412 lines
13 KiB
C#
412 lines
13 KiB
C#
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/* The MIT License
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*
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* Copyright (c) 2010 Intel Corporation.
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* All rights reserved.
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*
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* Based on the convexdecomposition library from
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* <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* 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, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Diagnostics;
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namespace OpenSim.Region.Physics.ConvexDecompositionDotNet
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{
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public class DecompDesc
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{
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public List<float3> mVertices;
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public List<int> mIndices;
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// options
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public uint mDepth; // depth to split, a maximum of 10, generally not over 7.
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public float mCpercent; // the concavity threshold percentage. 0=20 is reasonable.
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public float mPpercent; // the percentage volume conservation threshold to collapse hulls. 0-30 is reasonable.
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// hull output limits.
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public uint mMaxVertices; // maximum number of vertices in the output hull. Recommended 32 or less.
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public float mSkinWidth; // a skin width to apply to the output hulls.
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public ConvexDecompositionCallback mCallback; // the interface to receive back the results.
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public DecompDesc()
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{
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mDepth = 5;
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mCpercent = 5;
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mPpercent = 5;
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mMaxVertices = 32;
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}
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}
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public class CHull
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{
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public float[] mMin = new float[3];
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public float[] mMax = new float[3];
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public float mVolume;
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public float mDiagonal;
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public ConvexResult mResult;
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public CHull(ConvexResult result)
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{
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mResult = new ConvexResult(result);
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mVolume = Concavity.computeMeshVolume(result.HullVertices, result.HullIndices);
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mDiagonal = getBoundingRegion(result.HullVertices, mMin, mMax);
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float dx = mMax[0] - mMin[0];
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float dy = mMax[1] - mMin[1];
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float dz = mMax[2] - mMin[2];
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dx *= 0.1f; // inflate 1/10th on each edge
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dy *= 0.1f; // inflate 1/10th on each edge
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dz *= 0.1f; // inflate 1/10th on each edge
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mMin[0] -= dx;
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mMin[1] -= dy;
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mMin[2] -= dz;
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mMax[0] += dx;
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mMax[1] += dy;
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mMax[2] += dz;
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}
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public void Dispose()
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{
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mResult = null;
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}
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public bool overlap(CHull h)
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{
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return overlapAABB(mMin, mMax, h.mMin, h.mMax);
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}
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// returns the d1Giagonal distance
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private static float getBoundingRegion(List<float3> points, float[] bmin, float[] bmax)
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{
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float3 first = points[0];
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bmin[0] = first.x;
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bmin[1] = first.y;
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bmin[2] = first.z;
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bmax[0] = first.x;
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bmax[1] = first.y;
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bmax[2] = first.z;
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for (int i = 1; i < points.Count; i++)
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{
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float3 p = points[i];
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if (p[0] < bmin[0]) bmin[0] = p[0];
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if (p[1] < bmin[1]) bmin[1] = p[1];
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if (p[2] < bmin[2]) bmin[2] = p[2];
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if (p[0] > bmax[0]) bmax[0] = p[0];
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if (p[1] > bmax[1]) bmax[1] = p[1];
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if (p[2] > bmax[2]) bmax[2] = p[2];
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}
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float dx = bmax[0] - bmin[0];
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float dy = bmax[1] - bmin[1];
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float dz = bmax[2] - bmin[2];
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return (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
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}
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// return true if the two AABB's overlap.
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private static bool overlapAABB(float[] bmin1, float[] bmax1, float[] bmin2, float[] bmax2)
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{
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if (bmax2[0] < bmin1[0]) return false; // if the maximum is less than our minimum on any axis
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if (bmax2[1] < bmin1[1]) return false;
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if (bmax2[2] < bmin1[2]) return false;
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if (bmin2[0] > bmax1[0]) return false; // if the minimum is greater than our maximum on any axis
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if (bmin2[1] > bmax1[1]) return false; // if the minimum is greater than our maximum on any axis
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if (bmin2[2] > bmax1[2]) return false; // if the minimum is greater than our maximum on any axis
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return true; // the extents overlap
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}
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}
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public class ConvexBuilder
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{
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public List<CHull> mChulls = new List<CHull>();
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private ConvexDecompositionCallback mCallback;
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private int MAXDEPTH = 8;
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private float CONCAVE_PERCENT = 1f;
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private float MERGE_PERCENT = 2f;
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public ConvexBuilder(ConvexDecompositionCallback callback)
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{
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mCallback = callback;
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}
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public void Dispose()
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{
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int i;
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for (i = 0; i < mChulls.Count; i++)
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{
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CHull cr = mChulls[i];
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cr.Dispose();
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}
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}
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public bool isDuplicate(uint i1, uint i2, uint i3, uint ci1, uint ci2, uint ci3)
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{
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uint dcount = 0;
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Debug.Assert(i1 != i2 && i1 != i3 && i2 != i3);
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Debug.Assert(ci1 != ci2 && ci1 != ci3 && ci2 != ci3);
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if (i1 == ci1 || i1 == ci2 || i1 == ci3)
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dcount++;
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if (i2 == ci1 || i2 == ci2 || i2 == ci3)
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dcount++;
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if (i3 == ci1 || i3 == ci2 || i3 == ci3)
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dcount++;
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return dcount == 3;
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}
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public void getMesh(ConvexResult cr, VertexPool vc, List<int> indices)
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{
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List<int> src = cr.HullIndices;
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for (int i = 0; i < src.Count / 3; i++)
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{
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int i1 = src[i * 3 + 0];
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int i2 = src[i * 3 + 1];
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int i3 = src[i * 3 + 2];
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float3 p1 = cr.HullVertices[i1];
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float3 p2 = cr.HullVertices[i2];
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float3 p3 = cr.HullVertices[i3];
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i1 = vc.getIndex(p1);
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i2 = vc.getIndex(p2);
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i3 = vc.getIndex(p3);
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}
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}
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public CHull canMerge(CHull a, CHull b)
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{
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if (!a.overlap(b)) // if their AABB's (with a little slop) don't overlap, then return.
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return null;
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CHull ret = null;
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// ok..we are going to combine both meshes into a single mesh
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// and then we are going to compute the concavity...
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VertexPool vc = new VertexPool();
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List<int> indices = new List<int>();
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getMesh(a.mResult, vc, indices);
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getMesh(b.mResult, vc, indices);
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int vcount = vc.GetSize();
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List<float3> vertices = vc.GetVertices();
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int tcount = indices.Count / 3;
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//don't do anything if hull is empty
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if (tcount == 0)
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{
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vc.Clear();
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return null;
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}
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HullResult hresult = new HullResult();
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HullDesc desc = new HullDesc();
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desc.SetHullFlag(HullFlag.QF_TRIANGLES);
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desc.Vertices = vertices;
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HullError hret = HullUtils.CreateConvexHull(desc, ref hresult);
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if (hret == HullError.QE_OK)
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{
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float combineVolume = Concavity.computeMeshVolume(hresult.OutputVertices, hresult.Indices);
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float sumVolume = a.mVolume + b.mVolume;
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float percent = (sumVolume * 100) / combineVolume;
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if (percent >= (100.0f - MERGE_PERCENT))
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{
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ConvexResult cr = new ConvexResult(hresult.OutputVertices, hresult.Indices);
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ret = new CHull(cr);
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}
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}
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vc.Clear();
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return ret;
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}
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public bool combineHulls()
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{
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bool combine = false;
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sortChulls(mChulls); // sort the convex hulls, largest volume to least...
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List<CHull> output = new List<CHull>(); // the output hulls...
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int i;
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for (i = 0; i < mChulls.Count && !combine; ++i)
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{
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CHull cr = mChulls[i];
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int j;
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for (j = 0; j < mChulls.Count; j++)
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{
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CHull match = mChulls[j];
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if (cr != match) // don't try to merge a hull with itself, that be stoopid
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{
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CHull merge = canMerge(cr, match); // if we can merge these two....
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if (merge != null)
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{
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output.Add(merge);
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++i;
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while (i != mChulls.Count)
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{
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CHull cr2 = mChulls[i];
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if (cr2 != match)
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{
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output.Add(cr2);
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}
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i++;
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}
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cr.Dispose();
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match.Dispose();
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combine = true;
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break;
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}
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}
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}
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if (combine)
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{
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break;
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}
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else
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{
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output.Add(cr);
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}
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}
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if (combine)
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{
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mChulls.Clear();
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mChulls = output;
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output.Clear();
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}
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return combine;
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}
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public int process(DecompDesc desc)
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{
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int ret = 0;
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MAXDEPTH = (int)desc.mDepth;
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CONCAVE_PERCENT = desc.mCpercent;
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MERGE_PERCENT = desc.mPpercent;
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ConvexDecomposition.calcConvexDecomposition(desc.mVertices, desc.mIndices, ConvexDecompResult, 0f, 0, MAXDEPTH, CONCAVE_PERCENT, MERGE_PERCENT);
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while (combineHulls()) // keep combinging hulls until I can't combine any more...
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;
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int i;
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for (i = 0; i < mChulls.Count; i++)
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{
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CHull cr = mChulls[i];
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// before we hand it back to the application, we need to regenerate the hull based on the
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// limits given by the user.
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ConvexResult c = cr.mResult; // the high resolution hull...
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HullResult result = new HullResult();
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HullDesc hdesc = new HullDesc();
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hdesc.SetHullFlag(HullFlag.QF_TRIANGLES);
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hdesc.Vertices = c.HullVertices;
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hdesc.MaxVertices = desc.mMaxVertices; // maximum number of vertices allowed in the output
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if (desc.mSkinWidth != 0f)
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{
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hdesc.SkinWidth = desc.mSkinWidth;
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hdesc.SetHullFlag(HullFlag.QF_SKIN_WIDTH); // do skin width computation.
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}
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HullError ret2 = HullUtils.CreateConvexHull(hdesc, ref result);
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if (ret2 == HullError.QE_OK)
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|||
|
|
{
|
|||
|
|
ConvexResult r = new ConvexResult(result.OutputVertices, result.Indices);
|
|||
|
|
|
|||
|
|
r.mHullVolume = Concavity.computeMeshVolume(result.OutputVertices, result.Indices); // the volume of the hull.
|
|||
|
|
|
|||
|
|
// compute the best fit OBB
|
|||
|
|
//computeBestFitOBB(result.mNumOutputVertices, result.mOutputVertices, sizeof(float) * 3, r.mOBBSides, r.mOBBTransform);
|
|||
|
|
|
|||
|
|
//r.mOBBVolume = r.mOBBSides[0] * r.mOBBSides[1] * r.mOBBSides[2]; // compute the OBB volume.
|
|||
|
|
|
|||
|
|
//fm_getTranslation(r.mOBBTransform, r.mOBBCenter); // get the translation component of the 4x4 matrix.
|
|||
|
|
|
|||
|
|
//fm_matrixToQuat(r.mOBBTransform, r.mOBBOrientation); // extract the orientation as a quaternion.
|
|||
|
|
|
|||
|
|
//r.mSphereRadius = computeBoundingSphere(result.mNumOutputVertices, result.mOutputVertices, r.mSphereCenter);
|
|||
|
|
//r.mSphereVolume = fm_sphereVolume(r.mSphereRadius);
|
|||
|
|
|
|||
|
|
mCallback(r);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
result = null;
|
|||
|
|
cr.Dispose();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
ret = mChulls.Count;
|
|||
|
|
|
|||
|
|
mChulls.Clear();
|
|||
|
|
|
|||
|
|
return ret;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public void ConvexDecompResult(ConvexResult result)
|
|||
|
|
{
|
|||
|
|
CHull ch = new CHull(result);
|
|||
|
|
mChulls.Add(ch);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public void sortChulls(List<CHull> hulls)
|
|||
|
|
{
|
|||
|
|
hulls.Sort(delegate(CHull a, CHull b) { return a.mVolume.CompareTo(b.mVolume); });
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|