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improved readability

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Orange
2025-12-14 10:59:38 +03:00
parent 257b06c552
commit adce4a808a
1 changed files with 41 additions and 30 deletions
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71
include/omath/collision/epa_algorithm.hpp
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@@ -99,33 +99,9 @@ namespace omath::collision
const int new_idx = static_cast<int>(vertexes.size());
vertexes.emplace_back(p);
// Mark faces visible from p and collect their horizon
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);
auto [to_delete, boundary] = mark_visible_and_collect_horizon(faces, p);
for (int i = 0; i < static_cast<int>(faces.size()); ++i)
{
if (to_delete[i])
continue;
if (visible_from(faces[i], p))
{
const auto& rf = faces[i];
to_delete[i] = true;
add_edge_boundary(boundary, rf.i0, rf.i1);
add_edge_boundary(boundary, rf.i1, rf.i2);
add_edge_boundary(boundary, rf.i2, rf.i0);
}
}
// Remove visible faces
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])
new_faces.emplace_back(faces[i]);
faces.swap(new_faces);
erase_marked(faces, to_delete);
// Stitch new faces around the horizon
for (const auto& e : boundary)
@@ -142,10 +118,8 @@ namespace omath::collision
// Fallback: pick closest face as best-effort answer
if (!faces.empty())
{
auto best = faces[0];
for (const auto& f : faces)
if (f.d < best.d)
best = f;
const auto best = *std::ranges::min_element(faces, [](const auto& first, const auto& second)
{ return first.d < second.d; });
out.normal = best.n;
out.depth = best.d;
out.num_vertices = static_cast<int>(vertexes.size());
@@ -289,5 +263,42 @@ namespace omath::collision
return vertexes;
}
static void erase_marked(std::pmr::vector<Face>& faces, const std::pmr::vector<bool>& to_delete)
{
auto* mr = faces.get_allocator().resource(); // keep same resource
std::pmr::vector<Face> kept{mr};
kept.reserve(faces.size());
for (std::size_t i = 0; i < faces.size(); ++i)
if (!to_delete[i])
kept.emplace_back(faces[i]);
faces.swap(kept);
}
struct Horizon
{
std::pmr::vector<bool> to_delete;
std::pmr::vector<Edge> boundary;
};
static Horizon mark_visible_and_collect_horizon(const std::pmr::vector<Face>& faces, const VectorType& p)
{
auto* mr = faces.get_allocator().resource();
Horizon out{std::pmr::vector<bool>(faces.size(), false, mr), std::pmr::vector<Edge>(mr)};
out.boundary.reserve(faces.size() * 2);
for (std::size_t i = 0; i < faces.size(); ++i)
if (visible_from(faces[i], p))
{
const auto& rf = faces[i];
out.to_delete[i] = true;
add_edge_boundary(out.boundary, rf.i0, rf.i1);
add_edge_boundary(out.boundary, rf.i1, rf.i2);
add_edge_boundary(out.boundary, rf.i2, rf.i0);
}
return out;
}
};
} // namespace omath::collision