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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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19
core/math/quick_hull.cpp
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@@ -369,7 +369,7 @@ Error QuickHull::build(const Vector<Vector3> &p_points, Geometry3D::MeshData &r_
for (List<Geometry3D::MeshData::Face>::Element *E = ret_faces.front(); E; E = E->next()) {
Geometry3D::MeshData::Face &f = E->get();
for (int i = 0; i < f.indices.size(); i++) {
for (uint32_t i = 0; i < f.indices.size(); i++) {
int a = E->get().indices[i];
int b = E->get().indices[(i + 1) % f.indices.size()];
Edge e(a, b);
@@ -436,17 +436,24 @@ Error QuickHull::build(const Vector<Vector3> &p_points, Geometry3D::MeshData &r_
r_mesh.faces.clear();
r_mesh.faces.resize(ret_faces.size());
HashMap<List<Geometry3D::MeshData::Face>::Element *, int> face_indices;
int idx = 0;
for (const Geometry3D::MeshData::Face &E : ret_faces) {
r_mesh.faces.write[idx++] = E;
for (List<Geometry3D::MeshData::Face>::Element *E = ret_faces.front(); E; E = E->next()) {
face_indices[E] = idx;
r_mesh.faces[idx++] = E->get();
}
r_mesh.edges.resize(ret_edges.size());
idx = 0;
for (const KeyValue<Edge, RetFaceConnect> &E : ret_edges) {
Geometry3D::MeshData::Edge e;
e.a = E.key.vertices[0];
e.b = E.key.vertices[1];
r_mesh.edges.write[idx++] = e;
e.vertex_a = E.key.vertices[0];
e.vertex_b = E.key.vertices[1];
ERR_CONTINUE(!face_indices.has(E.value.left));
ERR_CONTINUE(!face_indices.has(E.value.right));
e.face_a = face_indices[E.value.left];
e.face_b = face_indices[E.value.right];
r_mesh.edges[idx++] = e;
}
r_mesh.vertices = p_points;