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improved pmr stuff

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Orange
2025-12-13 00:06:45 +03:00
parent 17e21cde4b
commit 60a3a42140
2 changed files with 21 additions and 16 deletions
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33
include/omath/collision/epa_algorithm.hpp
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@@ -50,24 +50,23 @@ namespace omath::collision
[[nodiscard]]
static std::optional<Result> solve(const ColliderInterfaceType& a, const ColliderInterfaceType& b,
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()})
std::pmr::memory_resource& mem_resource = *std::pmr::get_default_resource())
{
// --- Build initial polytope from simplex (4 points) ---
std::pmr::vector<VectorType> vertexes{mem_resource.get()};
std::pmr::vector<VectorType> vertexes{&mem_resource};
vertexes.reserve(simplex.size());
for (std::size_t i = 0; i < simplex.size(); ++i)
vertexes.emplace_back(simplex[i]);
// Initial tetra faces (windings corrected in make_face)
std::pmr::vector<Face> faces{mem_resource.get()};
std::pmr::vector<Face> faces{&mem_resource};
faces.reserve(4);
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, 3, 1));
faces.emplace_back(make_face(vertexes, 1, 3, 2));
auto heap = rebuild_heap(faces);
auto heap = rebuild_heap(faces, mem_resource);
Result out{};
@@ -80,7 +79,7 @@ namespace omath::collision
// (We could keep face handles; this is fine for small Ns.)
if (const auto top = heap.top(); faces[top.idx].d != top.d)
heap = rebuild_heap(faces);
heap = rebuild_heap(faces, mem_resource);
if (heap.empty())
break;
@@ -110,8 +109,8 @@ namespace omath::collision
vertexes.emplace_back(p);
// Mark faces visible from p and collect their horizon
std::pmr::vector<bool> to_delete(faces.size(), false, mem_resource.get()); // uses single bits
std::pmr::vector<Edge> boundary{mem_resource.get()};
std::pmr::vector<bool> to_delete(faces.size(), false, &mem_resource); // uses single bits
std::pmr::vector<Edge> boundary{&mem_resource};
boundary.reserve(faces.size() * 2);
for (int i = 0; i < static_cast<int>(faces.size()); ++i)
@@ -129,7 +128,7 @@ namespace omath::collision
}
// Remove visible faces
std::pmr::vector<Face> new_faces{mem_resource.get()};
std::pmr::vector<Face> new_faces{&mem_resource};
new_faces.reserve(faces.size() + boundary.size());
for (int i = 0; i < static_cast<int>(faces.size()); ++i)
if (!to_delete[i])
@@ -141,7 +140,7 @@ namespace omath::collision
faces.emplace_back(make_face(vertexes, e.a, e.b, new_idx));
// Rebuild heap after topology change
heap = rebuild_heap(faces);
heap = rebuild_heap(faces, mem_resource);
if (!std::isfinite(vertexes.back().dot(vertexes.back())))
break; // safety
@@ -193,15 +192,21 @@ namespace omath::collision
return lhs.d > rhs.d; // min-heap by distance
}
};
using Heap = std::priority_queue<HeapItem, std::vector<HeapItem>, HeapCmp>;
using Heap = std::priority_queue<HeapItem, std::pmr::vector<HeapItem>, HeapCmp>;
[[nodiscard]]
static Heap rebuild_heap(const std::pmr::vector<Face>& faces)
static Heap rebuild_heap(const std::pmr::vector<Face>& faces, auto& memory_resource)
{
Heap h;
std::pmr::vector<HeapItem> storage{ &memory_resource };
storage.reserve(faces.size()); // optional but recommended
Heap h{ HeapCmp{}, std::move(storage) };
for (int i = 0; i < static_cast<int>(faces.size()); ++i)
h.emplace(faces[i].d, i);
return h;
return h; // allocator is preserved
}
[[nodiscard]]

4
tests/general/unit_test_epa.cpp
View File

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