Implement 2D convex separation routine & change separation return type
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2 changed files with 146 additions and 99 deletions
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@ -8,10 +8,75 @@
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namespace psemek::cg
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{
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// returns pair(normalized vector from 1 to 2, signed distance)
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// distance <= 0 means intersection
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template <typename T, std::size_t N>
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struct separation_info
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{
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T distance = -std::numeric_limits<T>::infinity();
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geom::vector<T, N> direction = geom::vector<T, N>::zero();
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separation_info & operator |= (separation_info const & i);
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};
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template <typename T, std::size_t N>
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separation_info<T, N> operator | (separation_info<T, N> const & i1, separation_info<T, N> const & i2)
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{
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if (i1.distance > i2.distance)
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return i1;
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return i2;
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}
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template <typename T, std::size_t N>
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separation_info<T, N> & separation_info<T, N>::operator |= (separation_info<T, N> const & i)
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{
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return *this = *this | i;
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}
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namespace detail
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{
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template <typename Body1, typename Body2>
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auto separation(Body1 const & b1, Body2 const & b2)
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auto separation_2d(Body1 const & b1, Body2 const & b2)
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{
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auto const & vs1 = vertices(b1);
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auto const & vs2 = vertices(b2);
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auto const & es1 = edges(b1);
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auto const & es2 = edges(b2);
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using scalar_type = std::remove_cvref_t<decltype(vs1[0][0])>;
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using result_type = separation_info<scalar_type, 3>;
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auto process_edges = [](auto const & vs1, auto const & es1, auto const & vs2)
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{
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result_type result;
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for (auto const & e : es1)
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{
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result_type edge_result;
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edge_result.direction = -geom::ort(geom::normalized(vs1[e[1]] - vs1[e[0]]));
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edge_result.distance = std::numeric_limits<scalar_type>::infinity();
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for (auto const & v : vs2)
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{
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auto const d = geom::dot(geom::homogeneous(edge_result.direction), geom::homogeneous(v - vs1[e[0]]));
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edge_result.distance = std::min(edge_result.distance, d);
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}
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result |= edge_result;
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}
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return result;
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};
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result_type result;
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result |= process_edges(vs1, es1, vs2);
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result |= process_edges(vs2, es2, vs1);
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return result;
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}
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template <typename Body1, typename Body2>
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auto separation_3d(Body1 const & b1, Body2 const & b2)
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{
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auto const & vs1 = vertices(b1);
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auto const & vs2 = vertices(b2);
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@ -22,120 +87,102 @@ namespace psemek::cg
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auto const & eds1 = edge_directions(b1);
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auto const & eds2 = edge_directions(b2);
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using vector_type = std::remove_cvref_t<decltype(vs1[0] - vs1[0])>;
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using scalar_type = std::remove_cvref_t<decltype(vs1[0][0])>;
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vector_type res_n = vector_type::zero();
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auto res_d = -std::numeric_limits<scalar_type>::infinity();
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using result_type = separation_info<scalar_type, 3>;
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auto process_faces = [](auto const & vs1, auto const & fs1, auto const & vs2)
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{
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vector_type res_n = vector_type::zero();
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scalar_type res_d = -std::numeric_limits<scalar_type>::infinity();
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result_type result;
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for (auto const & f : fs1)
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{
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auto const face_n = geom::normal(vs1[f[0]], vs1[f[1]], vs1[f[2]]);
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scalar_type face_d = std::numeric_limits<scalar_type>::infinity();
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result_type face_result;
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face_result.direction = geom::normal(vs1[f[0]], vs1[f[1]], vs1[f[2]]);
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face_result.distance = std::numeric_limits<scalar_type>::infinity();
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auto const face_p = vs1[f[0]];
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for (auto const & v : vs2)
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{
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auto const d = geom::dot(face_n, v - face_p);
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face_d = std::min(d, face_d);
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auto const d = geom::dot(face_result.direction, v - face_p);
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face_result.distance = std::min(d, face_result.distance);
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}
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if (face_d > res_d)
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{
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res_d = face_d;
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res_n = face_n;
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}
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result |= face_result;
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}
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return std::make_pair(res_n, res_d);
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return result;
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};
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auto process_edges = [](auto const & vs1, auto const & eds1, auto const & vs2, auto const & eds2)
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{
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vector_type res_n = vector_type::zero();
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scalar_type res_d = -std::numeric_limits<scalar_type>::infinity();
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result_type result;
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for (auto const & ed1 : eds1)
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{
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for (auto const & ed2 : eds2)
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{
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auto edge_n = geom::cross(ed1, ed2);
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auto l = geom::length(edge_n);
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result_type edge_result;
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edge_result.direction = geom::cross(ed1, ed2);
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auto l = geom::length(edge_result.direction);
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if (l == 0) continue;
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edge_n /= l;
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edge_result.direction /= l;
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geom::interval<scalar_type> i1, i2;
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for (auto const & v : vs1)
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{
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i1 |= geom::dot(geom::homogeneous(v), geom::homogeneous(edge_n));
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i1 |= geom::dot(geom::homogeneous(v), geom::homogeneous(edge_result.direction));
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}
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for (auto const & v : vs2)
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{
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i2 |= geom::dot(geom::homogeneous(v), geom::homogeneous(edge_n));
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i2 |= geom::dot(geom::homogeneous(v), geom::homogeneous(edge_result.direction));
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}
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auto edge_d12 = i2.min - i1.max;
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auto edge_d21 = i1.min - i2.max;
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scalar_type edge_d;
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if (edge_d12 > edge_d21)
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{
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edge_d = edge_d12;
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edge_result.distance = edge_d12;
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}
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else
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{
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edge_d = edge_d21;
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edge_n = -edge_n;
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edge_result.distance = edge_d21;
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edge_result.direction = -edge_result.direction;
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}
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if (edge_d > res_d)
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{
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res_d = edge_d;
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res_n = edge_n;
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}
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result |= edge_result;
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}
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}
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return std::make_pair(res_n, res_d);
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return result;
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};
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{
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auto res12 = process_faces(vs1, fs1, vs2);
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if (res12.second > res_d)
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{
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res_d = res12.second;
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res_n = res12.first;
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}
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}
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{
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auto res21 = process_faces(vs2, fs2, vs1);
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if (res21.second > res_d)
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{
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res_d = res21.second;
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res_n = -res21.first;
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}
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}
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{
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auto rese = process_edges(vs1, eds1, vs2, eds2);
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if (rese.second > res_d)
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{
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res_d = rese.second;
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res_n = rese.first;
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}
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}
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return std::make_pair(res_n, res_d);
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result_type result;
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result |= process_faces(vs1, fs1, vs2);
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result |= process_faces(vs2, fs2, vs1);
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result |= process_edges(vs1, eds1, vs2, eds2);
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return result;
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}
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}
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template <typename Body1, typename Body2>
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auto separation(Body1 const & b1, Body2 const & b2)
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{
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static_assert(dimension(b1) == dimension(b2));
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static_assert(dimension(b1) == 2 || dimension(b1) == 3);
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if constexpr (dimension(b1) == 2)
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{
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return detail::separation_2d(b1, b2);
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}
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else if (dimension(b1) == 3)
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{
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return detail::separation_3d(b1, b2);
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}
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}
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}
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@ -1101,7 +1101,7 @@ void main(){}
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{
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b.bbox = geom::expand(b.bbox, b.bbox.dimensions() / 64.f);
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b.camera_separation = cg::separation(camera_frustum, cg::box{b.bbox}).second;
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b.camera_separation = cg::separation(camera_frustum, cg::box{b.bbox}).distance;
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b.contains_near_clip = true;
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for (int i = 0; i < 4; ++i)
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@ -1696,7 +1696,7 @@ void main(){}
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{
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auto const & b = bins.data()[bi];
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if (cg::separation(light_frustum, cg::box{b.bbox}).second > 0.f) continue;
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if (cg::separation(light_frustum, cg::box{b.bbox}).distance > 0.f) continue;
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for (auto const & p : b.buckets)
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{
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