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Merge pull request #108 from orange-cpp/fearure/epa_pmr

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Fearure/epa pmr
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Orange++
2025-12-04 08:41:55 +03:00
committed by GitHub
parent 1aff083ef3 e97d097b2b
commit e97be8c142
2 changed files with 33 additions and 26 deletions
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51
include/omath/collision/epa_algorithm.hpp
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@@ -5,8 +5,11 @@
#include <cmath>
#include <cstdint>
#include <limits>
#include <memory>
#include <queue>
#include <utility>
#include <vector>
#include <memory_resource>
namespace omath::collision
{
@@ -46,17 +49,19 @@ namespace omath::collision
// Precondition: simplex.size()==4 and contains the origin.
[[nodiscard]]
static std::optional<Result> solve(const ColliderType& a, const ColliderType& b,
const Simplex<VectorType>& simplex, 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) ---
std::vector<VectorType> vertexes;
vertexes.reserve(64);
std::pmr::vector<VectorType> vertexes{mem_resource.get()};
vertexes.reserve(simplex.size());
for (std::size_t i = 0; i < simplex.size(); ++i)
vertexes.push_back(simplex[i]);
vertexes.emplace_back(simplex[i]);
// Initial tetra faces (windings corrected in make_face)
std::vector<Face> faces;
faces.reserve(128);
std::pmr::vector<Face> faces{mem_resource.get()};
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));
@@ -83,7 +88,7 @@ namespace omath::collision
const int fidx = heap.top().idx;
const Face f = faces[fidx];
// Get farthest point in face normal direction
// Get the furthest point in face normal direction
const VectorType p = support_point(a, b, f.n);
const float p_dist = f.n.dot(p);
@@ -105,11 +110,11 @@ namespace omath::collision
// Add new vertex
const int new_idx = static_cast<int>(vertexes.size());
vertexes.push_back(p);
vertexes.emplace_back(p);
// Mark faces visible from p and collect their horizon
std::vector<char> to_delete(faces.size(), 0);
std::vector<Edge> boundary;
std::pmr::vector<bool> to_delete(faces.size(), false, mem_resource.get()); // uses single bits
std::pmr::vector<Edge> boundary{mem_resource.get()};
boundary.reserve(faces.size() * 2);
for (int i = 0; i < static_cast<int>(faces.size()); ++i)
@@ -119,7 +124,7 @@ namespace omath::collision
if (visible_from(faces[i], p))
{
const auto& rf = faces[i];
to_delete[i] = 1;
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);
@@ -127,16 +132,16 @@ namespace omath::collision
}
// Remove visible faces
std::vector<Face> new_faces;
std::pmr::vector<Face> new_faces{mem_resource.get()};
new_faces.reserve(faces.size() + boundary.size());
for (int i = 0; i < static_cast<int>(faces.size()); ++i)
if (!to_delete[i])
new_faces.push_back(faces[i]);
new_faces.emplace_back(faces[i]);
faces.swap(new_faces);
// Stitch new faces around the horizon
for (const auto& e : boundary)
faces.push_back(make_face(vertexes, e.a, e.b, new_idx));
faces.emplace_back(make_face(vertexes, e.a, e.b, new_idx));
// Rebuild heap after topology change
heap = rebuild_heap(faces);
@@ -188,7 +193,8 @@ namespace omath::collision
};
struct HeapCmp final
{
bool operator()(const HeapItem& lhs, const HeapItem& rhs) const noexcept
[[nodiscard]]
static bool operator()(const HeapItem& lhs, const HeapItem& rhs) noexcept
{
return lhs.d > rhs.d; // min-heap by distance
}
@@ -196,11 +202,11 @@ namespace omath::collision
using Heap = std::priority_queue<HeapItem, std::vector<HeapItem>, HeapCmp>;
[[nodiscard]]
static Heap rebuild_heap(const std::vector<Face>& faces)
static Heap rebuild_heap(const std::pmr::vector<Face>& faces)
{
Heap h;
for (int i = 0; i < static_cast<int>(faces.size()); ++i)
h.push({faces[i].d, i});
h.emplace(faces[i].d, i);
return h;
}
@@ -208,22 +214,21 @@ namespace omath::collision
static bool visible_from(const Face& f, const VectorType& p)
{
// positive if p is in front of the face
return (f.n.dot(p) - f.d) > 1e-7f;
return f.n.dot(p) - f.d > 1e-7f;
}
static void add_edge_boundary(std::vector<Edge>& boundary, int a, int b)
static void add_edge_boundary(std::pmr::vector<Edge>& boundary, int a, int b)
{
// Keep edges that appear only once; erase if opposite already present
auto itb =
std::find_if(boundary.begin(), boundary.end(), [&](const Edge& e) { return e.a == b && e.b == a; });
auto itb = std::ranges::find_if(boundary, [&](const Edge& e) { return e.a == b && e.b == a; });
if (itb != boundary.end())
boundary.erase(itb); // internal edge cancels out
else
boundary.push_back({a, b}); // horizon edge (directed)
boundary.emplace_back(a, b); // horizon edge (directed)
}
[[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& a1 = vertexes[i1];

8
tests/general/unit_test_epa.cpp
View File

@@ -5,6 +5,7 @@
#include "omath/engines/source_engine/mesh.hpp"
#include "omath/linear_algebra/vector3.hpp"
#include <gtest/gtest.h>
#include <memory_resource>
using Mesh = omath::source_engine::Mesh;
using Collider = omath::source_engine::MeshCollider;
@@ -41,9 +42,10 @@ TEST(UnitTestEpa, TestCollisionTrue)
// EPA
EPA::Params params;
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);
auto epa = EPA::solve(A, B, gjk.simplex, params, pool);
ASSERT_TRUE(epa.has_value()) << "EPA should converge";
// Normal is unit
@@ -112,12 +114,12 @@ TEST(UnitTestEpa, TestCollisionTrue2)
// --- GJK must detect collision and provide simplex ---
auto gjk = GJK::is_collide_with_simplex_info(A, B);
ASSERT_TRUE(gjk.hit) << "GJK should report collision for overlapping cubes";
// --- EPA penetration ---
EPA::Params params;
params.max_iterations = 64;
params.tolerance = 1e-4f;
auto epa = EPA::solve(A, B, gjk.simplex, params);
auto pool = std::make_shared<std::pmr::monotonic_buffer_resource>(1024);
auto epa = EPA::solve(A, B, gjk.simplex, params, pool);
ASSERT_TRUE(epa.has_value()) << "EPA should converge";
// Normal is unit-length