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Merge pull request #8006 from AndrewMeadows/convexification-2
fix bad convex hull simplification
This commit is contained in:
Brad Hefta-Gaub
commit
d9542107c2
9 changed files with 161 additions and 79 deletions
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@ -599,11 +599,7 @@ bool RenderableModelEntityItem::isReadyToComputeShape() {
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void RenderableModelEntityItem::computeShapeInfo(ShapeInfo& info) {
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ShapeType type = getShapeType();
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if (type != SHAPE_TYPE_COMPOUND) {
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ModelEntityItem::computeShapeInfo(info);
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info.setParams(type, 0.5f * getDimensions());
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adjustShapeInfoByRegistration(info);
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} else {
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if (type == SHAPE_TYPE_COMPOUND) {
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updateModelBounds();
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// should never fall in here when collision model not fully loaded
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@ -612,25 +608,27 @@ void RenderableModelEntityItem::computeShapeInfo(ShapeInfo& info) {
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const FBXGeometry& renderGeometry = _model->getFBXGeometry();
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const FBXGeometry& collisionGeometry = _model->getCollisionFBXGeometry();
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_points.clear();
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unsigned int i = 0;
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QVector<QVector<glm::vec3>>& points = info.getPoints();
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points.clear();
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uint32_t i = 0;
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// the way OBJ files get read, each section under a "g" line is its own meshPart. We only expect
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// to find one actual "mesh" (with one or more meshParts in it), but we loop over the meshes, just in case.
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const uint32_t TRIANGLE_STRIDE = 3;
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const uint32_t QUAD_STRIDE = 4;
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foreach (const FBXMesh& mesh, collisionGeometry.meshes) {
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// each meshPart is a convex hull
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foreach (const FBXMeshPart &meshPart, mesh.parts) {
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QVector<glm::vec3> pointsInPart;
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points.push_back(QVector<glm::vec3>());
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QVector<glm::vec3>& pointsInPart = points[i];
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// run through all the triangles and (uniquely) add each point to the hull
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unsigned int triangleCount = meshPart.triangleIndices.size() / 3;
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for (unsigned int j = 0; j < triangleCount; j++) {
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unsigned int p0Index = meshPart.triangleIndices[j*3];
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unsigned int p1Index = meshPart.triangleIndices[j*3+1];
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unsigned int p2Index = meshPart.triangleIndices[j*3+2];
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glm::vec3 p0 = mesh.vertices[p0Index];
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glm::vec3 p1 = mesh.vertices[p1Index];
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glm::vec3 p2 = mesh.vertices[p2Index];
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uint32_t numIndices = (uint32_t)meshPart.triangleIndices.size();
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assert(numIndices % TRIANGLE_STRIDE == 0);
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for (uint32_t j = 0; j < numIndices; j += TRIANGLE_STRIDE) {
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glm::vec3 p0 = mesh.vertices[meshPart.triangleIndices[j]];
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glm::vec3 p1 = mesh.vertices[meshPart.triangleIndices[j + 1]];
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glm::vec3 p2 = mesh.vertices[meshPart.triangleIndices[j + 2]];
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if (!pointsInPart.contains(p0)) {
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pointsInPart << p0;
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}
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@ -643,17 +641,13 @@ void RenderableModelEntityItem::computeShapeInfo(ShapeInfo& info) {
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}
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// run through all the quads and (uniquely) add each point to the hull
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unsigned int quadCount = meshPart.quadIndices.size() / 4;
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assert((unsigned int)meshPart.quadIndices.size() == quadCount*4);
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for (unsigned int j = 0; j < quadCount; j++) {
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unsigned int p0Index = meshPart.quadIndices[j*4];
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unsigned int p1Index = meshPart.quadIndices[j*4+1];
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unsigned int p2Index = meshPart.quadIndices[j*4+2];
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unsigned int p3Index = meshPart.quadIndices[j*4+3];
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glm::vec3 p0 = mesh.vertices[p0Index];
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glm::vec3 p1 = mesh.vertices[p1Index];
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glm::vec3 p2 = mesh.vertices[p2Index];
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glm::vec3 p3 = mesh.vertices[p3Index];
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numIndices = (uint32_t)meshPart.quadIndices.size();
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assert(numIndices % QUAD_STRIDE == 0);
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for (uint32_t j = 0; j < numIndices; j += QUAD_STRIDE) {
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glm::vec3 p0 = mesh.vertices[meshPart.quadIndices[j]];
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glm::vec3 p1 = mesh.vertices[meshPart.quadIndices[j + 1]];
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glm::vec3 p2 = mesh.vertices[meshPart.quadIndices[j + 2]];
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glm::vec3 p3 = mesh.vertices[meshPart.quadIndices[j + 3]];
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if (!pointsInPart.contains(p0)) {
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pointsInPart << p0;
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}
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@ -670,14 +664,10 @@ void RenderableModelEntityItem::computeShapeInfo(ShapeInfo& info) {
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if (pointsInPart.size() == 0) {
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qCDebug(entitiesrenderer) << "Warning -- meshPart has no faces";
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points.pop_back();
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continue;
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}
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// add next convex hull
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QVector<glm::vec3> newMeshPoints;
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_points << newMeshPoints;
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// add points to the new convex hull
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_points[i++] << pointsInPart;
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++i;
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}
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}
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@ -691,23 +681,26 @@ void RenderableModelEntityItem::computeShapeInfo(ShapeInfo& info) {
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// multiply each point by scale before handing the point-set off to the physics engine.
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// also determine the extents of the collision model.
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AABox box;
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for (int i = 0; i < _points.size(); i++) {
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for (int j = 0; j < _points[i].size(); j++) {
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for (int i = 0; i < points.size(); i++) {
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for (int j = 0; j < points[i].size(); j++) {
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// compensate for registration
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_points[i][j] += _model->getOffset();
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points[i][j] += _model->getOffset();
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// scale so the collision points match the model points
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_points[i][j] *= scale;
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points[i][j] *= scale;
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// this next subtraction is done so we can give info the offset, which will cause
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// the shape-key to change.
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_points[i][j] -= _model->getOffset();
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box += _points[i][j];
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points[i][j] -= _model->getOffset();
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box += points[i][j];
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}
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}
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glm::vec3 collisionModelDimensions = box.getDimensions();
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info.setParams(type, collisionModelDimensions, _compoundShapeURL);
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info.setConvexHulls(_points);
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info.setOffset(_model->getOffset());
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} else {
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ModelEntityItem::computeShapeInfo(info);
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info.setParams(type, 0.5f * getDimensions());
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adjustShapeInfoByRegistration(info);
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}
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}
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@ -103,7 +103,6 @@ private:
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QVariantMap _currentTextures;
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QVariantMap _originalTextures;
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bool _originalTexturesRead = false;
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QVector<QVector<glm::vec3>> _points;
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bool _dimensionsInitialized = true;
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AnimationPropertyGroup _renderAnimationProperties;
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@ -88,7 +88,7 @@ void EntityItemProperties::setLastEdited(quint64 usecTime) {
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_lastEdited = usecTime > _created ? usecTime : _created;
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}
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const char* shapeTypeNames[] = {"none", "box", "sphere", "ellipsoid", "plane", "compound", "capsule-x",
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const char* shapeTypeNames[] = {"none", "box", "sphere", "plane", "compound", "capsule-x",
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"capsule-y", "capsule-z", "cylinder-x", "cylinder-y", "cylinder-z"};
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QHash<QString, ShapeType> stringToShapeTypeLookup;
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@ -101,7 +101,6 @@ void buildStringToShapeTypeLookup() {
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addShapeType(SHAPE_TYPE_NONE);
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addShapeType(SHAPE_TYPE_BOX);
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addShapeType(SHAPE_TYPE_SPHERE);
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addShapeType(SHAPE_TYPE_ELLIPSOID);
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addShapeType(SHAPE_TYPE_PLANE);
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addShapeType(SHAPE_TYPE_COMPOUND);
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addShapeType(SHAPE_TYPE_CAPSULE_X);
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@ -60,7 +60,7 @@ class LineEntityItem : public EntityItem {
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const QVector<glm::vec3>& getLinePoints() const{ return _points; }
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virtual ShapeType getShapeType() const { return SHAPE_TYPE_LINE; }
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virtual ShapeType getShapeType() const { return SHAPE_TYPE_NONE; }
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// never have a ray intersection pick a LineEntityItem.
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virtual bool supportsDetailedRayIntersection() const { return true; }
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@ -78,7 +78,7 @@ class PolyLineEntityItem : public EntityItem {
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virtual bool needsToCallUpdate() const { return true; }
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virtual ShapeType getShapeType() const { return SHAPE_TYPE_LINE; }
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virtual ShapeType getShapeType() const { return SHAPE_TYPE_NONE; }
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// never have a ray intersection pick a PolyLineEntityItem.
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virtual bool supportsDetailedRayIntersection() const { return true; }
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@ -17,6 +17,54 @@
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#include "ShapeFactory.h"
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#include "BulletUtil.h"
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// These are the same normalized directions used by the btShapeHull class.
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// 12 points for the face centers of a duodecohedron plus another 30 points
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// for the midpoints the edges, for a total of 42.
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const uint32_t NUM_UNIT_SPHERE_DIRECTIONS = 42;
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static const btVector3 _unitSphereDirections[NUM_UNIT_SPHERE_DIRECTIONS] = {
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btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
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btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
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btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
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btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
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btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
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btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
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btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
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btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
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btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
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btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
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btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
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btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
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btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
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btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
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btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
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btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
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btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
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btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
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btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
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btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
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btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
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btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
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btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
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btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
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btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
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btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
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btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
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btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
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btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
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btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
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btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
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btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
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btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
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btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
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btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
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btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
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btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
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btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
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btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
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btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
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btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
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btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
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};
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btConvexHullShape* ShapeFactory::createConvexHull(const QVector<glm::vec3>& points) {
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@ -66,15 +114,40 @@ btConvexHullShape* ShapeFactory::createConvexHull(const QVector<glm::vec3>& poin
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hull->addPoint(btVector3(correctedPoint[0], correctedPoint[1], correctedPoint[2]), false);
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}
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if (points.size() > MAX_HULL_POINTS) {
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// create hull approximation
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btShapeHull shapeHull(hull);
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shapeHull.buildHull(margin);
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uint32_t numPoints = (uint32_t)hull->getNumPoints();
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if (numPoints > MAX_HULL_POINTS) {
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// we have too many points, so we compute point projections along canonical unit vectors
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// and keep the those that project the farthest
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btVector3 btCenter = glmToBullet(center);
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btVector3* shapePoints = hull->getUnscaledPoints();
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std::vector<uint32_t> finalIndices;
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finalIndices.reserve(NUM_UNIT_SPHERE_DIRECTIONS);
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for (uint32_t i = 0; i < NUM_UNIT_SPHERE_DIRECTIONS; ++i) {
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uint32_t bestIndex = 0;
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btScalar maxDistance = _unitSphereDirections[i].dot(shapePoints[0] - btCenter);
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for (uint32_t j = 1; j < numPoints; ++j) {
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btScalar distance = _unitSphereDirections[i].dot(shapePoints[j] - btCenter);
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if (distance > maxDistance) {
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maxDistance = distance;
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bestIndex = j;
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}
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}
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bool keep = true;
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for (uint32_t j = 0; j < finalIndices.size(); ++j) {
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if (finalIndices[j] == bestIndex) {
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keep = false;
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break;
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}
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}
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if (keep) {
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finalIndices.push_back(bestIndex);
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}
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}
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// we cannot copy Bullet shapes so we must create a new one...
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btConvexHullShape* newHull = new btConvexHullShape();
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const btVector3* newPoints = shapeHull.getVertexPointer();
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for (int i = 0; i < shapeHull.numVertices(); ++i) {
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newHull->addPoint(newPoints[i], false);
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for (uint32_t i = 0; i < finalIndices.size(); ++i) {
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newHull->addPoint(shapePoints[finalIndices[i]], false);
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}
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// ...and delete the old one
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delete hull;
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@ -35,7 +35,46 @@ int vec3VectorTypeId = qRegisterMetaType<QVector<glm::vec3> >();
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float Model::FAKE_DIMENSION_PLACEHOLDER = -1.0f;
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#define HTTP_INVALID_COM "http://invalid.com"
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model::MaterialPointer Model::_collisionHullMaterial;
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const int NUM_COLLISION_HULL_COLORS = 24;
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std::vector<model::MaterialPointer> _collisionHullMaterials;
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void initCollisionHullMaterials() {
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// generates bright colors in red, green, blue, yellow, magenta, and cyan spectrums
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// (no browns, greys, or dark shades)
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float component[NUM_COLLISION_HULL_COLORS] = {
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0.0f, 0.0f, 0.0f, 0.0f,
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0.0f, 0.0f, 0.0f, 0.0f,
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0.2f, 0.4f, 0.6f, 0.8f,
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1.0f, 1.0f, 1.0f, 1.0f,
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1.0f, 1.0f, 1.0f, 1.0f,
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0.8f, 0.6f, 0.4f, 0.2f
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};
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_collisionHullMaterials.reserve(NUM_COLLISION_HULL_COLORS);
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// each component gets the same cuve
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// but offset by a multiple of one third the full width
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int numComponents = 3;
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int sectionWidth = NUM_COLLISION_HULL_COLORS / numComponents;
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int greenPhase = sectionWidth;
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int bluePhase = 2 * sectionWidth;
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// we stride through the colors to scatter adjacent shades
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// so they don't tend to group together for large models
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for (int i = 0; i < sectionWidth; ++i) {
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for (int j = 0; j < numComponents; ++j) {
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model::MaterialPointer material;
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material = std::make_shared<model::Material>();
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int index = j * sectionWidth + i;
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float red = component[index];
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float green = component[(index + greenPhase) % NUM_COLLISION_HULL_COLORS];
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float blue = component[(index + bluePhase) % NUM_COLLISION_HULL_COLORS];
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material->setAlbedo(glm::vec3(red, green, blue));
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material->setMetallic(0.02f);
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material->setRoughness(0.5f);
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_collisionHullMaterials.push_back(material);
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}
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}
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}
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Model::Model(RigPointer rig, QObject* parent) :
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QObject(parent),
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@ -1217,13 +1256,10 @@ void Model::segregateMeshGroups() {
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int totalParts = mesh.parts.size();
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for (int partIndex = 0; partIndex < totalParts; partIndex++) {
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if (showingCollisionHull) {
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if (!_collisionHullMaterial) {
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_collisionHullMaterial = std::make_shared<model::Material>();
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_collisionHullMaterial->setAlbedo(glm::vec3(1.0f, 0.5f, 0.0f));
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_collisionHullMaterial->setMetallic(0.02f);
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_collisionHullMaterial->setRoughness(0.5f);
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if (_collisionHullMaterials.empty()) {
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initCollisionHullMaterials();
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}
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_collisionRenderItemsSet << std::make_shared<MeshPartPayload>(networkMesh, partIndex, _collisionHullMaterial, transform, offset);
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_collisionRenderItemsSet << std::make_shared<MeshPartPayload>(networkMesh, partIndex, _collisionHullMaterials[partIndex % NUM_COLLISION_HULL_COLORS], transform, offset);
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} else {
|
||||
_modelMeshRenderItemsSet << std::make_shared<ModelMeshPartPayload>(this, i, partIndex, shapeID, transform, offset);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -23,7 +23,6 @@ void ShapeInfo::clear() {
|
|||
|
||||
void ShapeInfo::setParams(ShapeType type, const glm::vec3& halfExtents, QString url) {
|
||||
_type = type;
|
||||
_points.clear();
|
||||
switch(type) {
|
||||
case SHAPE_TYPE_NONE:
|
||||
_halfExtents = glm::vec3(0.0f);
|
||||
|
|
@ -52,7 +51,6 @@ void ShapeInfo::setBox(const glm::vec3& halfExtents) {
|
|||
_url = "";
|
||||
_type = SHAPE_TYPE_BOX;
|
||||
_halfExtents = halfExtents;
|
||||
_points.clear();
|
||||
_doubleHashKey.clear();
|
||||
}
|
||||
|
||||
|
|
@ -60,15 +58,6 @@ void ShapeInfo::setSphere(float radius) {
|
|||
_url = "";
|
||||
_type = SHAPE_TYPE_SPHERE;
|
||||
_halfExtents = glm::vec3(radius, radius, radius);
|
||||
_points.clear();
|
||||
_doubleHashKey.clear();
|
||||
}
|
||||
|
||||
void ShapeInfo::setEllipsoid(const glm::vec3& halfExtents) {
|
||||
_url = "";
|
||||
_type = SHAPE_TYPE_ELLIPSOID;
|
||||
_halfExtents = halfExtents;
|
||||
_points.clear();
|
||||
_doubleHashKey.clear();
|
||||
}
|
||||
|
||||
|
|
@ -82,7 +71,6 @@ void ShapeInfo::setCapsuleY(float radius, float halfHeight) {
|
|||
_url = "";
|
||||
_type = SHAPE_TYPE_CAPSULE_Y;
|
||||
_halfExtents = glm::vec3(radius, halfHeight, radius);
|
||||
_points.clear();
|
||||
_doubleHashKey.clear();
|
||||
}
|
||||
|
||||
|
|
@ -146,10 +134,6 @@ bool ShapeInfo::contains(const glm::vec3& point) const {
|
|||
switch(_type) {
|
||||
case SHAPE_TYPE_SPHERE:
|
||||
return glm::length(point) <= _halfExtents.x;
|
||||
case SHAPE_TYPE_ELLIPSOID: {
|
||||
glm::vec3 scaledPoint = glm::abs(point) / _halfExtents;
|
||||
return glm::length(scaledPoint) <= 1.0f;
|
||||
}
|
||||
case SHAPE_TYPE_CYLINDER_X:
|
||||
return glm::length(glm::vec2(point.y, point.z)) <= _halfExtents.z;
|
||||
case SHAPE_TYPE_CYLINDER_Y:
|
||||
|
|
|
|||
|
|
@ -30,7 +30,6 @@ enum ShapeType {
|
|||
SHAPE_TYPE_NONE,
|
||||
SHAPE_TYPE_BOX,
|
||||
SHAPE_TYPE_SPHERE,
|
||||
SHAPE_TYPE_ELLIPSOID,
|
||||
SHAPE_TYPE_PLANE,
|
||||
SHAPE_TYPE_COMPOUND,
|
||||
SHAPE_TYPE_CAPSULE_X,
|
||||
|
|
@ -39,7 +38,7 @@ enum ShapeType {
|
|||
SHAPE_TYPE_CYLINDER_X,
|
||||
SHAPE_TYPE_CYLINDER_Y,
|
||||
SHAPE_TYPE_CYLINDER_Z,
|
||||
SHAPE_TYPE_LINE
|
||||
SHAPE_TYPE_STATIC_MESH
|
||||
};
|
||||
|
||||
class ShapeInfo {
|
||||
|
|
@ -50,7 +49,6 @@ public:
|
|||
void setParams(ShapeType type, const glm::vec3& halfExtents, QString url="");
|
||||
void setBox(const glm::vec3& halfExtents);
|
||||
void setSphere(float radius);
|
||||
void setEllipsoid(const glm::vec3& halfExtents);
|
||||
void setConvexHulls(const QVector<QVector<glm::vec3>>& points);
|
||||
void setCapsuleY(float radius, float halfHeight);
|
||||
void setOffset(const glm::vec3& offset);
|
||||
|
|
@ -60,10 +58,10 @@ public:
|
|||
const glm::vec3& getHalfExtents() const { return _halfExtents; }
|
||||
const glm::vec3& getOffset() const { return _offset; }
|
||||
|
||||
QVector<QVector<glm::vec3>>& getPoints() { return _points; }
|
||||
const QVector<QVector<glm::vec3>>& getPoints() const { return _points; }
|
||||
uint32_t getNumSubShapes() const;
|
||||
|
||||
void clearPoints () { _points.clear(); }
|
||||
void appendToPoints (const QVector<glm::vec3>& newPoints) { _points << newPoints; }
|
||||
int getMaxNumPoints() const;
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue