Partial implementation of a generic convex polyhedron object
This commit is contained in:
Diren D Bharwani
parent
ea1dd57996
commit
400cbb35d9
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@ -131,6 +131,7 @@
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Colliders:
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- Is Trigger: false
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Type: Box
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Half Extents: {x: 1, y: 1, z: 1}
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Friction: 0.400000006
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Bounciness: 0
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Density: 1
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@ -18,6 +18,19 @@
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#include "Math/SHMatrix.h"
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#include "Physics/Collision/SHCollider.h"
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/*
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* Local box vertices, faces & half-edges
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*
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* Vertices (Front/Back Face):
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*
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* 3/7 ---------- 2/6
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* | |
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* | |
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* | |
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* 0/4 ---------- 1/5
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*
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*/
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namespace SHADE
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{
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/*-----------------------------------------------------------------------------------*/
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@ -29,6 +42,7 @@ namespace SHADE
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, SHBox ()
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, relativeExtents { SHVec3::One }
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, scale { SHVec3::One }
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, polyhedron { nullptr }
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{}
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SHBoxCollisionShape::SHBoxCollisionShape(const SHBoxCollisionShape& rhs) noexcept
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@ -36,6 +50,7 @@ namespace SHADE
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, SHBox (rhs.Center, rhs.Extents, rhs.Orientation)
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, relativeExtents { rhs.relativeExtents }
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, scale { rhs.scale }
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, polyhedron { rhs.polyhedron }
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{
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material = rhs.material;
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@ -52,6 +67,7 @@ namespace SHADE
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, SHBox (rhs.Center, rhs.Extents, rhs.Orientation)
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, relativeExtents { rhs.relativeExtents }
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, scale { rhs.scale }
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, polyhedron { rhs.polyhedron }
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{
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material = rhs.material;
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@ -93,6 +109,7 @@ namespace SHADE
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relativeExtents = rhs.relativeExtents;
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scale = rhs.scale;
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polyhedron = rhs.polyhedron;
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return *this;
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}
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@ -120,6 +137,7 @@ namespace SHADE
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relativeExtents = rhs.relativeExtents;
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scale = rhs.scale;
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polyhedron = rhs.polyhedron;
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return *this;
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}
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@ -13,6 +13,7 @@
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// Project Headers
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#include "Math/Geometry/SHBox.h"
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#include "SHCollisionShape.h"
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#include "SHConvexPolyhedron.h"
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namespace SHADE
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{
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@ -152,6 +153,7 @@ namespace SHADE
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SHVec3 relativeExtents;
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SHVec3 scale; // Intended to be passed in by the base collider.
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SHConvexPolyhedron* polyhedron; // Defines the polyhedron by it's half edges.
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};
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@ -0,0 +1,216 @@
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/****************************************************************************************
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* \file SHConvexPolyhedron.cpps
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* \author Diren D Bharwani, diren.dbharwani, 390002520
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* \brief Implementation for a convex polyhedron structure.
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*
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* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
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* disclosure of this file or its contents without the prior written consent
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* of DigiPen Institute of Technology is prohibited.
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****************************************************************************************/
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#include <SHpch.h>
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// Primary Header
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#include "SHConvexPolyhedron.h"
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// Helper Macros
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#define BUILD_UINT64_FROM_UINT32S(a, b) (uint64_t)a << 32 | b
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namespace SHADE
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{
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/*-----------------------------------------------------------------------------------*/
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/* Constructors & Destructor Definitions */
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/*-----------------------------------------------------------------------------------*/
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SHConvexPolyhedron::HalfEdge::HalfEdge() noexcept
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: tailVertexIndex { -1 }
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, headVertexIndex { -1 }
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, edgeIndex { -1 }
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, twinEdgeIndex { -1 }
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, faceIndex { -1 }
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{}
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SHConvexPolyhedron::HalfEdge::HalfEdge(const HalfEdge& rhs) noexcept
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: tailVertexIndex { rhs.tailVertexIndex }
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, headVertexIndex { rhs.headVertexIndex }
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, edgeIndex { rhs.edgeIndex }
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, twinEdgeIndex { rhs.twinEdgeIndex }
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, faceIndex { rhs.faceIndex }
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{}
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SHConvexPolyhedron::HalfEdge::HalfEdge(HalfEdge&& rhs) noexcept
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: tailVertexIndex { rhs.tailVertexIndex }
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, headVertexIndex { rhs.headVertexIndex }
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, edgeIndex { rhs.edgeIndex }
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, twinEdgeIndex { rhs.twinEdgeIndex }
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, faceIndex { rhs.faceIndex }
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{}
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SHConvexPolyhedron::Face::Face(const Face& rhs) noexcept
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: normal { rhs.normal }
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{
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std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices));
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}
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SHConvexPolyhedron::Face::Face(Face&& rhs) noexcept
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: normal { rhs.normal }
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{
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std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices));
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}
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/*-----------------------------------------------------------------------------------*/
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/* Operator Overload Definitions */
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/*-----------------------------------------------------------------------------------*/
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SHConvexPolyhedron::HalfEdge& SHConvexPolyhedron::HalfEdge::operator=(const HalfEdge& rhs) noexcept
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{
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if (this == &rhs)
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return *this;
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tailVertexIndex = rhs.tailVertexIndex;
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headVertexIndex = rhs.headVertexIndex;
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edgeIndex = rhs.edgeIndex ;
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twinEdgeIndex = rhs.twinEdgeIndex ;
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faceIndex = rhs.faceIndex ;
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return *this;
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}
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SHConvexPolyhedron::HalfEdge& SHConvexPolyhedron::HalfEdge::operator=(HalfEdge&& rhs) noexcept
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{
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tailVertexIndex = rhs.tailVertexIndex;
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headVertexIndex = rhs.headVertexIndex;
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edgeIndex = rhs.edgeIndex ;
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twinEdgeIndex = rhs.twinEdgeIndex ;
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faceIndex = rhs.faceIndex ;
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return *this;
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}
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SHConvexPolyhedron::Face& SHConvexPolyhedron::Face::operator=(const Face& rhs) noexcept
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{
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if (this == &rhs)
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return *this;
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normal = rhs.normal;
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vertexIndices.clear();
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std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices));
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return *this;
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}
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SHConvexPolyhedron::Face& SHConvexPolyhedron::Face::operator=(Face&& rhs) noexcept
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{
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normal = rhs.normal;
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vertexIndices.clear();
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std::ranges::copy(rhs.vertexIndices.begin(), rhs.vertexIndices.end(), std::back_inserter(vertexIndices));
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return *this;
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}
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/*-----------------------------------------------------------------------------------*/
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/* Getter Function Definitions */
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/*-----------------------------------------------------------------------------------*/
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int32_t SHConvexPolyhedron::GetFaceCount() const noexcept
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{
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return static_cast<int32_t>(faces.size());
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}
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int32_t SHConvexPolyhedron::GetHalfEdgeCount() const noexcept
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{
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return static_cast<int32_t>(halfEdges.size());
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}
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const SHConvexPolyhedron::Face& SHConvexPolyhedron::GetFace(int32_t index) const
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{
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if (index < 0 || index >= static_cast<int32_t>(faces.size()))
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throw std::invalid_argument("Index out-of-range!");
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return faces[index];
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}
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const SHConvexPolyhedron::HalfEdge& SHConvexPolyhedron::GetHalfEdge(int32_t index) const
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{
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if (index < 0 || index >= static_cast<int32_t>(halfEdges.size()))
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throw std::invalid_argument("Index out-of-range!");
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return halfEdges[index];
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}
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/*-----------------------------------------------------------------------------------*/
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/* Public Member Function Definitions */
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/*-----------------------------------------------------------------------------------*/
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void SHConvexPolyhedron::AddFace(const Face& face)
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{
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faces.emplace_back(face);
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}
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void SHConvexPolyhedron::BuildPolyhedron() noexcept
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{
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// We use the pair of vertex IDs on a half-edge to prevent duplicates
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std::unordered_map<uint64_t, HalfEdge> edgeMap;
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edgeMap.clear();
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if (faces.empty())
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{
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SHLOGV_CRITICAL("Unable to build convex polyhedron, no faces have been added!")
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return;
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}
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// For each face, build half edges
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for (size_t i = 0; i < faces.size(); ++i)
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{
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const Face& FACE = faces[i];
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// Iterate through vertices and build half-edges
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for (size_t j = 0; j < FACE.vertexIndices.size(); ++j)
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{
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const int32_t TAIL = FACE.vertexIndices[j];
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const int32_t HEAD = (TAIL + 1) > FACE.vertexIndices.back() ? FACE.vertexIndices.front() : TAIL + 1; // Wrap around
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const uint64_t NEW_EDGE_ID = BUILD_UINT64_FROM_UINT32S(TAIL, HEAD);
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const uint64_t TWIN_EDGE_ID = BUILD_UINT64_FROM_UINT32S(HEAD, TAIL);
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// Check if the half-edge has already been inserted
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auto newEdgeIter = edgeMap.find(NEW_EDGE_ID);
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if (newEdgeIter == edgeMap.end())
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{
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// Reuse the iterator for mapping with the twin
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newEdgeIter = edgeMap.emplace(NEW_EDGE_ID, HalfEdge{}).first;
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HalfEdge& newHalfEdge = newEdgeIter->second;
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newHalfEdge.tailVertexIndex = TAIL;
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newHalfEdge.headVertexIndex = HEAD;
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newHalfEdge.faceIndex = static_cast<int32_t>(i);
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// Set edge index of the newly inserted edge as the size of the map - 1
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// Since it is an unordered map, it will just be at the back
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newHalfEdge.edgeIndex = static_cast<int32_t>(edgeMap.size()) - 1;
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}
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// Find twin edge if one exists
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auto twinEdgeIter = edgeMap.find(TWIN_EDGE_ID);
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if (twinEdgeIter != edgeMap.end())
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{
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// Set the twin index of both the edges
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HalfEdge& newHalfEdge = newEdgeIter->second;
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HalfEdge& twinHalfEdge = twinEdgeIter->second;
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newHalfEdge.twinEdgeIndex = twinHalfEdge.edgeIndex;
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twinHalfEdge.twinEdgeIndex = newHalfEdge.edgeIndex;
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}
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}
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}
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// Copy all half edges into the vector
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// At this point, no duplicates should be in the map and all edges should be linked.
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for (auto& halfEdge : edgeMap | std::views::values)
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halfEdges.emplace_back(halfEdge);
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}
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} // namespace SHADE
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@ -0,0 +1,144 @@
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/****************************************************************************************
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* \file SHConvexPolyhedron.h
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* \author Diren D Bharwani, diren.dbharwani, 390002520
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* \brief Interface for a convex polyhedron structure.
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*
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* \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
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* disclosure of this file or its contents without the prior written consent
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* of DigiPen Institute of Technology is prohibited.
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****************************************************************************************/
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#pragma once
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#include <vector>
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// Project Headers
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#include "Math/Vector/SHVec3.h"
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namespace SHADE
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{
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/*-----------------------------------------------------------------------------------*/
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/* Type Definitions */
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/*-----------------------------------------------------------------------------------*/
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/**
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* @brief
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* Encapsulates data for a convex polyhedron's geometry represented as faces & half edges.
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*/
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class SH_API SHConvexPolyhedron
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{
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public:
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/*---------------------------------------------------------------------------------*/
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/* Type Definitions */
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/*---------------------------------------------------------------------------------*/
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struct HalfEdge
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{
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/*-------------------------------------------------------------------------------*/
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/* Data Members */
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/*-------------------------------------------------------------------------------*/
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//Head and tail forms the edge.
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//Head <----- Tail
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int32_t tailVertexIndex;
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// Head is also tail of the next edge.
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int32_t headVertexIndex;
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int32_t edgeIndex;
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// Other half of the edge on a different face.
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// Important for extrapolating face normals.
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int32_t twinEdgeIndex;
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// Adjacent face of this edge.
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int32_t faceIndex;
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/*-------------------------------------------------------------------------------*/
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/* Constructors & Destructor */
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/*-------------------------------------------------------------------------------*/
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HalfEdge () noexcept;
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HalfEdge (const HalfEdge& rhs) noexcept;
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HalfEdge (HalfEdge&& rhs) noexcept;
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~HalfEdge () noexcept = default;
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/*-------------------------------------------------------------------------------*/
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/* Operator Overloads */
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/*-------------------------------------------------------------------------------*/
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HalfEdge& operator= (const HalfEdge& rhs) noexcept;
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HalfEdge& operator= (HalfEdge&& rhs) noexcept;
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};
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struct Face
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{
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public:
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/*-------------------------------------------------------------------------------*/
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/* Data Members */
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/*-------------------------------------------------------------------------------*/
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SHVec3 normal;
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std::vector<int32_t> vertexIndices; // Must be in CCW order
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/*-------------------------------------------------------------------------------*/
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/* Constructors & Destructor */
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/*-------------------------------------------------------------------------------*/
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Face () noexcept = default;
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Face (const Face& rhs) noexcept;
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Face (Face&& rhs) noexcept;
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~Face () noexcept = default;
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/*-------------------------------------------------------------------------------*/
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/* Operator Overloads */
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/*-------------------------------------------------------------------------------*/
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Face& operator= (const Face& rhs) noexcept;
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Face& operator= (Face&& rhs) noexcept;
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};
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/*---------------------------------------------------------------------------------*/
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/* Getter Functions */
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/*---------------------------------------------------------------------------------*/
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[[nodiscard]] int32_t GetFaceCount () const noexcept;
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[[nodiscard]] int32_t GetHalfEdgeCount () const noexcept;
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[[nodiscard]] const Face& GetFace (int32_t index) const;
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[[nodiscard]] const HalfEdge& GetHalfEdge (int32_t index) const;
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/*---------------------------------------------------------------------------------*/
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/* Member Functions */
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/*---------------------------------------------------------------------------------*/
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/**
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* @brief
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* Adds a face to the polyhedron. The face must be constructed outside the polyhedron.
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* @param face
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* The face to insert.
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*/
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void AddFace (const Face& face);
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/**
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* @brief
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* Builds the half-edges of the polyhedron using the faces. <br/>
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* Before this method is invoked, there must be some faces.
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* @return
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*/
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void BuildPolyhedron() noexcept;
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private:
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/*---------------------------------------------------------------------------------*/
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/* Data Members */
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/*---------------------------------------------------------------------------------*/
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float radius = 0.2f; // Default Radius is 2 cm
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// Store the faces and half-edges
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std::vector<Face> faces;
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std::vector<HalfEdge> halfEdges;
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};
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} // namespace SHADE
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