Fixed convex-convex face detection
Minor bugs with contact point detection. Will test more before pushing into main
This commit is contained in:
Diren D Bharwani
parent
85f0902c2d
commit
c077575a73
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@ -267,9 +267,9 @@
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NumberOfChildren: 0
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Components:
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Transform Component:
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Translate: {x: 1, y: 2, z: 3}
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Rotate: {x: 0, y: 0.785398185, z: 0.785397708}
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Scale: {x: 0.999990404, y: 0.999994516, z: 0.999985456}
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Translate: {x: 1.81218028, y: 2, z: 3}
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Rotate: {x: 0.785398006, y: 0.785398483, z: 0.785398304}
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Scale: {x: 0.999990404, y: 0.999994457, z: 0.999985337}
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IsActive: true
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RigidBody Component:
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Type: Dynamic
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@ -124,7 +124,7 @@ namespace SHADE
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static SHVec3 findClosestPointBetweenEdges (const SHConvexPolyhedron& A, const SHConvexPolyhedron& B, int32_t edgeA, int32_t edgeB) noexcept;
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static int32_t findIncidentFace (const SHConvexPolyhedron& poly, const SHVec3& normal) noexcept;
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static std::vector<ClipVertex> clipPolygonWithPlane (const std::vector<ClipVertex>& in, int32_t numIn, const SHPlane& plane, int32_t planeIdx) noexcept;
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static std::vector<ClipVertex> reduceContacts (const std::vector<ClipVertex>& in) noexcept;
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static std::vector<int32_t> reduceContacts (const std::vector<SHContact>& in, const SHVec3& faceNormal) noexcept;
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};
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} // namespace SHADE
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@ -189,8 +189,78 @@ namespace SHADE
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}
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// From the final set of clipped points, only keep the points that are below the reference plane.
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const SHPlane REFERENCE_PLANE{ referencePoly->GetVertex(REFERENCE_FACE.vertexIndices.front().index), REFERENCE_NORMAL };
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return false;
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std::vector<SHContact> contacts;
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for (int32_t i = 0; i < numClipIn; ++i)
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{
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const SHVec3 POS = clipIn[i].position;
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const float DIST = REFERENCE_PLANE.SignedDistance(POS);
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if (DIST <= 0.0f)
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{
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SHContact contact;
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contact.position = POS;
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contact.penetration = -DIST;
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if (flipNormal)
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{
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contact.featurePair.inI = clipIn[i].featurePair.inR;
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contact.featurePair.inR = clipIn[i].featurePair.inI;
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contact.featurePair.outI = clipIn[i].featurePair.outR;
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contact.featurePair.outR = clipIn[i].featurePair.outI;
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}
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else
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{
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contact.featurePair.key = clipIn[i].featurePair.key;
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}
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contacts.emplace_back(contact);
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++numContacts;
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}
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}
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// Reduce contact manifold if more than 4 points
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if (numContacts > 4)
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{
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const auto INDICES_TO_KEEP = reduceContacts(contacts, REFERENCE_NORMAL);
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std::vector<SHContact> reducedContacts;
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const int32_t NUM_REDUCED = static_cast<int32_t>(INDICES_TO_KEEP.size());
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for (int32_t i = 0; i < NUM_REDUCED; ++i)
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reducedContacts.emplace_back(contacts[INDICES_TO_KEEP[i]]);
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contacts.clear();
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// Copy contacts to main container
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for (auto& contact : reducedContacts)
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contacts.emplace_back(contact);
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}
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// Remove potential duplicate contact points
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// No way about this being an n^2 loop
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static constexpr float THRESHOLD = SHPHYSICS_SAME_CONTACT_DISTANCE * SHPHYSICS_SAME_CONTACT_DISTANCE;
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for (auto i = contacts.begin(); i != contacts.end(); ++i)
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{
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for (auto j = i + 1; j != contacts.end();)
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{
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const float D2 = SHVec3::DistanceSquared(i->position, j->position);
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if (D2 < THRESHOLD)
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j = contacts.erase(j);
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else
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++j;
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}
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}
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// Copy final contacts into the manifold
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numContacts = static_cast<int32_t>(contacts.size());
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for (int32_t i = 0; i < numContacts; ++i)
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manifold.contacts[i] = contacts[i];
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manifold.numContacts = numContacts;
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manifold.normal = REFERENCE_NORMAL;
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if (flipNormal)
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manifold.normal = -manifold.normal;
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return true;
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}
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/*-----------------------------------------------------------------------------------*/
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@ -472,5 +542,141 @@ namespace SHADE
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return out;
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}
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std::vector<int32_t> SHCollision::reduceContacts(const std::vector<SHContact>& in, const SHVec3& faceNormal) noexcept
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{
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std::vector<int32_t> indicesToKeep;
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// Use a map to temporarily store and track the contacts we want
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std::unordered_map<int, const SHContact*> contactMap;
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const int32_t NUM_CONTACTS = static_cast<int32_t>(in.size());
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for (int32_t i = 0; i < NUM_CONTACTS; ++i)
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contactMap.emplace(i, &in[i]);
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// Find the furthest point in a given direction
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int32_t indexToKeep = -1;
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float bestDistance = std::numeric_limits<float>::lowest();
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for (const auto& [index, contact] : contactMap)
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{
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const float DIST = SHVec3::Dot(contact->position, SHVec3::One);
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if (DIST > bestDistance)
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{
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bestDistance = DIST;
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indexToKeep = index;
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}
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}
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indicesToKeep.emplace_back(indexToKeep);
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contactMap.erase(indexToKeep);
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indexToKeep = -1;
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bestDistance = std::numeric_limits<float>::lowest();
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// Find point furthest away from the first index
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const SHVec3& FIRST_POS = in[indicesToKeep.back()].position;
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for (const auto& [index, contact] : contactMap)
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{
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const float DIST_SQUARED = SHVec3::DistanceSquared(FIRST_POS, contact->position);
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if (DIST_SQUARED > bestDistance)
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{
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bestDistance = DIST_SQUARED;
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indexToKeep = index;
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}
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}
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indicesToKeep.emplace_back(indexToKeep);
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contactMap.erase(indexToKeep);
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indexToKeep = -1;
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// We compute the triangle with the largest area.
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// The area can be positive or negative depending on the winding order.
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float maxArea = std::numeric_limits<float>::lowest();
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float minArea = std::numeric_limits<float>::max();
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int32_t maxAreaIndex = -1;
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int32_t minAreaIndex = -1;
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const SHVec3& SECOND_POS = in[indicesToKeep.back()].position;
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for (const auto& [index, contact] : contactMap)
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{
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const SHVec3& POS = contact->position;
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const SHVec3 TO_P1 = FIRST_POS - POS;
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const SHVec3 TO_P2 = SECOND_POS - POS;
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const float AREA = SHVec3::Dot(SHVec3::Cross(TO_P1, TO_P2), faceNormal) * 0.5f;
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if (AREA > maxArea)
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{
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maxArea = AREA;
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maxAreaIndex = index;
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}
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if (AREA < minArea)
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{
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minArea = AREA;
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minAreaIndex = index;
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}
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}
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// Compare which triangle creates the largest area
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bool isAreaPositive = false;
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if (maxArea > (-minArea))
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{
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isAreaPositive = true;
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indexToKeep = maxAreaIndex;
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}
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else
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{
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isAreaPositive = false;
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indexToKeep = minAreaIndex;
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}
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indicesToKeep.emplace_back(indexToKeep);
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contactMap.erase(indexToKeep);
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indexToKeep = -1;
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// For the last point, we want the point which forms the largest area that is winded opposite to the first triangle
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// The areas should be inverted: If area was -ve, we want a +ve. Otherwise, vice versa.
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float bestArea = 0.0f;
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const SHVec3& THIRD_POS = in[indicesToKeep.back()].position;
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const SHVec3 ABC[3] = { FIRST_POS, SECOND_POS, THIRD_POS };
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for (const auto& [index, contact] : contactMap)
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{
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const SHVec3& Q = contact->position;
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for (int i = 0; i < 3; ++i)
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{
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const int P1 = i;
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const int P2 = (i + 1) % 3;
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const SHVec3 TO_P1 = ABC[P1] - Q;
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const SHVec3 TO_P2 = ABC[P2] - Q;
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const float AREA = SHVec3::Dot(SHVec3::Cross(TO_P1, TO_P2), faceNormal) * 0.5f;
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if (isAreaPositive && AREA < bestArea)
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{
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bestArea = AREA;
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indexToKeep = index;
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}
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if (!isAreaPositive && AREA > bestArea)
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{
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bestArea = AREA;
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indexToKeep = index;
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}
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}
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}
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indicesToKeep.emplace_back(indexToKeep);
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return indicesToKeep;
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}
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} // namespace SHADE
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@ -41,4 +41,10 @@ namespace SHADE
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*/
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static constexpr float SHPHYSICS_BAUMGARTE = 0.2f;
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/**
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* @brief
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* Distance threshold to consider two contacts as the same.
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*/
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static constexpr float SHPHYSICS_SAME_CONTACT_DISTANCE = 0.01;
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}
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