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added poly allocators

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Orange
2025-12-03 09:52:53 +03:00
parent 1aff083ef3
commit 918858e255
2 changed files with 16 additions and 8 deletions
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20
include/omath/collision/epa_algorithm.hpp
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@@ -24,6 +24,14 @@ namespace omath::collision
class Epa final class Epa final
{ {
public: public:
explicit Epa( std::pmr::memory_resource* mem_resource = std::pmr::get_default_resource(),
const int max_iterations = 64, const float tolerance = 1e-4f)
: m_memory_resource(mem_resource), m_max_iterations(max_iterations), m_tolerance(tolerance)
{
}
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");
@@ -45,17 +53,17 @@ namespace omath::collision
// Precondition: simplex.size()==4 and contains the origin. // Precondition: simplex.size()==4 and contains the origin.
[[nodiscard]] [[nodiscard]]
static std::optional<Result> solve(const ColliderType& a, const ColliderType& b, std::optional<Result> solve(const ColliderType& a, const ColliderType& b,
const Simplex<VectorType>& simplex, const Params params = {}) const Simplex<VectorType>& simplex, const Params params = {})
{ {
// --- Build initial polytope from simplex (4 points) --- // --- Build initial polytope from simplex (4 points) ---
std::vector<VectorType> vertexes; std::pmr::vector<VectorType> vertexes{m_memory_resource};
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::vector<Face> faces; std::pmr::vector<Face> faces{m_memory_resource};
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));
@@ -127,7 +135,7 @@ namespace omath::collision
} }
// Remove visible faces // Remove visible faces
std::vector<Face> new_faces; std::pmr::vector<Face> new_faces;
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])
@@ -196,7 +204,7 @@ namespace omath::collision
using Heap = std::priority_queue<HeapItem, std::vector<HeapItem>, HeapCmp>; using Heap = std::priority_queue<HeapItem, std::vector<HeapItem>, HeapCmp>;
[[nodiscard]] [[nodiscard]]
static Heap rebuild_heap(const std::vector<Face>& faces) static Heap rebuild_heap(const std::pmr::vector<Face>& faces)
{ {
Heap h; Heap h;
for (int i = 0; i < static_cast<int>(faces.size()); ++i) for (int i = 0; i < static_cast<int>(faces.size()); ++i)
@@ -223,7 +231,7 @@ namespace omath::collision
} }
[[nodiscard]] [[nodiscard]]
static Face make_face(const std::vector<VectorType>& vertexes, int i0, int i1, int i2) static Face make_face(const std::pmr::vector<VectorType>& vertexes, int i0, int i1, int i2)
{ {
const VectorType& a0 = vertexes[i0]; const VectorType& a0 = vertexes[i0];
const VectorType& a1 = vertexes[i1]; const VectorType& a1 = vertexes[i1];

4
tests/general/unit_test_epa.cpp
View File

@@ -43,7 +43,7 @@ TEST(UnitTestEpa, TestCollisionTrue)
EPA::Params params; EPA::Params params;
params.max_iterations = 64; params.max_iterations = 64;
params.tolerance = 1e-4f; params.tolerance = 1e-4f;
auto epa = EPA::solve(A, B, gjk.simplex, params); auto epa = EPA().solve(A, B, gjk.simplex, params);
ASSERT_TRUE(epa.has_value()) << "EPA should converge"; ASSERT_TRUE(epa.has_value()) << "EPA should converge";
// Normal is unit // Normal is unit
@@ -117,7 +117,7 @@ TEST(UnitTestEpa, TestCollisionTrue2)
EPA::Params params; EPA::Params params;
params.max_iterations = 64; params.max_iterations = 64;
params.tolerance = 1e-4f; params.tolerance = 1e-4f;
auto epa = EPA::solve(A, B, gjk.simplex, params); auto epa = EPA().solve(A, B, gjk.simplex, params);
ASSERT_TRUE(epa.has_value()) << "EPA should converge"; ASSERT_TRUE(epa.has_value()) << "EPA should converge";
// Normal is unit-length // Normal is unit-length