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This commit is contained in:
ejcoumans
2006-05-26 00:29:43 +00:00
parent 18ac5c40ce
commit 6abd4264ee
2 changed files with 182 additions and 551 deletions
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404
Extras/ConvexDecomposition/ConvexDecomposition.cpp
View File

@@ -56,14 +56,10 @@
#define SHOW_MESH 0 #define SHOW_MESH 0
#define MAKE_MESH 1 #define MAKE_MESH 1
static unsigned int MAXDEPTH=8;
static float CONCAVE_PERCENT=1.0f;
static float MERGE_PERCENT=2.0f;
using namespace ConvexDecomposition; using namespace ConvexDecomposition;
typedef std::vector< unsigned int > UintVector;
namespace ConvexDecomposition namespace ConvexDecomposition
{ {
@@ -104,7 +100,7 @@ void addTri(VertexLookup vl,UintVector &list,const Vector3d &p1,const Vector3d &
} }
void doConvexDecomposition(unsigned int vcount, void calcConvexDecomposition(unsigned int vcount,
const float *vertices, const float *vertices,
unsigned int tcount, unsigned int tcount,
const unsigned int *indices, const unsigned int *indices,
@@ -351,7 +347,7 @@ void doConvexDecomposition(unsigned int vcount,
const float *vertices = Vl_getVertices(vfront); const float *vertices = Vl_getVertices(vfront);
unsigned int tcount = ifront.size()/3; unsigned int tcount = ifront.size()/3;
doConvexDecomposition(vcount, vertices, tcount, &ifront[0], callback, masterVolume, depth+1); calcConvexDecomposition(vcount, vertices, tcount, &ifront[0], callback, masterVolume, depth+1);
} }
@@ -365,7 +361,7 @@ void doConvexDecomposition(unsigned int vcount,
const float *vertices = Vl_getVertices(vback); const float *vertices = Vl_getVertices(vback);
unsigned int tcount = iback.size()/3; unsigned int tcount = iback.size()/3;
doConvexDecomposition(vcount, vertices, tcount, &iback[0], callback, masterVolume, depth+1); calcConvexDecomposition(vcount, vertices, tcount, &iback[0], callback, masterVolume, depth+1);
} }
@@ -375,398 +371,6 @@ void doConvexDecomposition(unsigned int vcount,
} }
} }
class CHull
{
public:
CHull(const ConvexResult &result)
{
mResult = new 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(void)
{
delete mResult;
}
bool overlap(const CHull &h) const
{
return overlapAABB(mMin,mMax, h.mMin, h.mMax );
}
float mMin[3];
float mMax[3];
float mVolume;
float mDiagonal; // long edge..
ConvexResult *mResult;
};
// Usage: std::sort( list.begin(), list.end(), StringSortRef() );
class CHullSort
{
public:
bool operator()(const CHull *a,const CHull *b) const
{
return a->mVolume < b->mVolume;
}
};
typedef std::vector< CHull * > CHullVector;
class ConvexBuilder : public ConvexDecompInterface
{
public:
ConvexBuilder(ConvexDecompInterface *callback)
{
mCallback = callback;
};
~ConvexBuilder(void)
{
CHullVector::iterator i;
for (i=mChulls.begin(); i!=mChulls.end(); ++i)
{
CHull *cr = (*i);
delete cr;
}
}
bool 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 getMesh(const 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 * 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;
unsigned int *idx = &indices[0];
HullResult hresult;
HullLibrary hl;
HullDesc desc;
desc.SetHullFlag(QF_TRIANGLES);
desc.mVcount = vcount;
desc.mVertices = vertices;
desc.mVertexStride = sizeof(float)*3;
HullError hret = hl.CreateConvexHull(desc,hresult);
if ( hret == 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) )
{
ConvexResult cr(hresult.mNumOutputVertices, hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices);
ret = new CHull(cr);
}
}
Vl_releaseVertexLookup(vc);
return ret;
}
bool combineHulls(void)
{
bool combine = false;
sortChulls(mChulls); // sort the convex hulls, largest volume to least...
CHullVector output; // the output hulls...
CHullVector::iterator i;
for (i=mChulls.begin(); i!=mChulls.end() && !combine; ++i)
{
CHull *cr = (*i);
CHullVector::iterator j;
for (j=mChulls.begin(); j!=mChulls.end(); ++j)
{
CHull *match = (*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.end() )
{
CHull *cr = (*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 = output;
output.clear();
}
return combine;
}
unsigned int process(const DecompDesc &desc)
{
unsigned int ret = 0;
MAXDEPTH = desc.mDepth;
CONCAVE_PERCENT = desc.mCpercent;
MERGE_PERCENT = desc.mPpercent;
doConvexDecomposition(desc.mVcount, desc.mVertices, desc.mTcount, desc.mIndices,this,0,0);
while ( combineHulls() ); // keep combinging hulls until I can't combine any more...
CHullVector::iterator i;
for (i=mChulls.begin(); i!=mChulls.end(); ++i)
{
CHull *cr = (*i);
// before we hand it back to the application, we need to regenerate the hull based on the
// limits given by the user.
const ConvexResult &c = *cr->mResult; // the high resolution hull...
HullResult result;
HullLibrary hl;
HullDesc hdesc;
hdesc.SetHullFlag(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 > 0 )
{
hdesc.mSkinWidth = desc.mSkinWidth;
hdesc.SetHullFlag(QF_SKIN_WIDTH); // do skin width computation.
}
HullError ret = hl.CreateConvexHull(hdesc,result);
if ( ret == QE_OK )
{
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);
}
delete cr;
}
ret = mChulls.size();
mChulls.clear();
return ret;
}
virtual void ConvexDebugTri(const float *p1,const float *p2,const float *p3,unsigned int color)
{
mCallback->ConvexDebugTri(p1,p2,p3,color);
}
virtual void ConvexDebugOBB(const float *sides, const float *matrix,unsigned int color)
{
mCallback->ConvexDebugOBB(sides,matrix,color);
}
virtual void ConvexDebugPoint(const float *p,float dist,unsigned int color)
{
mCallback->ConvexDebugPoint(p,dist,color);
}
virtual void ConvexDebugBound(const float *bmin,const float *bmax,unsigned int color)
{
mCallback->ConvexDebugBound(bmin,bmax,color);
}
virtual void ConvexDecompResult(ConvexResult &result)
{
CHull *ch = new CHull(result);
mChulls.push_back(ch);
}
void sortChulls(CHullVector &hulls)
{
std::sort( hulls.begin(), hulls.end(), CHullSort() );
}
CHullVector mChulls;
ConvexDecompInterface *mCallback;
};
unsigned int performConvexDecomposition(const DecompDesc &desc)
{
unsigned int ret = 0;
if ( desc.mCallback )
{
ConvexBuilder cb(desc.mCallback);
ret = cb.process(desc);
}
return ret;
}

329
Extras/ConvexDecomposition/ConvexDecomposition.h
View File

@@ -3,30 +3,30 @@
#define CONVEX_DECOMPOSITION_H #define CONVEX_DECOMPOSITION_H
/*---------------------------------------------------------------------- /*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org www.physicstools.org
All rights reserved. All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided Redistribution and use in source and binary forms, with or without modification, are permitted provided
that the following conditions are met: that the following conditions are met:
Redistributions of source code must retain the above copyright notice, this list of conditions Redistributions of source code must retain the above copyright notice, this list of conditions
and the following disclaimer. and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution. and/or other materials provided with the distribution.
Neither the name of the Open Dynamics Framework Group nor the names of its contributors may Neither the name of the Open Dynamics Framework Group nor the names of its contributors may
be used to endorse or promote products derived from this software without specific prior written permission. be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 'AS IS' AND ANY EXPRESS OR IMPLIED WARRANTIES, THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 'AS IS' AND ANY EXPRESS OR IMPLIED WARRANTIES,
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE INTEL OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, DISCLAIMED. IN NO EVENT SHALL THE INTEL OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-----------------------------------------------------------------------*/ -----------------------------------------------------------------------*/
// http://codesuppository.blogspot.com // http://codesuppository.blogspot.com
@@ -37,156 +37,183 @@
// //
#ifdef WIN32
#include <memory.h> //memcpy
#endif
#include <string.h>
#include <stdio.h>
static unsigned int MAXDEPTH=8;
static float CONCAVE_PERCENT=1.0f;
static float MERGE_PERCENT=2.0f;
#include <vector>
typedef std::vector< unsigned int > UintVector;
namespace ConvexDecomposition namespace ConvexDecomposition
{ {
class ConvexResult class ConvexResult
{ {
public: public:
ConvexResult(void) ConvexResult(void)
{ {
mHullVcount = 0; mHullVcount = 0;
mHullVertices = 0; mHullVertices = 0;
mHullTcount = 0; mHullTcount = 0;
mHullIndices = 0; mHullIndices = 0;
} }
ConvexResult(unsigned int hvcount,const float *hvertices,unsigned int htcount,const unsigned int *hindices) ConvexResult(unsigned int hvcount,const float *hvertices,unsigned int htcount,const unsigned int *hindices)
{ {
mHullVcount = hvcount; mHullVcount = hvcount;
if ( mHullVcount ) if ( mHullVcount )
{ {
mHullVertices = new float[mHullVcount*sizeof(float)*3]; mHullVertices = new float[mHullVcount*sizeof(float)*3];
memcpy(mHullVertices, hvertices, sizeof(float)*3*mHullVcount ); memcpy(mHullVertices, hvertices, sizeof(float)*3*mHullVcount );
} }
else else
{ {
mHullVertices = 0; mHullVertices = 0;
} }
mHullTcount = htcount; mHullTcount = htcount;
if ( mHullTcount ) if ( mHullTcount )
{ {
mHullIndices = new unsigned int[sizeof(unsigned int)*mHullTcount*3]; mHullIndices = new unsigned int[sizeof(unsigned int)*mHullTcount*3];
memcpy(mHullIndices,hindices, sizeof(unsigned int)*mHullTcount*3 ); memcpy(mHullIndices,hindices, sizeof(unsigned int)*mHullTcount*3 );
} }
else else
{ {
mHullIndices = 0; mHullIndices = 0;
} }
} }
ConvexResult(const ConvexResult &r) ConvexResult(const ConvexResult &r)
{ {
mHullVcount = r.mHullVcount; mHullVcount = r.mHullVcount;
if ( mHullVcount ) if ( mHullVcount )
{ {
mHullVertices = new float[mHullVcount*sizeof(float)*3]; mHullVertices = new float[mHullVcount*sizeof(float)*3];
memcpy(mHullVertices, r.mHullVertices, sizeof(float)*3*mHullVcount ); memcpy(mHullVertices, r.mHullVertices, sizeof(float)*3*mHullVcount );
} }
else else
{ {
mHullVertices = 0; mHullVertices = 0;
} }
mHullTcount = r.mHullTcount; mHullTcount = r.mHullTcount;
if ( mHullTcount ) if ( mHullTcount )
{ {
mHullIndices = new unsigned int[sizeof(unsigned int)*mHullTcount*3]; mHullIndices = new unsigned int[sizeof(unsigned int)*mHullTcount*3];
memcpy(mHullIndices, r.mHullIndices, sizeof(unsigned int)*mHullTcount*3 ); memcpy(mHullIndices, r.mHullIndices, sizeof(unsigned int)*mHullTcount*3 );
} }
else else
{ {
mHullIndices = 0; mHullIndices = 0;
} }
} }
~ConvexResult(void) ~ConvexResult(void)
{ {
delete mHullVertices; delete mHullVertices;
delete mHullIndices; delete mHullIndices;
} }
// the convex hull. // the convex hull.
unsigned int mHullVcount; unsigned int mHullVcount;
float * mHullVertices; float * mHullVertices;
unsigned int mHullTcount; unsigned int mHullTcount;
unsigned int *mHullIndices; unsigned int *mHullIndices;
float mHullVolume; // the volume of the convex hull. float mHullVolume; // the volume of the convex hull.
float mOBBSides[3]; // the width, height and breadth of the best fit OBB float mOBBSides[3]; // the width, height and breadth of the best fit OBB
float mOBBCenter[3]; // the center of the OBB float mOBBCenter[3]; // the center of the OBB
float mOBBOrientation[4]; // the quaternion rotation of the OBB. float mOBBOrientation[4]; // the quaternion rotation of the OBB.
float mOBBTransform[16]; // the 4x4 transform of the OBB. float mOBBTransform[16]; // the 4x4 transform of the OBB.
float mOBBVolume; // the volume of the OBB float mOBBVolume; // the volume of the OBB
float mSphereRadius; // radius and center of best fit sphere float mSphereRadius; // radius and center of best fit sphere
float mSphereCenter[3]; float mSphereCenter[3];
float mSphereVolume; // volume of the best fit sphere float mSphereVolume; // volume of the best fit sphere
};
class ConvexDecompInterface
{
public:
virtual void ConvexDebugTri(const float *p1,const float *p2,const float *p3,unsigned int color) { };
virtual void ConvexDebugPoint(const float *p,float dist,unsigned int color) { };
virtual void ConvexDebugBound(const float *bmin,const float *bmax,unsigned int color) { };
virtual void ConvexDebugOBB(const float *sides, const float *matrix,unsigned int color) { };
virtual void ConvexDecompResult(ConvexResult &result) = 0;
};
// just to avoid passing a zillion parameters to the method the
// options are packed into this descriptor.
class DecompDesc
{
public:
DecompDesc(void)
{
mVcount = 0;
mVertices = 0;
mTcount = 0;
mIndices = 0;
mDepth = 5;
mCpercent = 5;
mPpercent = 5;
mMaxVertices = 32;
mSkinWidth = 0;
mCallback = 0;
}
// describes the input triangle.
unsigned int mVcount; // the number of vertices in the source mesh.
const float *mVertices; // start of the vertex position array. Assumes a stride of 3 floats.
unsigned int mTcount; // the number of triangles in the source mesh.
unsigned int *mIndices; // the indexed triangle list array (zero index based)
// options
unsigned int mDepth; // depth to split, a maximum of 10, generally not over 7.
float mCpercent; // the concavity threshold percentage. 0=20 is reasonable.
float mPpercent; // the percentage volume conservation threshold to collapse hulls. 0-30 is reasonable.
// hull output limits.
unsigned int mMaxVertices; // maximum number of vertices in the output hull. Recommended 32 or less.
float mSkinWidth; // a skin width to apply to the output hulls.
ConvexDecompInterface *mCallback; // the interface to receive back the results.
};
// perform approximate convex decomposition on a mesh.
unsigned int performConvexDecomposition(const DecompDesc &desc); // returns the number of hulls produced.
void calcConvexDecomposition(unsigned int vcount,
const float *vertices,
unsigned int tcount,
const unsigned int *indices,
ConvexDecompInterface *callback,
float masterVolume,
unsigned int depth);
}; };
class ConvexDecompInterface
{
public:
virtual void ConvexDebugTri(const float *p1,const float *p2,const float *p3,unsigned int color) { };
virtual void ConvexDebugPoint(const float *p,float dist,unsigned int color) { };
virtual void ConvexDebugBound(const float *bmin,const float *bmax,unsigned int color) { };
virtual void ConvexDebugOBB(const float *sides, const float *matrix,unsigned int color) { };
virtual void ConvexDecompResult(ConvexResult &result) = 0;
};
// just to avoid passing a zillion parameters to the method the
// options are packed into this descriptor.
class DecompDesc
{
public:
DecompDesc(void)
{
mVcount = 0;
mVertices = 0;
mTcount = 0;
mIndices = 0;
mDepth = 5;
mCpercent = 5;
mPpercent = 5;
mMaxVertices = 32;
mSkinWidth = 0;
mCallback = 0;
}
// describes the input triangle.
unsigned int mVcount; // the number of vertices in the source mesh.
const float *mVertices; // start of the vertex position array. Assumes a stride of 3 floats.
unsigned int mTcount; // the number of triangles in the source mesh.
unsigned int *mIndices; // the indexed triangle list array (zero index based)
// options
unsigned int mDepth; // depth to split, a maximum of 10, generally not over 7.
float mCpercent; // the concavity threshold percentage. 0=20 is reasonable.
float mPpercent; // the percentage volume conservation threshold to collapse hulls. 0-30 is reasonable.
// hull output limits.
unsigned int mMaxVertices; // maximum number of vertices in the output hull. Recommended 32 or less.
float mSkinWidth; // a skin width to apply to the output hulls.
ConvexDecompInterface *mCallback; // the interface to receive back the results.
};
// perform approximate convex decomposition on a mesh.
unsigned int performConvexDecomposition(const DecompDesc &desc); // returns the number of hulls produced.
};
#endif #endif