Clean convex hull decomposition code
Remove unnecessary conversion between triangle data and vertex data whenever possible.
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PouleyKetchoupp
parent
cd5a8f8dd4
commit
2ca94e51e4
@ -37,11 +37,13 @@
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class TriangleMesh : public RefCounted {
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GDCLASS(TriangleMesh, RefCounted);
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public:
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struct Triangle {
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Vector3 normal;
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int indices[3];
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};
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private:
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Vector<Triangle> triangles;
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Vector<Vector3> vertices;
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@ -86,8 +88,8 @@ public:
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Vector3 get_area_normal(const AABB &p_aabb) const;
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Vector<Face3> get_faces() const;
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Vector<Triangle> get_triangles() const { return triangles; }
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Vector<Vector3> get_vertices() const { return vertices; }
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const Vector<Triangle> &get_triangles() const { return triangles; }
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const Vector<Vector3> &get_vertices() const { return vertices; }
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void get_indices(Vector<int> *r_triangles_indices) const;
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void create(const Vector<Vector3> &p_faces);
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@ -525,35 +525,46 @@ Vector<Face3> EditorSceneImporterMesh::get_faces() const {
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}
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Vector<Ref<Shape3D>> EditorSceneImporterMesh::convex_decompose(const Mesh::ConvexDecompositionSettings &p_settings) const {
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ERR_FAIL_COND_V(!Mesh::convex_composition_function, Vector<Ref<Shape3D>>());
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ERR_FAIL_COND_V(!Mesh::convex_decomposition_function, Vector<Ref<Shape3D>>());
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const Vector<Face3> faces = get_faces();
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int face_count = faces.size();
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Vector<Vector<Face3>> decomposed = Mesh::convex_composition_function(faces, p_settings);
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Vector<Vector3> vertices;
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uint32_t vertex_count = 0;
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vertices.resize(face_count * 3);
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Vector<uint32_t> indices;
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indices.resize(face_count * 3);
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{
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Map<Vector3, uint32_t> vertex_map;
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Vector3 *vertex_w = vertices.ptrw();
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uint32_t *index_w = indices.ptrw();
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for (int i = 0; i < face_count; i++) {
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for (int j = 0; j < 3; j++) {
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const Vector3 &vertex = faces[i].vertex[j];
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Map<Vector3, uint32_t>::Element *found_vertex = vertex_map.find(vertex);
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uint32_t index;
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if (found_vertex) {
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index = found_vertex->get();
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} else {
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index = ++vertex_count;
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vertex_map[vertex] = index;
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vertex_w[index] = vertex;
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}
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index_w[i * 3 + j] = index;
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}
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}
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}
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vertices.resize(vertex_count);
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Vector<Vector<Vector3>> decomposed = Mesh::convex_decomposition_function((real_t *)vertices.ptr(), vertex_count, indices.ptr(), face_count, p_settings, nullptr);
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Vector<Ref<Shape3D>> ret;
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for (int i = 0; i < decomposed.size(); i++) {
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Set<Vector3> points;
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for (int j = 0; j < decomposed[i].size(); j++) {
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points.insert(decomposed[i][j].vertex[0]);
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points.insert(decomposed[i][j].vertex[1]);
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points.insert(decomposed[i][j].vertex[2]);
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}
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Vector<Vector3> convex_points;
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convex_points.resize(points.size());
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{
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Vector3 *w = convex_points.ptrw();
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int idx = 0;
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for (Set<Vector3>::Element *E = points.front(); E; E = E->next()) {
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w[idx++] = E->get();
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}
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}
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Ref<ConvexPolygonShape3D> shape;
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shape.instantiate();
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shape->set_points(convex_points);
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shape->set_points(decomposed[i]);
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ret.push_back(shape);
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}
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@ -32,7 +32,7 @@
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#include "scene/resources/mesh.h"
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#include "thirdparty/vhacd/public/VHACD.h"
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static Vector<Vector<Face3>> convex_decompose(const Vector<Face3> &p_faces, const Mesh::ConvexDecompositionSettings &p_settings) {
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static Vector<Vector<Vector3>> convex_decompose(const real_t *p_vertices, int p_vertex_count, const uint32_t *p_triangles, int p_triangle_count, const Mesh::ConvexDecompositionSettings &p_settings, Vector<Vector<uint32_t>> *r_convex_indices) {
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VHACD::IVHACD::Parameters params;
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params.m_concavity = p_settings.max_concavity;
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params.m_alpha = p_settings.symmetry_planes_clipping_bias;
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@ -49,42 +49,38 @@ static Vector<Vector<Face3>> convex_decompose(const Vector<Face3> &p_faces, cons
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params.m_maxConvexHulls = p_settings.max_convex_hulls;
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params.m_projectHullVertices = p_settings.project_hull_vertices;
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Vector<real_t> vertices;
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vertices.resize(p_faces.size() * 9);
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Vector<uint32_t> indices;
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indices.resize(p_faces.size() * 3);
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for (int i = 0; i < p_faces.size(); i++) {
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for (int j = 0; j < 3; j++) {
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vertices.write[i * 9 + j * 3 + 0] = p_faces[i].vertex[j].x;
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vertices.write[i * 9 + j * 3 + 1] = p_faces[i].vertex[j].y;
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vertices.write[i * 9 + j * 3 + 2] = p_faces[i].vertex[j].z;
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indices.write[i * 3 + j] = i * 3 + j;
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}
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}
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VHACD::IVHACD *decomposer = VHACD::CreateVHACD();
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decomposer->Compute(vertices.ptr(), vertices.size() / 3, indices.ptr(), indices.size() / 3, params);
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decomposer->Compute(p_vertices, p_vertex_count, p_triangles, p_triangle_count, params);
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int hull_count = decomposer->GetNConvexHulls();
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Vector<Vector<Face3>> ret;
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Vector<Vector<Vector3>> ret;
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ret.resize(hull_count);
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if (r_convex_indices) {
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r_convex_indices->resize(hull_count);
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}
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for (int i = 0; i < hull_count; i++) {
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Vector<Face3> triangles;
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VHACD::IVHACD::ConvexHull hull;
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decomposer->GetConvexHull(i, hull);
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triangles.resize(hull.m_nTriangles);
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for (uint32_t j = 0; j < hull.m_nTriangles; j++) {
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Face3 f;
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Vector<Vector3> &points = ret.write[i];
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points.resize(hull.m_nPoints);
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Vector3 *w = points.ptrw();
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for (uint32_t j = 0; j < hull.m_nPoints; ++j) {
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for (int k = 0; k < 3; k++) {
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for (int l = 0; l < 3; l++) {
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f.vertex[k][l] = hull.m_points[hull.m_triangles[j * 3 + k] * 3 + l];
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}
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w[j][k] = hull.m_points[j * 3 + k];
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}
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triangles.write[j] = f;
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}
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ret.push_back(triangles);
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if (r_convex_indices) {
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Vector<uint32_t> &indices = r_convex_indices->write[i];
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indices.resize(hull.m_nTriangles * 3);
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memcpy(indices.ptrw(), hull.m_triangles, hull.m_nTriangles * 3 * sizeof(uint32_t));
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}
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}
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decomposer->Clean();
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@ -94,9 +90,9 @@ static Vector<Vector<Face3>> convex_decompose(const Vector<Face3> &p_faces, cons
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}
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void register_vhacd_types() {
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Mesh::convex_composition_function = convex_decompose;
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Mesh::convex_decomposition_function = convex_decompose;
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}
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void unregister_vhacd_types() {
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Mesh::convex_composition_function = nullptr;
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Mesh::convex_decomposition_function = nullptr;
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}
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@ -38,7 +38,7 @@
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#include <stdlib.h>
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Mesh::ConvexDecompositionFunc Mesh::convex_composition_function = nullptr;
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Mesh::ConvexDecompositionFunc Mesh::convex_decomposition_function = nullptr;
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Ref<TriangleMesh> Mesh::generate_triangle_mesh() const {
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if (triangle_mesh.is_valid()) {
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@ -167,59 +167,6 @@ Vector<Face3> Mesh::get_faces() const {
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return tm->get_faces();
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}
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return Vector<Face3>();
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/*
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for (int i=0;i<surfaces.size();i++) {
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if (RenderingServer::get_singleton()->mesh_surface_get_primitive_type( mesh, i ) != RenderingServer::PRIMITIVE_TRIANGLES )
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continue;
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Vector<int> indices;
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Vector<Vector3> vertices;
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vertices=RenderingServer::get_singleton()->mesh_surface_get_array(mesh, i,RenderingServer::ARRAY_VERTEX);
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int len=RenderingServer::get_singleton()->mesh_surface_get_array_index_len(mesh, i);
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bool has_indices;
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if (len>0) {
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indices=RenderingServer::get_singleton()->mesh_surface_get_array(mesh, i,RenderingServer::ARRAY_INDEX);
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has_indices=true;
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} else {
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len=vertices.size();
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has_indices=false;
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}
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if (len<=0)
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continue;
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const int* indicesr = indices.ptr();
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const int *indicesptr = indicesr.ptr();
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const Vector3* verticesr = vertices.ptr();
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const Vector3 *verticesptr = verticesr.ptr();
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int old_faces=faces.size();
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int new_faces=old_faces+(len/3);
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faces.resize(new_faces);
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Face3* facesw = faces.ptrw();
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Face3 *facesptr=facesw.ptr();
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for (int i=0;i<len/3;i++) {
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Face3 face;
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for (int j=0;j<3;j++) {
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int idx=i*3+j;
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face.vertex[j] = has_indices ? verticesptr[ indicesptr[ idx ] ] : verticesptr[idx];
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}
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facesptr[i+old_faces]=face;
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}
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}
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*/
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}
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Ref<Shape3D> Mesh::create_convex_shape(bool p_clean, bool p_simplify) const {
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@ -568,35 +515,36 @@ void Mesh::clear_cache() const {
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}
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Vector<Ref<Shape3D>> Mesh::convex_decompose(const ConvexDecompositionSettings &p_settings) const {
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ERR_FAIL_COND_V(!convex_composition_function, Vector<Ref<Shape3D>>());
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ERR_FAIL_COND_V(!convex_decomposition_function, Vector<Ref<Shape3D>>());
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const Vector<Face3> faces = get_faces();
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Ref<TriangleMesh> tm = generate_triangle_mesh();
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ERR_FAIL_COND_V(!tm.is_valid(), Vector<Ref<Shape3D>>());
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const Vector<Vector<Face3>> decomposed = convex_composition_function(faces, p_settings);
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const Vector<TriangleMesh::Triangle> &triangles = tm->get_triangles();
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int triangle_count = triangles.size();
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Vector<uint32_t> indices;
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{
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indices.resize(triangle_count * 3);
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uint32_t *w = indices.ptrw();
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for (int i = 0; i < triangle_count; i++) {
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for (int j = 0; j < 3; j++) {
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w[i * 3 + j] = triangles[i].indices[j];
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}
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}
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}
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const Vector<Vector3> &vertices = tm->get_vertices();
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int vertex_count = vertices.size();
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Vector<Vector<Vector3>> decomposed = convex_decomposition_function((real_t *)vertices.ptr(), vertex_count, indices.ptr(), triangle_count, p_settings, nullptr);
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Vector<Ref<Shape3D>> ret;
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for (int i = 0; i < decomposed.size(); i++) {
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Set<Vector3> points;
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for (int j = 0; j < decomposed[i].size(); j++) {
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points.insert(decomposed[i][j].vertex[0]);
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points.insert(decomposed[i][j].vertex[1]);
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points.insert(decomposed[i][j].vertex[2]);
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}
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Vector<Vector3> convex_points;
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convex_points.resize(points.size());
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{
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Vector3 *w = convex_points.ptrw();
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int idx = 0;
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for (Set<Vector3>::Element *E = points.front(); E; E = E->next()) {
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w[idx++] = E->get();
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}
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}
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Ref<ConvexPolygonShape3D> shape;
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shape.instantiate();
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shape->set_points(convex_points);
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shape->set_points(decomposed[i]);
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ret.push_back(shape);
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}
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@ -191,9 +191,9 @@ public:
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uint32_t max_convex_hulls = 1;
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bool project_hull_vertices = true;
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};
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typedef Vector<Vector<Face3>> (*ConvexDecompositionFunc)(const Vector<Face3> &p_faces, const ConvexDecompositionSettings &p_settings);
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typedef Vector<Vector<Vector3>> (*ConvexDecompositionFunc)(const real_t *p_vertices, int p_vertex_count, const uint32_t *p_triangles, int p_triangle_count, const ConvexDecompositionSettings &p_settings, Vector<Vector<uint32_t>> *r_convex_indices);
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static ConvexDecompositionFunc convex_composition_function;
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static ConvexDecompositionFunc convex_decomposition_function;
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Vector<Ref<Shape3D>> convex_decompose(const ConvexDecompositionSettings &p_settings) const;
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