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https://github.com/godotengine/godot
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Replace QuickHull with Bullet's convex hull computer.
The code is based on the current version of thirdparty/vhacd and modified to use Godot's types and code style. Additional changes: - extended PagedAllocator to allow leaked objects - applied patch from https://github.com/bulletphysics/bullet3/pull/3037
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@ -55,6 +55,14 @@ Comment: Godot Engine logo
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Copyright: 2017, Andrea Calabró
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License: CC-BY-4.0
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Files: ./core/math/convex_hull.cpp
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./core/math/convex_hull.h
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Comment: Bullet Continuous Collision Detection and Physics Library
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Copyright: 2011, Ole Kniemeyer, MAXON, www.maxon.net
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2007-2021, Juan Linietsky, Ariel Manzur.
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2014-2021, Godot Engine contributors.
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License: Expat and Zlib
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Files: ./modules/fbx/fbx_parser/
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Comment: Open Asset Import Library (FBX parser)
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Copyright: 2006-2020, assimp team
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core/math/convex_hull.cpp
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2290
core/math/convex_hull.cpp
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112
core/math/convex_hull.h
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112
core/math/convex_hull.h
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@ -0,0 +1,112 @@
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/*************************************************************************/
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/* convex_hull.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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/*
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Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef CONVEX_HULL_H
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#define CONVEX_HULL_H
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#include "core/math/geometry_3d.h"
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#include "core/math/vector3.h"
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#include "core/templates/local_vector.h"
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#include "core/templates/vector.h"
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/// Convex hull implementation based on Preparata and Hong
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/// See http://code.google.com/p/bullet/issues/detail?id=275
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/// Ole Kniemeyer, MAXON Computer GmbH
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class ConvexHullComputer {
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public:
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class Edge {
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private:
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int32_t next = 0;
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int32_t reverse = 0;
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int32_t target_vertex = 0;
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friend class ConvexHullComputer;
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public:
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int32_t get_source_vertex() const {
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return (this + reverse)->target_vertex;
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}
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int32_t get_target_vertex() const {
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return target_vertex;
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}
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const Edge *get_next_edge_of_vertex() const // clockwise list of all edges of a vertex
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{
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return this + next;
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}
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const Edge *get_next_edge_of_face() const // counter-clockwise list of all edges of a face
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{
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return (this + reverse)->get_next_edge_of_vertex();
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}
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const Edge *get_reverse_edge() const {
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return this + reverse;
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}
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};
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// Vertices of the output hull
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Vector<Vector3> vertices;
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// Edges of the output hull
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LocalVector<Edge> edges;
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// Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons
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LocalVector<int32_t> faces;
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/*
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Compute convex hull of "count" vertices stored in "coords".
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If "shrink" is positive, the convex hull is shrunken by that amount (each face is moved by "shrink" length units
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towards the center along its normal).
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If "shrinkClamp" is positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius"
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is the minimum distance of a face to the center of the convex hull.
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The returned value is the amount by which the hull has been shrunken. If it is negative, the amount was so large
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that the resulting convex hull is empty.
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The output convex hull can be found in the member variables "vertices", "edges", "faces".
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*/
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real_t compute(const Vector3 *p_coords, int32_t p_count, real_t p_shrink, real_t p_shrink_clamp);
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static Error convex_hull(const Vector<Vector3> &p_points, Geometry3D::MeshData &r_mesh);
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};
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#endif // CONVEX_HULL_H
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@ -35,6 +35,8 @@
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#include "core/os/spin_lock.h"
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#include "core/typedefs.h"
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#include <type_traits>
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template <class T, bool thread_safe = false>
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class PagedAllocator {
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T **page_pool = nullptr;
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allocs_available++;
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}
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void reset() {
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ERR_FAIL_COND(allocs_available < pages_allocated * page_size);
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void reset(bool p_allow_unfreed = false) {
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if (!p_allow_unfreed || !std::is_trivially_destructible<T>::value) {
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ERR_FAIL_COND(allocs_available < pages_allocated * page_size);
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}
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if (pages_allocated) {
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for (uint32_t i = 0; i < pages_allocated; i++) {
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memfree(page_pool[i]);
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@ -30,9 +30,9 @@
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#include "node_3d_editor_gizmos.h"
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#include "core/math/convex_hull.h"
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#include "core/math/geometry_2d.h"
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#include "core/math/geometry_3d.h"
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#include "core/math/quick_hull.h"
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#include "scene/3d/audio_stream_player_3d.h"
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#include "scene/3d/baked_lightmap.h"
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#include "scene/3d/collision_polygon_3d.h"
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if (points.size() > 3) {
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Vector<Vector3> varr = Variant(points);
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Geometry3D::MeshData md;
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Error err = QuickHull::build(varr, md);
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Error err = ConvexHullComputer::convex_hull(varr, md);
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if (err == OK) {
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Vector<Vector3> points2;
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points2.resize(md.edges.size() * 2);
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@ -32,7 +32,7 @@
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#include "navigation_mesh_generator.h"
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#include "core/math/quick_hull.h"
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#include "core/math/convex_hull.h"
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#include "core/os/thread.h"
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#include "scene/3d/collision_shape_3d.h"
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#include "scene/3d/mesh_instance_3d.h"
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Vector<Vector3> varr = Variant(convex_polygon->get_points());
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Geometry3D::MeshData md;
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Error err = QuickHull::build(varr, md);
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Error err = ConvexHullComputer::convex_hull(varr, md);
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if (err == OK) {
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PackedVector3Array faces;
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@ -29,7 +29,7 @@
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/*************************************************************************/
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#include "convex_polygon_shape_3d.h"
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#include "core/math/quick_hull.h"
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#include "core/math/convex_hull.h"
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#include "servers/physics_server_3d.h"
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Vector<Vector3> ConvexPolygonShape3D::get_debug_mesh_lines() const {
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if (points.size() > 3) {
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Vector<Vector3> varr = Variant(points);
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Geometry3D::MeshData md;
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Error err = QuickHull::build(varr, md);
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Error err = ConvexHullComputer::convex_hull(varr, md);
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if (err == OK) {
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Vector<Vector3> lines;
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lines.resize(md.edges.size() * 2);
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#include "shape_3d_sw.h"
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#include "core/io/image.h"
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#include "core/math/convex_hull.h"
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#include "core/math/geometry_3d.h"
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#include "core/math/quick_hull.h"
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#include "core/templates/sort_array.h"
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// HeightMapShape3DSW is based on Bullet btHeightfieldTerrainShape.
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}
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void ConvexPolygonShape3DSW::_setup(const Vector<Vector3> &p_vertices) {
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Error err = QuickHull::build(p_vertices, mesh);
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Error err = ConvexHullComputer::convex_hull(p_vertices, mesh);
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if (err != OK) {
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ERR_PRINT("Failed to build QuickHull");
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ERR_PRINT("Failed to build convex hull");
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}
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AABB _aabb;
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#include "test_physics_3d.h"
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#include "core/math/convex_hull.h"
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#include "core/math/math_funcs.h"
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#include "core/math/quick_hull.h"
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#include "core/os/main_loop.h"
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#include "core/os/os.h"
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#include "core/string/print_string.h"
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RID convex_mesh = vs->mesh_create();
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Geometry3D::MeshData convex_data = Geometry3D::build_convex_mesh(convex_planes);
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QuickHull::build(convex_data.vertices, convex_data);
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ConvexHullComputer::convex_hull(convex_data.vertices, convex_data);
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vs->mesh_add_surface_from_mesh_data(convex_mesh, convex_data);
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type_mesh_map[PhysicsServer3D::SHAPE_CONVEX_POLYGON] = convex_mesh;
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#include "test_render.h"
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#include "core/math/convex_hull.h"
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#include "core/math/math_funcs.h"
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#include "core/math/quick_hull.h"
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#include "core/os/keyboard.h"
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#include "core/os/main_loop.h"
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#include "core/os/os.h"
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vts.push_back(Vector3(-1, -1, -1));
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Geometry3D::MeshData md;
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Error err = QuickHull::build(vts, md);
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Error err = ConvexHullComputer::convex_hull(vts, md);
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print_line("ERR: " + itos(err));
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test_cube = vs->mesh_create();
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vs->mesh_add_surface_from_mesh_data(test_cube, md);
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