hull->vertices =
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(sch_vert*)malloc(sizeof(sch_vert) * builder->num_vertices);
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int num_edges = 1;
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for (int face_index = 0; face_index < out_hull->num_faces; face_index++) {
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int start_idx = builder->face_vert_idx_start[face_index];
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int end_idx = builder->face_vert_idx_end[face_index];
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int edge_count = end_idx - start_idx;
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num_edges += edge_count;
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}
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out_hull->edges = (sch_edge*)malloc(sizeof(sch_edge) * num_edges);
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int hull_edge_idx = 0;
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for (int face_index = 0; face_index < out_hull->num_faces; face_index++) {
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sch_face* face = &out_hull->faces[face_index];
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int start_idx = builder->face_vert_idx_start[face_index];
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int end_idx = builder->face_vert_idx_end[face_index];
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sch_edge* prev_edge = NULL;
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for (int face_vert_idx = start_idx; face_vert_idx <= end_idx;
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face_vert_idx++) {
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sch_edge* edge = &out_hull->edges[hull_edge_idx];
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hull_edge_idx++;
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if (face_vert_idx == start_idx) {
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face->edge = edge;
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}
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int vert_idx = builder->face_vert_idx[face_vert_idx];
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sch_vert* vert = &out_hull->vertices[vert_idx];
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vert->p = builder->vertices[vert_idx];
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vert->edge = edge;
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edge->vert = vert;
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edge->twin = NULL;
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edge->face = face;
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if (face_vert_idx == end_idx) {
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edge->next = face->edge;
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}
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if (prev_edge != NULL) {
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prev_edge->next = edge;
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}
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prev_edge = edge;
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}
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}
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}
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void sch_builder_face_vertex(sch_hull_builder* builder, simd4f vertex) {
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int face_index = builder->num_faces;
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int vert_index = -1;
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for (int i = 0; i < builder->num_vertices; i++) {
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if (simd4f_get_x(
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simd4f_length4_squared(simd4f_sub(builder->vertices[i], vertex)))
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< 1.0e-4) {
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vert_index = i;
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break;
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}
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}
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if (vert_index == -1) {
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vert_index = builder->num_vertices;
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builder->vertices[vert_index] = vertex;
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builder->num_vertices++;
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}
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if (builder->face_vert_idx_end[face_index] == -1) {
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builder->face_vert_idx_end[face_index] =
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builder->face_vert_idx_start[face_index];
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} else {
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builder->face_vert_idx_end[face_index]++;
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}
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int face_end_idx = builder->face_vert_idx_end[face_index];
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builder->face_vert_idx[face_end_idx] = vert_index;
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}
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void sch_create_hull(int num_faces, sch_face* faces, sch_hull* out_hull) {
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assert(out_hull != NULL);
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assert (out_hull->num_faces == NULL);
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out_hull->num_faces = num_faces;
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out_hull->faces = faces;
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}
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void sch_hull_get_plane (sch_hull* hull, int index, sch_plane* out_plane) {
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void sch_hull_get_plane(const sch_hull* hull, 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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@ -3,10 +3,16 @@
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#include "catch.hpp"
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#include "sconvcol.h"
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bool 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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using namespace std;
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TEST_CASE("Plane Distance", "[sconvcol]") {
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sch_plane plane = {simd4f_create (0.f, 0.f, 0.f, 0.f), simd4f_create(0.f, 1.f, 0.f, 0.f)};
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sch_plane plane = {
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simd4f_create(0.f, 0.f, 0.f, 0.f),
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simd4f_create(0.f, 1.f, 0.f, 0.f)};
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simd4f point = simd4f_create(0.f, 0.23f, 0.f, 0.f);
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@ -20,10 +26,9 @@ TEST_CASE("Edge Get Direction", "[sconvcol]") {
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simd4f_create(-1.f, -1.f, 0.f, 0.f),
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simd4f_create(1.f, -1.f, 0.f, 0.f),
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simd4f_create(1.f, 1.f, 0.f, 0.f),
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simd4f_create (-1.f, 1.f, 0.f, 0.f)
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};
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simd4f_create(-1.f, 1.f, 0.f, 0.f)};
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sch_face face = {0};
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sch_face face = {nullptr};
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sch_create_face(4, vertices, &face);
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simd4f dir;
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@ -33,25 +38,109 @@ TEST_CASE("Edge Get Direction", "[sconvcol]") {
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REQUIRE(1.f == simd4f_dot3_scalar(dir, dir_ref));
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}
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TEST_CASE("ManualCubeHull", "[sconvcol]") {}
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TEST_CASE("HullBuilder", "[sconvcol]") {
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sch_hull_builder builder;
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builder.num_vertices = 3;
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GIVEN("A builder") {
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WHEN("is reset") {
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sch_builder_reset(&builder);
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THEN("number of vertices and faces is set to 0") {
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REQUIRE(builder.num_vertices == 0);
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REQUIRE(builder.num_faces == 0);
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}
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WHEN("adding a vertex") {
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int num_vertices = builder.num_vertices;
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simd4f vertex = simd4f_create(1.f, 0.f, 0.f, 1.f);
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sch_builder_face_begin(&builder);
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sch_builder_face_vertex(&builder, vertex);
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THEN("number of vertices increased") {
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REQUIRE(builder.num_vertices > num_vertices);
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}
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}
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}
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}
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GIVEN("An empty builder") {
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sch_builder_reset(&builder);
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WHEN("adding two vertices ") {
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simd4f vertex0 = simd4f_create(1.f, 0.f, 0.f, 1.f);
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sch_builder_face_begin(&builder);
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sch_builder_face_vertex(&builder, vertex0);
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simd4f vertex1 = simd4f_create(0.f, 0.f, 0.f, 1.f);
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sch_builder_face_vertex(&builder, vertex1);
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WHEN("ending the face") {
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sch_builder_face_end(&builder);
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THEN("face idx range goes from 0 to 1") {
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REQUIRE(builder.num_faces == 1);
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REQUIRE(builder.num_vertices == 2);
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REQUIRE(builder.face_vert_idx_start[0] == 0);
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REQUIRE(builder.face_vert_idx_end[0] == 1);
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}
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}
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WHEN("creating a triangle") {
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simd4f vertex2 = simd4f_create(0.5f, 1.f, 0.f, 1.f);
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sch_builder_face_vertex(&builder, vertex2);
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sch_builder_face_end(&builder);
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THEN("face idx range goes from 0 to 2") {
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REQUIRE(builder.num_faces == 1);
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REQUIRE(builder.num_vertices == 3);
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REQUIRE(builder.face_vert_idx_start[0] == 0);
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REQUIRE(builder.face_vert_idx_end[0] == 2);
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}
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WHEN("creating a hull") {
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sch_hull hull;
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sch_builder_create_hull(&builder, &hull);
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THEN("verify triangle hull") {
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REQUIRE(hull.num_faces == 1);
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sch_face* face = &hull.faces[0];
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sch_vert* hull_vert0 = face->edge->vert;
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sch_vert* hull_vert1 = face->edge->next->vert;
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sch_vert* hull_vert2 = face->edge->next->next->vert;
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REQUIRE(simd4f_equal(hull_vert0->p, vertex0));
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REQUIRE(simd4f_equal(hull_vert1->p, vertex1));
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REQUIRE(simd4f_equal(hull_vert2->p, vertex2));
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REQUIRE(face->edge->next->next->next == face->edge);
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}
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}
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}
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}
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}
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}
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TEST_CASE("Hull Get Plane", "[sconvcol]") {
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simd4f vertices_pos_z[4] = {
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simd4f_create(-1.f, -1.f, 1.f, 0.f),
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simd4f_create(1.f, -1.f, 1.f, 0.f),
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simd4f_create(1.f, 1.f, 1.f, 0.f),
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simd4f_create (-1.f, 1.f, 1.f, 0.f)
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};
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simd4f_create(-1.f, 1.f, 1.f, 0.f)};
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sch_face face_pos_z = {0};
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sch_face face_pos_z = {nullptr};
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sch_create_face(4, vertices_pos_z, &face_pos_z);
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simd4f vertices_pos_x[4] = {
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simd4f_create(1.f, -1.f, 1.f, 0.f),
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simd4f_create(1.f, -1.f, -1.f, 0.f),
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simd4f_create(1.f, 1.f, -1.f, 0.f),
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simd4f_create (1.f, 1.f, 1.f, 0.f)
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};
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simd4f_create(1.f, 1.f, 1.f, 0.f)};
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sch_face face_pos_x = {0};
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sch_face face_pos_x = {nullptr};
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sch_create_face(4, vertices_pos_x, &face_pos_x);
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sch_hull hull = {0};
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@ -68,3 +157,4 @@ TEST_CASE("Hull Get Plane", "[sconvcol]") {
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REQUIRE_THAT(dist, Catch::Matchers::WithinRel(0.23, 1.0e-3));
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}
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TEST_CASE("Hull Get Support", "[sconvcol]") {}
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