admin/omath
1
0
Fork 0
mirror of https://github.com/orange-cpp/omath.git synced 2026-04-18 19:03:28 +00:00
Code Issues Packages Projects Releases Wiki Activity

improvement

Browse Source
This commit is contained in:
orange
2026-03-03 08:43:30 +03:00
parent bfe147ef80
commit dee705a391
1 changed files with 24 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

35
include/omath/collision/epa_algorithm.hpp
View File

@@ -8,6 +8,7 @@
#include <memory>
#include <memory_resource>
#include <queue>
#include <unordered_map>
#include <utility>
#include <vector>
@@ -64,9 +65,9 @@ namespace omath::collision
Result out{};
// Hoisted outside the loop to reuse the allocation across iterations.
std::pmr::vector<Edge> boundary{&mem_resource};
boundary.reserve(16);
// Hoisted outside the loop to reuse bucket allocation across iterations.
// Initial bucket count 16 covers a typical horizon without rehashing.
BoundaryMap boundary{16, &mem_resource};
for (int it = 0; it < params.max_iterations; ++it)
{
@@ -102,7 +103,7 @@ namespace omath::collision
// Stitch new faces around the horizon and push them directly onto the
// heap — no full O(n log n) rebuild needed.
for (const auto& e : boundary)
for (const auto& [key, e] : boundary)
{
const int fi = static_cast<int>(faces.size());
faces.emplace_back(make_face(vertexes, e.a, e.b, new_idx));
@@ -160,6 +161,16 @@ namespace omath::collision
using Heap = std::priority_queue<HeapItem, std::pmr::vector<HeapItem>, HeapCmp>;
// Horizon boundary: maps packed(a,b) → Edge.
// Opposite edges cancel in O(1) via hash lookup instead of O(h) linear scan.
using BoundaryMap = std::pmr::unordered_map<int64_t, Edge>;
[[nodiscard]]
static constexpr int64_t pack_edge(int a, int b) noexcept
{
return (static_cast<int64_t>(a) << 32) | static_cast<uint32_t>(b);
}
[[nodiscard]]
static Heap rebuild_heap(const std::pmr::vector<Face>& faces, auto& memory_resource)
{
@@ -178,14 +189,16 @@ namespace omath::collision
return f.n.dot(p) - f.d > static_cast<FloatingType>(1e-7);
}
static void add_edge_boundary(std::pmr::vector<Edge>& boundary, int a, int b)
static void add_edge_boundary(BoundaryMap& boundary, int a, int b)
{
// Keep edges that appear only once; cancel if opposite already present.
auto itb = std::ranges::find_if(boundary, [&](const Edge& e) { return e.a == b && e.b == a; });
if (itb != boundary.end())
boundary.erase(itb);
// O(1) cancel: if the opposite edge (b→a) is already in the map it is an
// internal edge shared by two visible faces and must be removed.
// Otherwise this is a horizon edge and we insert it.
const int64_t rev = pack_edge(b, a);
if (const auto it = boundary.find(rev); it != boundary.end())
boundary.erase(it);
else
boundary.emplace_back(a, b);
boundary.emplace(pack_edge(a, b), Edge{a, b});
}
[[nodiscard]]
@@ -266,7 +279,7 @@ namespace omath::collision
best = &f;
return best;
}
static void tombstone_visible_faces(std::pmr::vector<Face>& faces, std::pmr::vector<Edge>& boundary,
static void tombstone_visible_faces(std::pmr::vector<Face>& faces, BoundaryMap& boundary,
const VectorType& p)
{
boundary.clear();