1021 lines
25 KiB
C++
1021 lines
25 KiB
C++
/*************************************************************************/
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/* geometry_3d.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in 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, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "geometry_3d.h"
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#include "core/string/print_string.h"
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#include "thirdparty/misc/clipper.hpp"
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#include "thirdparty/misc/polypartition.h"
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void Geometry3D::MeshData::optimize_vertices() {
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Map<int, int> vtx_remap;
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for (int i = 0; i < faces.size(); i++) {
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for (int j = 0; j < faces[i].indices.size(); j++) {
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int idx = faces[i].indices[j];
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if (!vtx_remap.has(idx)) {
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int ni = vtx_remap.size();
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vtx_remap[idx] = ni;
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}
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faces.write[i].indices.write[j] = vtx_remap[idx];
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}
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}
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for (int i = 0; i < edges.size(); i++) {
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int a = edges[i].a;
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int b = edges[i].b;
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if (!vtx_remap.has(a)) {
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int ni = vtx_remap.size();
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vtx_remap[a] = ni;
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}
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if (!vtx_remap.has(b)) {
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int ni = vtx_remap.size();
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vtx_remap[b] = ni;
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}
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edges.write[i].a = vtx_remap[a];
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edges.write[i].b = vtx_remap[b];
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}
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Vector<Vector3> new_vertices;
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new_vertices.resize(vtx_remap.size());
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for (int i = 0; i < vertices.size(); i++) {
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if (vtx_remap.has(i)) {
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new_vertices.write[vtx_remap[i]] = vertices[i];
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}
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}
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vertices = new_vertices;
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}
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struct _FaceClassify {
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struct _Link {
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int face = -1;
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int edge = -1;
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void clear() {
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face = -1;
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edge = -1;
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}
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_Link() {}
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};
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bool valid = false;
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int group = -1;
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_Link links[3];
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Face3 face;
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_FaceClassify() {}
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};
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static bool _connect_faces(_FaceClassify *p_faces, int len, int p_group) {
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// Connect faces, error will occur if an edge is shared between more than 2 faces.
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// Clear connections.
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bool error = false;
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for (int i = 0; i < len; i++) {
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for (int j = 0; j < 3; j++) {
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p_faces[i].links[j].clear();
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}
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}
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for (int i = 0; i < len; i++) {
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if (p_faces[i].group != p_group) {
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continue;
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}
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for (int j = i + 1; j < len; j++) {
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if (p_faces[j].group != p_group) {
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continue;
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}
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for (int k = 0; k < 3; k++) {
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Vector3 vi1 = p_faces[i].face.vertex[k];
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Vector3 vi2 = p_faces[i].face.vertex[(k + 1) % 3];
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for (int l = 0; l < 3; l++) {
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Vector3 vj2 = p_faces[j].face.vertex[l];
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Vector3 vj1 = p_faces[j].face.vertex[(l + 1) % 3];
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if (vi1.distance_to(vj1) < 0.00001 &&
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vi2.distance_to(vj2) < 0.00001) {
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if (p_faces[i].links[k].face != -1) {
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ERR_PRINT("already linked\n");
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error = true;
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break;
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}
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if (p_faces[j].links[l].face != -1) {
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ERR_PRINT("already linked\n");
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error = true;
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break;
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}
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p_faces[i].links[k].face = j;
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p_faces[i].links[k].edge = l;
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p_faces[j].links[l].face = i;
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p_faces[j].links[l].edge = k;
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}
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}
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if (error) {
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break;
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}
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}
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if (error) {
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break;
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}
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}
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if (error) {
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break;
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}
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}
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for (int i = 0; i < len; i++) {
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p_faces[i].valid = true;
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for (int j = 0; j < 3; j++) {
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if (p_faces[i].links[j].face == -1) {
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p_faces[i].valid = false;
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}
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}
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}
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return error;
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}
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static bool _group_face(_FaceClassify *p_faces, int len, int p_index, int p_group) {
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if (p_faces[p_index].group >= 0) {
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return false;
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}
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p_faces[p_index].group = p_group;
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for (int i = 0; i < 3; i++) {
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ERR_FAIL_INDEX_V(p_faces[p_index].links[i].face, len, true);
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_group_face(p_faces, len, p_faces[p_index].links[i].face, p_group);
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}
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return true;
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}
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Vector<Vector<Face3>> Geometry3D::separate_objects(Vector<Face3> p_array) {
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Vector<Vector<Face3>> objects;
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int len = p_array.size();
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const Face3 *arrayptr = p_array.ptr();
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Vector<_FaceClassify> fc;
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fc.resize(len);
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_FaceClassify *_fcptr = fc.ptrw();
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for (int i = 0; i < len; i++) {
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_fcptr[i].face = arrayptr[i];
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}
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bool error = _connect_faces(_fcptr, len, -1);
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ERR_FAIL_COND_V_MSG(error, Vector<Vector<Face3>>(), "Invalid geometry.");
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// Group connected faces in separate objects.
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int group = 0;
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for (int i = 0; i < len; i++) {
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if (!_fcptr[i].valid) {
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continue;
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}
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if (_group_face(_fcptr, len, i, group)) {
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group++;
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}
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}
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// Group connected faces in separate objects.
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for (int i = 0; i < len; i++) {
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_fcptr[i].face = arrayptr[i];
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}
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if (group >= 0) {
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objects.resize(group);
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Vector<Face3> *group_faces = objects.ptrw();
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for (int i = 0; i < len; i++) {
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if (!_fcptr[i].valid) {
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continue;
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}
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if (_fcptr[i].group >= 0 && _fcptr[i].group < group) {
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group_faces[_fcptr[i].group].push_back(_fcptr[i].face);
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}
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}
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}
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return objects;
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}
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/*** GEOMETRY WRAPPER ***/
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enum _CellFlags {
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_CELL_SOLID = 1,
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_CELL_EXTERIOR = 2,
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_CELL_STEP_MASK = 0x1C,
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_CELL_STEP_NONE = 0 << 2,
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_CELL_STEP_Y_POS = 1 << 2,
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_CELL_STEP_Y_NEG = 2 << 2,
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_CELL_STEP_X_POS = 3 << 2,
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_CELL_STEP_X_NEG = 4 << 2,
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_CELL_STEP_Z_POS = 5 << 2,
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_CELL_STEP_Z_NEG = 6 << 2,
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_CELL_STEP_DONE = 7 << 2,
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_CELL_PREV_MASK = 0xE0,
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_CELL_PREV_NONE = 0 << 5,
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_CELL_PREV_Y_POS = 1 << 5,
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_CELL_PREV_Y_NEG = 2 << 5,
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_CELL_PREV_X_POS = 3 << 5,
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_CELL_PREV_X_NEG = 4 << 5,
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_CELL_PREV_Z_POS = 5 << 5,
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_CELL_PREV_Z_NEG = 6 << 5,
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_CELL_PREV_FIRST = 7 << 5,
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};
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static inline void _plot_face(uint8_t ***p_cell_status, int x, int y, int z, int len_x, int len_y, int len_z, const Vector3 &voxelsize, const Face3 &p_face) {
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AABB aabb(Vector3(x, y, z), Vector3(len_x, len_y, len_z));
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aabb.position = aabb.position * voxelsize;
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aabb.size = aabb.size * voxelsize;
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if (!p_face.intersects_aabb(aabb)) {
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return;
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}
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if (len_x == 1 && len_y == 1 && len_z == 1) {
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p_cell_status[x][y][z] = _CELL_SOLID;
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return;
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}
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int div_x = len_x > 1 ? 2 : 1;
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int div_y = len_y > 1 ? 2 : 1;
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int div_z = len_z > 1 ? 2 : 1;
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#define _SPLIT(m_i, m_div, m_v, m_len_v, m_new_v, m_new_len_v) \
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if (m_div == 1) { \
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m_new_v = m_v; \
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m_new_len_v = 1; \
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} else if (m_i == 0) { \
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m_new_v = m_v; \
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m_new_len_v = m_len_v / 2; \
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} else { \
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m_new_v = m_v + m_len_v / 2; \
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m_new_len_v = m_len_v - m_len_v / 2; \
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}
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int new_x;
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int new_len_x;
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int new_y;
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int new_len_y;
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int new_z;
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int new_len_z;
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for (int i = 0; i < div_x; i++) {
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_SPLIT(i, div_x, x, len_x, new_x, new_len_x);
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for (int j = 0; j < div_y; j++) {
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_SPLIT(j, div_y, y, len_y, new_y, new_len_y);
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for (int k = 0; k < div_z; k++) {
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_SPLIT(k, div_z, z, len_z, new_z, new_len_z);
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_plot_face(p_cell_status, new_x, new_y, new_z, new_len_x, new_len_y, new_len_z, voxelsize, p_face);
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}
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}
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}
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}
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static inline void _mark_outside(uint8_t ***p_cell_status, int x, int y, int z, int len_x, int len_y, int len_z) {
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if (p_cell_status[x][y][z] & 3) {
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return; // Nothing to do, already used and/or visited.
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}
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p_cell_status[x][y][z] = _CELL_PREV_FIRST;
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while (true) {
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uint8_t &c = p_cell_status[x][y][z];
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if ((c & _CELL_STEP_MASK) == _CELL_STEP_NONE) {
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// Haven't been in here, mark as outside.
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p_cell_status[x][y][z] |= _CELL_EXTERIOR;
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}
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if ((c & _CELL_STEP_MASK) != _CELL_STEP_DONE) {
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// If not done, increase step.
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c += 1 << 2;
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}
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if ((c & _CELL_STEP_MASK) == _CELL_STEP_DONE) {
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// Go back.
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switch (c & _CELL_PREV_MASK) {
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case _CELL_PREV_FIRST: {
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return;
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} break;
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case _CELL_PREV_Y_POS: {
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y++;
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ERR_FAIL_COND(y >= len_y);
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} break;
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case _CELL_PREV_Y_NEG: {
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y--;
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ERR_FAIL_COND(y < 0);
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} break;
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case _CELL_PREV_X_POS: {
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x++;
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ERR_FAIL_COND(x >= len_x);
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} break;
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case _CELL_PREV_X_NEG: {
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x--;
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ERR_FAIL_COND(x < 0);
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} break;
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case _CELL_PREV_Z_POS: {
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z++;
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ERR_FAIL_COND(z >= len_z);
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} break;
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case _CELL_PREV_Z_NEG: {
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z--;
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ERR_FAIL_COND(z < 0);
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} break;
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default: {
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ERR_FAIL();
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}
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}
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continue;
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}
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int next_x = x, next_y = y, next_z = z;
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uint8_t prev = 0;
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switch (c & _CELL_STEP_MASK) {
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case _CELL_STEP_Y_POS: {
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next_y++;
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prev = _CELL_PREV_Y_NEG;
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} break;
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case _CELL_STEP_Y_NEG: {
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next_y--;
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prev = _CELL_PREV_Y_POS;
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} break;
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case _CELL_STEP_X_POS: {
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next_x++;
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prev = _CELL_PREV_X_NEG;
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} break;
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case _CELL_STEP_X_NEG: {
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next_x--;
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prev = _CELL_PREV_X_POS;
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} break;
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case _CELL_STEP_Z_POS: {
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next_z++;
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prev = _CELL_PREV_Z_NEG;
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} break;
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case _CELL_STEP_Z_NEG: {
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next_z--;
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prev = _CELL_PREV_Z_POS;
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} break;
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default:
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ERR_FAIL();
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}
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if (next_x < 0 || next_x >= len_x) {
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continue;
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}
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if (next_y < 0 || next_y >= len_y) {
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continue;
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}
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if (next_z < 0 || next_z >= len_z) {
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continue;
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}
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if (p_cell_status[next_x][next_y][next_z] & 3) {
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continue;
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}
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x = next_x;
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y = next_y;
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z = next_z;
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p_cell_status[x][y][z] |= prev;
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}
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}
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static inline void _build_faces(uint8_t ***p_cell_status, int x, int y, int z, int len_x, int len_y, int len_z, Vector<Face3> &p_faces) {
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ERR_FAIL_INDEX(x, len_x);
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ERR_FAIL_INDEX(y, len_y);
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ERR_FAIL_INDEX(z, len_z);
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if (p_cell_status[x][y][z] & _CELL_EXTERIOR) {
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return;
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}
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#define vert(m_idx) Vector3(((m_idx)&4) >> 2, ((m_idx)&2) >> 1, (m_idx)&1)
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static const uint8_t indices[6][4] = {
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{ 7, 6, 4, 5 },
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{ 7, 3, 2, 6 },
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{ 7, 5, 1, 3 },
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{ 0, 2, 3, 1 },
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{ 0, 1, 5, 4 },
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{ 0, 4, 6, 2 },
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};
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for (int i = 0; i < 6; i++) {
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Vector3 face_points[4];
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int disp_x = x + ((i % 3) == 0 ? ((i < 3) ? 1 : -1) : 0);
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int disp_y = y + (((i - 1) % 3) == 0 ? ((i < 3) ? 1 : -1) : 0);
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int disp_z = z + (((i - 2) % 3) == 0 ? ((i < 3) ? 1 : -1) : 0);
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bool plot = false;
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if (disp_x < 0 || disp_x >= len_x) {
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plot = true;
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}
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if (disp_y < 0 || disp_y >= len_y) {
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plot = true;
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}
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if (disp_z < 0 || disp_z >= len_z) {
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plot = true;
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}
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if (!plot && (p_cell_status[disp_x][disp_y][disp_z] & _CELL_EXTERIOR)) {
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plot = true;
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}
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if (!plot) {
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continue;
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}
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for (int j = 0; j < 4; j++) {
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face_points[j] = vert(indices[i][j]) + Vector3(x, y, z);
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}
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p_faces.push_back(
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Face3(
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face_points[0],
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face_points[1],
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face_points[2]));
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p_faces.push_back(
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Face3(
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face_points[2],
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face_points[3],
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face_points[0]));
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}
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}
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Vector<Face3> Geometry3D::wrap_geometry(Vector<Face3> p_array, real_t *p_error) {
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#define _MIN_SIZE 1.0
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#define _MAX_LENGTH 20
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int face_count = p_array.size();
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const Face3 *faces = p_array.ptr();
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AABB global_aabb;
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for (int i = 0; i < face_count; i++) {
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if (i == 0) {
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global_aabb = faces[i].get_aabb();
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} else {
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global_aabb.merge_with(faces[i].get_aabb());
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}
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}
|
|
|
|
global_aabb.grow_by(0.01); // Avoid numerical error.
|
|
|
|
// Determine amount of cells in grid axis.
|
|
int div_x, div_y, div_z;
|
|
|
|
if (global_aabb.size.x / _MIN_SIZE < _MAX_LENGTH) {
|
|
div_x = (int)(global_aabb.size.x / _MIN_SIZE) + 1;
|
|
} else {
|
|
div_x = _MAX_LENGTH;
|
|
}
|
|
|
|
if (global_aabb.size.y / _MIN_SIZE < _MAX_LENGTH) {
|
|
div_y = (int)(global_aabb.size.y / _MIN_SIZE) + 1;
|
|
} else {
|
|
div_y = _MAX_LENGTH;
|
|
}
|
|
|
|
if (global_aabb.size.z / _MIN_SIZE < _MAX_LENGTH) {
|
|
div_z = (int)(global_aabb.size.z / _MIN_SIZE) + 1;
|
|
} else {
|
|
div_z = _MAX_LENGTH;
|
|
}
|
|
|
|
Vector3 voxelsize = global_aabb.size;
|
|
voxelsize.x /= div_x;
|
|
voxelsize.y /= div_y;
|
|
voxelsize.z /= div_z;
|
|
|
|
// Create and initialize cells to zero.
|
|
|
|
uint8_t ***cell_status = memnew_arr(uint8_t **, div_x);
|
|
for (int i = 0; i < div_x; i++) {
|
|
cell_status[i] = memnew_arr(uint8_t *, div_y);
|
|
|
|
for (int j = 0; j < div_y; j++) {
|
|
cell_status[i][j] = memnew_arr(uint8_t, div_z);
|
|
|
|
for (int k = 0; k < div_z; k++) {
|
|
cell_status[i][j][k] = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
// Plot faces into cells.
|
|
|
|
for (int i = 0; i < face_count; i++) {
|
|
Face3 f = faces[i];
|
|
for (int j = 0; j < 3; j++) {
|
|
f.vertex[j] -= global_aabb.position;
|
|
}
|
|
_plot_face(cell_status, 0, 0, 0, div_x, div_y, div_z, voxelsize, f);
|
|
}
|
|
|
|
// Determine which cells connect to the outside by traversing the outside and recursively flood-fill marking.
|
|
|
|
for (int i = 0; i < div_x; i++) {
|
|
for (int j = 0; j < div_y; j++) {
|
|
_mark_outside(cell_status, i, j, 0, div_x, div_y, div_z);
|
|
_mark_outside(cell_status, i, j, div_z - 1, div_x, div_y, div_z);
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < div_z; i++) {
|
|
for (int j = 0; j < div_y; j++) {
|
|
_mark_outside(cell_status, 0, j, i, div_x, div_y, div_z);
|
|
_mark_outside(cell_status, div_x - 1, j, i, div_x, div_y, div_z);
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < div_x; i++) {
|
|
for (int j = 0; j < div_z; j++) {
|
|
_mark_outside(cell_status, i, 0, j, div_x, div_y, div_z);
|
|
_mark_outside(cell_status, i, div_y - 1, j, div_x, div_y, div_z);
|
|
}
|
|
}
|
|
|
|
// Build faces for the inside-outside cell divisors.
|
|
|
|
Vector<Face3> wrapped_faces;
|
|
|
|
for (int i = 0; i < div_x; i++) {
|
|
for (int j = 0; j < div_y; j++) {
|
|
for (int k = 0; k < div_z; k++) {
|
|
_build_faces(cell_status, i, j, k, div_x, div_y, div_z, wrapped_faces);
|
|
}
|
|
}
|
|
}
|
|
|
|
// Transform face vertices to global coords.
|
|
|
|
int wrapped_faces_count = wrapped_faces.size();
|
|
Face3 *wrapped_faces_ptr = wrapped_faces.ptrw();
|
|
|
|
for (int i = 0; i < wrapped_faces_count; i++) {
|
|
for (int j = 0; j < 3; j++) {
|
|
Vector3 &v = wrapped_faces_ptr[i].vertex[j];
|
|
v = v * voxelsize;
|
|
v += global_aabb.position;
|
|
}
|
|
}
|
|
|
|
// clean up grid
|
|
|
|
for (int i = 0; i < div_x; i++) {
|
|
for (int j = 0; j < div_y; j++) {
|
|
memdelete_arr(cell_status[i][j]);
|
|
}
|
|
|
|
memdelete_arr(cell_status[i]);
|
|
}
|
|
|
|
memdelete_arr(cell_status);
|
|
if (p_error) {
|
|
*p_error = voxelsize.length();
|
|
}
|
|
|
|
return wrapped_faces;
|
|
}
|
|
|
|
Geometry3D::MeshData Geometry3D::build_convex_mesh(const Vector<Plane> &p_planes) {
|
|
MeshData mesh;
|
|
|
|
#define SUBPLANE_SIZE 1024.0
|
|
|
|
real_t subplane_size = 1024.0; // Should compute this from the actual plane.
|
|
for (int i = 0; i < p_planes.size(); i++) {
|
|
Plane p = p_planes[i];
|
|
|
|
Vector3 ref = Vector3(0.0, 1.0, 0.0);
|
|
|
|
if (ABS(p.normal.dot(ref)) > 0.95) {
|
|
ref = Vector3(0.0, 0.0, 1.0); // Change axis.
|
|
}
|
|
|
|
Vector3 right = p.normal.cross(ref).normalized();
|
|
Vector3 up = p.normal.cross(right).normalized();
|
|
|
|
Vector<Vector3> vertices;
|
|
|
|
Vector3 center = p.center();
|
|
// make a quad clockwise
|
|
vertices.push_back(center - up * subplane_size + right * subplane_size);
|
|
vertices.push_back(center - up * subplane_size - right * subplane_size);
|
|
vertices.push_back(center + up * subplane_size - right * subplane_size);
|
|
vertices.push_back(center + up * subplane_size + right * subplane_size);
|
|
|
|
for (int j = 0; j < p_planes.size(); j++) {
|
|
if (j == i) {
|
|
continue;
|
|
}
|
|
|
|
Vector<Vector3> new_vertices;
|
|
Plane clip = p_planes[j];
|
|
|
|
if (clip.normal.dot(p.normal) > 0.95) {
|
|
continue;
|
|
}
|
|
|
|
if (vertices.size() < 3) {
|
|
break;
|
|
}
|
|
|
|
for (int k = 0; k < vertices.size(); k++) {
|
|
int k_n = (k + 1) % vertices.size();
|
|
|
|
Vector3 edge0_A = vertices[k];
|
|
Vector3 edge1_A = vertices[k_n];
|
|
|
|
real_t dist0 = clip.distance_to(edge0_A);
|
|
real_t dist1 = clip.distance_to(edge1_A);
|
|
|
|
if (dist0 <= 0) { // Behind plane.
|
|
|
|
new_vertices.push_back(vertices[k]);
|
|
}
|
|
|
|
// Check for different sides and non coplanar.
|
|
if ((dist0 * dist1) < 0) {
|
|
// Calculate intersection.
|
|
Vector3 rel = edge1_A - edge0_A;
|
|
|
|
real_t den = clip.normal.dot(rel);
|
|
if (Math::is_zero_approx(den)) {
|
|
continue; // Point too short.
|
|
}
|
|
|
|
real_t dist = -(clip.normal.dot(edge0_A) - clip.d) / den;
|
|
Vector3 inters = edge0_A + rel * dist;
|
|
new_vertices.push_back(inters);
|
|
}
|
|
}
|
|
|
|
vertices = new_vertices;
|
|
}
|
|
|
|
if (vertices.size() < 3) {
|
|
continue;
|
|
}
|
|
|
|
// Result is a clockwise face.
|
|
|
|
MeshData::Face face;
|
|
|
|
// Add face indices.
|
|
for (int j = 0; j < vertices.size(); j++) {
|
|
int idx = -1;
|
|
for (int k = 0; k < mesh.vertices.size(); k++) {
|
|
if (mesh.vertices[k].distance_to(vertices[j]) < 0.001) {
|
|
idx = k;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (idx == -1) {
|
|
idx = mesh.vertices.size();
|
|
mesh.vertices.push_back(vertices[j]);
|
|
}
|
|
|
|
face.indices.push_back(idx);
|
|
}
|
|
face.plane = p;
|
|
mesh.faces.push_back(face);
|
|
|
|
// Add edge.
|
|
|
|
for (int j = 0; j < face.indices.size(); j++) {
|
|
int a = face.indices[j];
|
|
int b = face.indices[(j + 1) % face.indices.size()];
|
|
|
|
bool found = false;
|
|
for (int k = 0; k < mesh.edges.size(); k++) {
|
|
if (mesh.edges[k].a == a && mesh.edges[k].b == b) {
|
|
found = true;
|
|
break;
|
|
}
|
|
if (mesh.edges[k].b == a && mesh.edges[k].a == b) {
|
|
found = true;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (found) {
|
|
continue;
|
|
}
|
|
MeshData::Edge edge;
|
|
edge.a = a;
|
|
edge.b = b;
|
|
mesh.edges.push_back(edge);
|
|
}
|
|
}
|
|
|
|
return mesh;
|
|
}
|
|
|
|
Vector<Plane> Geometry3D::build_box_planes(const Vector3 &p_extents) {
|
|
Vector<Plane> planes;
|
|
|
|
planes.push_back(Plane(Vector3(1, 0, 0), p_extents.x));
|
|
planes.push_back(Plane(Vector3(-1, 0, 0), p_extents.x));
|
|
planes.push_back(Plane(Vector3(0, 1, 0), p_extents.y));
|
|
planes.push_back(Plane(Vector3(0, -1, 0), p_extents.y));
|
|
planes.push_back(Plane(Vector3(0, 0, 1), p_extents.z));
|
|
planes.push_back(Plane(Vector3(0, 0, -1), p_extents.z));
|
|
|
|
return planes;
|
|
}
|
|
|
|
Vector<Plane> Geometry3D::build_cylinder_planes(real_t p_radius, real_t p_height, int p_sides, Vector3::Axis p_axis) {
|
|
ERR_FAIL_INDEX_V(p_axis, 3, Vector<Plane>());
|
|
|
|
Vector<Plane> planes;
|
|
|
|
const double sides_step = Math_TAU / p_sides;
|
|
for (int i = 0; i < p_sides; i++) {
|
|
Vector3 normal;
|
|
normal[(p_axis + 1) % 3] = Math::cos(i * sides_step);
|
|
normal[(p_axis + 2) % 3] = Math::sin(i * sides_step);
|
|
|
|
planes.push_back(Plane(normal, p_radius));
|
|
}
|
|
|
|
Vector3 axis;
|
|
axis[p_axis] = 1.0;
|
|
|
|
planes.push_back(Plane(axis, p_height * 0.5));
|
|
planes.push_back(Plane(-axis, p_height * 0.5));
|
|
|
|
return planes;
|
|
}
|
|
|
|
Vector<Plane> Geometry3D::build_sphere_planes(real_t p_radius, int p_lats, int p_lons, Vector3::Axis p_axis) {
|
|
ERR_FAIL_INDEX_V(p_axis, 3, Vector<Plane>());
|
|
|
|
Vector<Plane> planes;
|
|
|
|
Vector3 axis;
|
|
axis[p_axis] = 1.0;
|
|
|
|
Vector3 axis_neg;
|
|
axis_neg[(p_axis + 1) % 3] = 1.0;
|
|
axis_neg[(p_axis + 2) % 3] = 1.0;
|
|
axis_neg[p_axis] = -1.0;
|
|
|
|
const double lon_step = Math_TAU / p_lons;
|
|
for (int i = 0; i < p_lons; i++) {
|
|
Vector3 normal;
|
|
normal[(p_axis + 1) % 3] = Math::cos(i * lon_step);
|
|
normal[(p_axis + 2) % 3] = Math::sin(i * lon_step);
|
|
|
|
planes.push_back(Plane(normal, p_radius));
|
|
|
|
for (int j = 1; j <= p_lats; j++) {
|
|
Vector3 plane_normal = normal.lerp(axis, j / (real_t)p_lats).normalized();
|
|
planes.push_back(Plane(plane_normal, p_radius));
|
|
planes.push_back(Plane(plane_normal * axis_neg, p_radius));
|
|
}
|
|
}
|
|
|
|
return planes;
|
|
}
|
|
|
|
Vector<Plane> Geometry3D::build_capsule_planes(real_t p_radius, real_t p_height, int p_sides, int p_lats, Vector3::Axis p_axis) {
|
|
ERR_FAIL_INDEX_V(p_axis, 3, Vector<Plane>());
|
|
|
|
Vector<Plane> planes;
|
|
|
|
Vector3 axis;
|
|
axis[p_axis] = 1.0;
|
|
|
|
Vector3 axis_neg;
|
|
axis_neg[(p_axis + 1) % 3] = 1.0;
|
|
axis_neg[(p_axis + 2) % 3] = 1.0;
|
|
axis_neg[p_axis] = -1.0;
|
|
|
|
const double sides_step = Math_TAU / p_sides;
|
|
for (int i = 0; i < p_sides; i++) {
|
|
Vector3 normal;
|
|
normal[(p_axis + 1) % 3] = Math::cos(i * sides_step);
|
|
normal[(p_axis + 2) % 3] = Math::sin(i * sides_step);
|
|
|
|
planes.push_back(Plane(normal, p_radius));
|
|
|
|
for (int j = 1; j <= p_lats; j++) {
|
|
Vector3 plane_normal = normal.lerp(axis, j / (real_t)p_lats).normalized();
|
|
Vector3 position = axis * p_height * 0.5 + plane_normal * p_radius;
|
|
planes.push_back(Plane(plane_normal, position));
|
|
planes.push_back(Plane(plane_normal * axis_neg, position * axis_neg));
|
|
}
|
|
}
|
|
|
|
return planes;
|
|
}
|
|
|
|
Vector<Vector3> Geometry3D::compute_convex_mesh_points(const Plane *p_planes, int p_plane_count) {
|
|
Vector<Vector3> points;
|
|
|
|
// Iterate through every unique combination of any three planes.
|
|
for (int i = p_plane_count - 1; i >= 0; i--) {
|
|
for (int j = i - 1; j >= 0; j--) {
|
|
for (int k = j - 1; k >= 0; k--) {
|
|
// Find the point where these planes all cross over (if they
|
|
// do at all).
|
|
Vector3 convex_shape_point;
|
|
if (p_planes[i].intersect_3(p_planes[j], p_planes[k], &convex_shape_point)) {
|
|
// See if any *other* plane excludes this point because it's
|
|
// on the wrong side.
|
|
bool excluded = false;
|
|
for (int n = 0; n < p_plane_count; n++) {
|
|
if (n != i && n != j && n != k) {
|
|
real_t dp = p_planes[n].normal.dot(convex_shape_point);
|
|
if (dp - p_planes[n].d > CMP_EPSILON) {
|
|
excluded = true;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
// Only add the point if it passed all tests.
|
|
if (!excluded) {
|
|
points.push_back(convex_shape_point);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
return points;
|
|
}
|
|
|
|
#define square(m_s) ((m_s) * (m_s))
|
|
#define INF 1e20
|
|
|
|
/* dt of 1d function using squared distance */
|
|
static void edt(float *f, int stride, int n) {
|
|
float *d = (float *)alloca(sizeof(float) * n + sizeof(int) * n + sizeof(float) * (n + 1));
|
|
int *v = (int *)&(d[n]);
|
|
float *z = (float *)&v[n];
|
|
|
|
int k = 0;
|
|
v[0] = 0;
|
|
z[0] = -INF;
|
|
z[1] = +INF;
|
|
for (int q = 1; q <= n - 1; q++) {
|
|
float s = ((f[q * stride] + square(q)) - (f[v[k] * stride] + square(v[k]))) / (2 * q - 2 * v[k]);
|
|
while (s <= z[k]) {
|
|
k--;
|
|
s = ((f[q * stride] + square(q)) - (f[v[k] * stride] + square(v[k]))) / (2 * q - 2 * v[k]);
|
|
}
|
|
k++;
|
|
v[k] = q;
|
|
|
|
z[k] = s;
|
|
z[k + 1] = +INF;
|
|
}
|
|
|
|
k = 0;
|
|
for (int q = 0; q <= n - 1; q++) {
|
|
while (z[k + 1] < q) {
|
|
k++;
|
|
}
|
|
d[q] = square(q - v[k]) + f[v[k] * stride];
|
|
}
|
|
|
|
for (int i = 0; i < n; i++) {
|
|
f[i * stride] = d[i];
|
|
}
|
|
}
|
|
|
|
#undef square
|
|
|
|
Vector<uint32_t> Geometry3D::generate_edf(const Vector<bool> &p_voxels, const Vector3i &p_size, bool p_negative) {
|
|
uint32_t float_count = p_size.x * p_size.y * p_size.z;
|
|
|
|
ERR_FAIL_COND_V((uint32_t)p_voxels.size() != float_count, Vector<uint32_t>());
|
|
|
|
float *work_memory = memnew_arr(float, float_count);
|
|
for (uint32_t i = 0; i < float_count; i++) {
|
|
work_memory[i] = INF;
|
|
}
|
|
|
|
uint32_t y_mult = p_size.x;
|
|
uint32_t z_mult = y_mult * p_size.y;
|
|
|
|
//plot solid cells
|
|
{
|
|
const bool *voxr = p_voxels.ptr();
|
|
for (uint32_t i = 0; i < float_count; i++) {
|
|
bool plot = voxr[i];
|
|
if (p_negative) {
|
|
plot = !plot;
|
|
}
|
|
if (plot) {
|
|
work_memory[i] = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
//process in each direction
|
|
|
|
//xy->z
|
|
|
|
for (int i = 0; i < p_size.x; i++) {
|
|
for (int j = 0; j < p_size.y; j++) {
|
|
edt(&work_memory[i + j * y_mult], z_mult, p_size.z);
|
|
}
|
|
}
|
|
|
|
//xz->y
|
|
|
|
for (int i = 0; i < p_size.x; i++) {
|
|
for (int j = 0; j < p_size.z; j++) {
|
|
edt(&work_memory[i + j * z_mult], y_mult, p_size.y);
|
|
}
|
|
}
|
|
|
|
//yz->x
|
|
for (int i = 0; i < p_size.y; i++) {
|
|
for (int j = 0; j < p_size.z; j++) {
|
|
edt(&work_memory[i * y_mult + j * z_mult], 1, p_size.x);
|
|
}
|
|
}
|
|
|
|
Vector<uint32_t> ret;
|
|
ret.resize(float_count);
|
|
{
|
|
uint32_t *w = ret.ptrw();
|
|
for (uint32_t i = 0; i < float_count; i++) {
|
|
w[i] = uint32_t(Math::sqrt(work_memory[i]));
|
|
}
|
|
}
|
|
|
|
memdelete_arr(work_memory);
|
|
|
|
return ret;
|
|
}
|
|
|
|
Vector<int8_t> Geometry3D::generate_sdf8(const Vector<uint32_t> &p_positive, const Vector<uint32_t> &p_negative) {
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ERR_FAIL_COND_V(p_positive.size() != p_negative.size(), Vector<int8_t>());
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Vector<int8_t> sdf8;
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int s = p_positive.size();
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sdf8.resize(s);
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const uint32_t *rpos = p_positive.ptr();
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const uint32_t *rneg = p_negative.ptr();
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int8_t *wsdf = sdf8.ptrw();
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for (int i = 0; i < s; i++) {
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int32_t diff = int32_t(rpos[i]) - int32_t(rneg[i]);
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wsdf[i] = CLAMP(diff, -128, 127);
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}
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return sdf8;
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}
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