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back to static

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Orange
2025-12-03 13:34:35 +03:00
parent d4d8f70fff
commit 3685f13344
2 changed files with 11 additions and 18 deletions
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25
include/omath/collision/epa_algorithm.hpp
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@@ -25,15 +25,6 @@ namespace omath::collision
class Epa final class Epa final
{ {
public: public:
explicit Epa(std::shared_ptr<std::pmr::memory_resource> mem_resource = {std::shared_ptr<void>{},
std::pmr::get_default_resource()},
const int max_iterations = 64, const float tolerance = 1e-4f)
: m_memory_resource(std::move(mem_resource)), m_max_iterations(max_iterations), m_tolerance(tolerance)
{
}
std::shared_ptr<std::pmr::memory_resource> m_memory_resource;
int m_max_iterations{64};
float m_tolerance{1e-4f};
using VectorType = ColliderType::VectorType; using VectorType = ColliderType::VectorType;
static_assert(EpaVector<VectorType>, "VertexType must satisfy EpaVector concept"); static_assert(EpaVector<VectorType>, "VertexType must satisfy EpaVector concept");
@@ -55,17 +46,19 @@ namespace omath::collision
// Precondition: simplex.size()==4 and contains the origin. // Precondition: simplex.size()==4 and contains the origin.
[[nodiscard]] [[nodiscard]]
std::optional<Result> solve(const ColliderType& a, const ColliderType& b, const Simplex<VectorType>& simplex, static std::optional<Result> solve(const ColliderType& a, const ColliderType& b,
const Params params = {}) const Simplex<VectorType>& simplex, const Params params = {},
std::shared_ptr<std::pmr::memory_resource> mem_resource = {
std::shared_ptr<void>{}, std::pmr::get_default_resource()})
{ {
// --- Build initial polytope from simplex (4 points) --- // --- Build initial polytope from simplex (4 points) ---
std::pmr::vector<VectorType> vertexes{m_memory_resource.get()}; std::pmr::vector<VectorType> vertexes{mem_resource.get()};
vertexes.reserve(64); vertexes.reserve(64);
for (std::size_t i = 0; i < simplex.size(); ++i) for (std::size_t i = 0; i < simplex.size(); ++i)
vertexes.push_back(simplex[i]); vertexes.push_back(simplex[i]);
// Initial tetra faces (windings corrected in make_face) // Initial tetra faces (windings corrected in make_face)
std::pmr::vector<Face> faces{m_memory_resource.get()}; std::pmr::vector<Face> faces{mem_resource.get()};
faces.reserve(128); faces.reserve(128);
faces.emplace_back(make_face(vertexes, 0, 1, 2)); faces.emplace_back(make_face(vertexes, 0, 1, 2));
faces.emplace_back(make_face(vertexes, 0, 2, 3)); faces.emplace_back(make_face(vertexes, 0, 2, 3));
@@ -118,8 +111,8 @@ namespace omath::collision
vertexes.push_back(p); vertexes.push_back(p);
// Mark faces visible from p and collect their horizon // Mark faces visible from p and collect their horizon
std::pmr::vector<char> to_delete(faces.size(), 0, m_memory_resource.get()); std::pmr::vector<char> to_delete(faces.size(), 0, mem_resource.get());
std::pmr::vector<Edge> boundary{m_memory_resource.get()}; std::pmr::vector<Edge> boundary{mem_resource.get()};
boundary.reserve(faces.size() * 2); boundary.reserve(faces.size() * 2);
for (int i = 0; i < static_cast<int>(faces.size()); ++i) for (int i = 0; i < static_cast<int>(faces.size()); ++i)
@@ -137,7 +130,7 @@ namespace omath::collision
} }
// Remove visible faces // Remove visible faces
std::pmr::vector<Face> new_faces{m_memory_resource.get()}; std::pmr::vector<Face> new_faces{mem_resource.get()};
new_faces.reserve(faces.size() + boundary.size()); new_faces.reserve(faces.size() + boundary.size());
for (int i = 0; i < static_cast<int>(faces.size()); ++i) for (int i = 0; i < static_cast<int>(faces.size()); ++i)
if (!to_delete[i]) if (!to_delete[i])

4
tests/general/unit_test_epa.cpp
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@@ -45,7 +45,7 @@ TEST(UnitTestEpa, TestCollisionTrue)
auto pool = std::make_shared<std::pmr::monotonic_buffer_resource>(1024); auto pool = std::make_shared<std::pmr::monotonic_buffer_resource>(1024);
params.max_iterations = 64; params.max_iterations = 64;
params.tolerance = 1e-4f; params.tolerance = 1e-4f;
auto epa = EPA(pool).solve(A, B, gjk.simplex, params); auto epa = EPA::solve(A, B, gjk.simplex, params, pool);
ASSERT_TRUE(epa.has_value()) << "EPA should converge"; ASSERT_TRUE(epa.has_value()) << "EPA should converge";
// Normal is unit // Normal is unit
@@ -119,7 +119,7 @@ TEST(UnitTestEpa, TestCollisionTrue2)
params.max_iterations = 64; params.max_iterations = 64;
params.tolerance = 1e-4f; params.tolerance = 1e-4f;
auto pool = std::make_shared<std::pmr::monotonic_buffer_resource>(1024); auto pool = std::make_shared<std::pmr::monotonic_buffer_resource>(1024);
auto epa = EPA(pool).solve(A, B, gjk.simplex, params); auto epa = EPA::solve(A, B, gjk.simplex, params, pool);
ASSERT_TRUE(epa.has_value()) << "EPA should converge"; ASSERT_TRUE(epa.has_value()) << "EPA should converge";
// Normal is unit-length // Normal is unit-length