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Replace QuickHull with Bullet's convex hull computer.

Browse source 
The code is based on the current version of thirdparty/vhacd and modified to use Godot's types and code style.

Additional changes:
- backported and extended PagedAllocator to allow leaked objects
- applied patch from https://github.com/bulletphysics/bullet3/pull/3037
This commit is contained in:
Morris Tabor 2021-05-07 12:48:56 +02:00
parent c311b4c039
commit ba396caefc
11 changed files with 2611 additions and 13 deletions
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8
COPYRIGHT.txt
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@ -55,6 +55,14 @@ Comment: Godot Engine logo
Copyright: 2017, Andrea Calabró
License: CC-BY-4.0
Files: ./core/math/convex_hull.cpp
./core/math/convex_hull.h
Comment: Bullet Continuous Collision Detection and Physics Library
Copyright: 2011, Ole Kniemeyer, MAXON, www.maxon.net
2007-2021, Juan Linietsky, Ariel Manzur.
2014-2021, Godot Engine contributors.
License: Expat and Zlib
Files: ./modules/fbx/fbx_parser/
Comment: Open Asset Import Library (FBX parser)
Copyright: 2006-2020, assimp team

2290
core/math/convex_hull.cpp Normal file
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116
core/math/convex_hull.h Normal file
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@ -0,0 +1,116 @@
/*************************************************************************/
/* convex_hull.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
/*
Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef CONVEX_HULL_H
#define CONVEX_HULL_H
#include "core/local_vector.h"
#include "core/math/geometry.h"
#include "core/math/vector3.h"
#include "core/vector.h"
/// Convex hull implementation based on Preparata and Hong
/// See http://code.google.com/p/bullet/issues/detail?id=275
/// Ole Kniemeyer, MAXON Computer GmbH
class ConvexHullComputer {
public:
class Edge {
private:
int32_t next = 0;
int32_t reverse = 0;
int32_t target_vertex = 0;
friend class ConvexHullComputer;
public:
int32_t get_source_vertex() const {
return (this + reverse)->target_vertex;
}
int32_t get_target_vertex() const {
return target_vertex;
}
const Edge *get_next_edge_of_vertex() const // clockwise list of all edges of a vertex
{
return this + next;
}
const Edge *get_next_edge_of_face() const // counter-clockwise list of all edges of a face
{
return (this + reverse)->get_next_edge_of_vertex();
}
const Edge *get_reverse_edge() const {
return this + reverse;
}
};
// Vertices of the output hull
Vector<Vector3> vertices;
// Edges of the output hull
LocalVector<Edge> edges;
// Faces of the convex hull. Each entry is an index into the "edges" array pointing to an edge of the face. Faces are planar n-gons
LocalVector<int32_t> faces;
/*
Compute convex hull of "count" vertices stored in "coords".
If "shrink" is positive, the convex hull is shrunken by that amount (each face is moved by "shrink" length units
towards the center along its normal).
If "shrinkClamp" is positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius"
is the minimum distance of a face to the center of the convex hull.
The returned value is the amount by which the hull has been shrunken. If it is negative, the amount was so large
that the resulting convex hull is empty.
The output convex hull can be found in the member variables "vertices", "edges", "faces".
*/
real_t compute(const Vector3 *p_coords, int32_t p_count, real_t p_shrink, real_t p_shrink_clamp);
static Error convex_hull(const Vector<Vector3> &p_points, Geometry::MeshData &r_mesh);
};
#endif // CONVEX_HULL_H

51
core/os/spin_lock.h Normal file
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@ -0,0 +1,51 @@
/*************************************************************************/
/* spin_lock.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef SPIN_LOCK_H
#define SPIN_LOCK_H
#include "core/typedefs.h"
#include <atomic>
class SpinLock {
std::atomic_flag locked = ATOMIC_FLAG_INIT;
public:
_ALWAYS_INLINE_ void lock() {
while (locked.test_and_set(std::memory_order_acquire)) {
;
}
}
_ALWAYS_INLINE_ void unlock() {
locked.clear(std::memory_order_release);
}
};
#endif // SPIN_LOCK_H

133
core/paged_allocator.h Normal file
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@ -0,0 +1,133 @@
/*************************************************************************/
/* paged_allocator.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef PAGED_ALLOCATOR_H
#define PAGED_ALLOCATOR_H
#include "core/os/memory.h"
#include "core/os/spin_lock.h"
#include "core/typedefs.h"
#include <type_traits>
template <class T, bool thread_safe = false>
class PagedAllocator {
T **page_pool = nullptr;
T ***available_pool = nullptr;
uint32_t pages_allocated = 0;
uint32_t allocs_available = 0;
uint32_t page_shift = 0;
uint32_t page_mask = 0;
uint32_t page_size = 0;
SpinLock spin_lock;
public:
T *alloc() {
if (thread_safe) {
spin_lock.lock();
}
if (unlikely(allocs_available == 0)) {
uint32_t pages_used = pages_allocated;
pages_allocated++;
page_pool = (T **)memrealloc(page_pool, sizeof(T *) * pages_allocated);
available_pool = (T ***)memrealloc(available_pool, sizeof(T **) * pages_allocated);
page_pool[pages_used] = (T *)memalloc(sizeof(T) * page_size);
available_pool[pages_used] = (T **)memalloc(sizeof(T *) * page_size);
for (uint32_t i = 0; i < page_size; i++) {
available_pool[0][i] = &page_pool[pages_used][i];
}
allocs_available += page_size;
}
allocs_available--;
T *alloc = available_pool[allocs_available >> page_shift][allocs_available & page_mask];
if (thread_safe) {
spin_lock.unlock();
}
memnew_placement(alloc, T);
return alloc;
}
void free(T *p_mem) {
if (thread_safe) {
spin_lock.lock();
}
p_mem->~T();
available_pool[allocs_available >> page_shift][allocs_available & page_mask] = p_mem;
if (thread_safe) {
spin_lock.unlock();
}
allocs_available++;
}
void reset(bool p_allow_unfreed = false) {
if (!p_allow_unfreed || !std::is_trivially_destructible<T>::value) {
ERR_FAIL_COND(allocs_available < pages_allocated * page_size);
}
if (pages_allocated) {
for (uint32_t i = 0; i < pages_allocated; i++) {
memfree(page_pool[i]);
memfree(available_pool[i]);
}
memfree(page_pool);
memfree(available_pool);
page_pool = nullptr;
available_pool = nullptr;
pages_allocated = 0;
allocs_available = 0;
}
}
bool is_configured() const {
return page_size > 0;
}
void configure(uint32_t p_page_size) {
ERR_FAIL_COND(page_pool != nullptr); //sanity check
ERR_FAIL_COND(p_page_size == 0);
page_size = nearest_power_of_2_templated(p_page_size);
page_mask = page_size - 1;
page_shift = get_shift_from_power_of_2(page_size);
}
PagedAllocator(uint32_t p_page_size = 4096) { // power of 2 recommended because of alignment with OS page sizes. Even if element is bigger, its still a multiple and get rounded amount of pages
configure(p_page_size);
}
~PagedAllocator() {
ERR_FAIL_COND_MSG(allocs_available < pages_allocated * page_size, "Pages in use exist at exit in PagedAllocator");
reset();
}
};
#endif // PAGED_ALLOCATOR_H

4
editor/spatial_editor_gizmos.cpp
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@ -30,8 +30,8 @@
#include "spatial_editor_gizmos.h"
#include "core/math/convex_hull.h"
#include "core/math/geometry.h"
#include "core/math/quick_hull.h"
#include "scene/3d/audio_stream_player_3d.h"
#include "scene/3d/baked_lightmap.h"
#include "scene/3d/collision_polygon.h"
@ -3550,7 +3550,7 @@ void CollisionShapeSpatialGizmoPlugin::redraw(EditorSpatialGizmo *p_gizmo) {
if (points.size() > 3) {
Vector<Vector3> varr = Variant(points);
Geometry::MeshData md;
Error err = QuickHull::build(varr, md);
Error err = ConvexHullComputer::convex_hull(varr, md);
if (err == OK) {
Vector<Vector3> points2;
points2.resize(md.edges.size() * 2);

4
main/tests/test_physics.cpp
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@ -31,8 +31,8 @@
#include "test_physics.h"
#include "core/map.h"
#include "core/math/convex_hull.h"
#include "core/math/math_funcs.h"
#include "core/math/quick_hull.h"
#include "core/os/main_loop.h"
#include "core/os/os.h"
#include "core/print_string.h"
@ -168,7 +168,7 @@ protected:
RID convex_mesh = vs->mesh_create();
Geometry::MeshData convex_data = Geometry::build_convex_mesh(convex_planes);
QuickHull::build(convex_data.vertices, convex_data);
ConvexHullComputer::convex_hull(convex_data.vertices, convex_data);
vs->mesh_add_surface_from_mesh_data(convex_mesh, convex_data);
type_mesh_map[PhysicsServer::SHAPE_CONVEX_POLYGON] = convex_mesh;

4
main/tests/test_render.cpp
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@ -30,8 +30,8 @@
#include "test_render.h"
#include "core/math/convex_hull.h"
#include "core/math/math_funcs.h"
#include "core/math/quick_hull.h"
#include "core/os/keyboard.h"
#include "core/os/main_loop.h"
#include "core/os/os.h"
@ -118,7 +118,7 @@ public:
vts.push_back(Vector3(-1, -1, -1));
Geometry::MeshData md;
Error err = QuickHull::build(vts, md);
Error err = ConvexHullComputer::convex_hull(vts, md);
print_line("ERR: " + itos(err));
test_cube = vs->mesh_create();
vs->mesh_add_surface_from_mesh_data(test_cube, md);

4
modules/recast/navigation_mesh_generator.cpp
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@ -29,7 +29,7 @@
/*************************************************************************/
#include "navigation_mesh_generator.h"
#include "core/math/quick_hull.h"
#include "core/math/convex_hull.h"
#include "core/os/thread.h"
#include "editor/editor_settings.h"
#include "scene/3d/collision_shape.h"
@ -213,7 +213,7 @@ void EditorNavigationMeshGenerator::_parse_geometry(Transform p_accumulated_tran
Vector<Vector3> varr = Variant(convex_polygon->get_points());
Geometry::MeshData md;
Error err = QuickHull::build(varr, md);
Error err = ConvexHullComputer::convex_hull(varr, md);
if (err == OK) {
PoolVector3Array faces;

4
scene/resources/convex_polygon_shape.cpp
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@ -29,7 +29,7 @@
/*************************************************************************/
#include "convex_polygon_shape.h"
#include "core/math/quick_hull.h"
#include "core/math/convex_hull.h"
#include "servers/physics_server.h"
Vector<Vector3> ConvexPolygonShape::get_debug_mesh_lines() {
@ -38,7 +38,7 @@ Vector<Vector3> ConvexPolygonShape::get_debug_mesh_lines() {
if (points.size() > 3) {
Vector<Vector3> varr = Variant(points);
Geometry::MeshData md;
Error err = QuickHull::build(varr, md);
Error err = ConvexHullComputer::convex_hull(varr, md);
if (err == OK) {
Vector<Vector3> lines;
lines.resize(md.edges.size() * 2);

6
servers/physics/shape_sw.cpp
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@ -31,8 +31,8 @@
#include "shape_sw.h"
#include "core/image.h"
#include "core/math/convex_hull.h"
#include "core/math/geometry.h"
#include "core/math/quick_hull.h"
#include "core/sort_array.h"
// HeightMapShapeSW is based on Bullet btHeightfieldTerrainShape.
@ -1090,9 +1090,9 @@ Vector3 ConvexPolygonShapeSW::get_moment_of_inertia(real_t p_mass) const {
}
void ConvexPolygonShapeSW::_setup(const Vector<Vector3> &p_vertices) {
Error err = QuickHull::build(p_vertices, mesh);
Error err = ConvexHullComputer::convex_hull(p_vertices, mesh);
if (err != OK)
ERR_PRINT("Failed to build QuickHull");
ERR_PRINT("Failed to build convex hull");
AABB _aabb;