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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 <cmath>
#include <cstdint> #include <cstdint>
#include <limits> #include <limits>
#include <memory>
#include <queue> #include <queue>
#include <utility>
#include <vector> #include <vector>
#include <memory_resource>
namespace omath::collision namespace omath::collision
{ {
@@ -46,17 +49,19 @@ 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, 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) --- // --- Build initial polytope from simplex (4 points) ---
std::vector<VectorType> vertexes; std::pmr::vector<VectorType> vertexes{mem_resource.get()};
vertexes.reserve(64); vertexes.reserve(simplex.size());
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.emplace_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{mem_resource.get()};
faces.reserve(128); faces.reserve(4);
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));
faces.emplace_back(make_face(vertexes, 0, 3, 1)); faces.emplace_back(make_face(vertexes, 0, 3, 1));
@@ -83,7 +88,7 @@ namespace omath::collision
const int fidx = heap.top().idx; const int fidx = heap.top().idx;
const Face f = faces[fidx]; 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 VectorType p = support_point(a, b, f.n);
const float p_dist = f.n.dot(p); const float p_dist = f.n.dot(p);
@@ -105,11 +110,11 @@ namespace omath::collision
// Add new vertex // Add new vertex
const int new_idx = static_cast<int>(vertexes.size()); 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 // Mark faces visible from p and collect their horizon
std::vector<char> to_delete(faces.size(), 0); std::pmr::vector<bool> to_delete(faces.size(), false, mem_resource.get()); // uses single bits
std::vector<Edge> boundary; std::pmr::vector<Edge> boundary{mem_resource.get()};
boundary.reserve(faces.size() * 2); boundary.reserve(faces.size() * 2);
for (int i = 0; i < static_cast<int>(faces.size()); ++i) for (int i = 0; i < static_cast<int>(faces.size()); ++i)
@@ -119,7 +124,7 @@ namespace omath::collision
if (visible_from(faces[i], p)) if (visible_from(faces[i], p))
{ {
const auto& rf = faces[i]; 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.i0, rf.i1);
add_edge_boundary(boundary, rf.i1, rf.i2); add_edge_boundary(boundary, rf.i1, rf.i2);
add_edge_boundary(boundary, rf.i2, rf.i0); add_edge_boundary(boundary, rf.i2, rf.i0);
@@ -127,16 +132,16 @@ namespace omath::collision
} }
// Remove visible faces // Remove visible faces
std::vector<Face> new_faces; std::pmr::vector<Face> new_faces{mem_resource.get()};
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])
new_faces.push_back(faces[i]); new_faces.emplace_back(faces[i]);
faces.swap(new_faces); faces.swap(new_faces);
// Stitch new faces around the horizon // Stitch new faces around the horizon
for (const auto& e : boundary) 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 // Rebuild heap after topology change
heap = rebuild_heap(faces); heap = rebuild_heap(faces);
@@ -188,7 +193,8 @@ namespace omath::collision
}; };
struct HeapCmp final 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 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>; 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)
h.push({faces[i].d, i}); h.emplace(faces[i].d, i);
return h; return h;
} }
@@ -208,22 +214,21 @@ namespace omath::collision
static bool visible_from(const Face& f, const VectorType& p) static bool visible_from(const Face& f, const VectorType& p)
{ {
// positive if p is in front of the face // 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 // Keep edges that appear only once; erase if opposite already present
auto itb = auto itb = std::ranges::find_if(boundary, [&](const Edge& e) { return e.a == b && e.b == a; });
std::find_if(boundary.begin(), boundary.end(), [&](const Edge& e) { return e.a == b && e.b == a; });
if (itb != boundary.end()) if (itb != boundary.end())
boundary.erase(itb); // internal edge cancels out boundary.erase(itb); // internal edge cancels out
else else
boundary.push_back({a, b}); // horizon edge (directed) boundary.emplace_back(a, b); // horizon edge (directed)
} }
[[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];

8
tests/general/unit_test_epa.cpp
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@@ -5,6 +5,7 @@
#include "omath/engines/source_engine/mesh.hpp" #include "omath/engines/source_engine/mesh.hpp"
#include "omath/linear_algebra/vector3.hpp" #include "omath/linear_algebra/vector3.hpp"
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <memory_resource>
using Mesh = omath::source_engine::Mesh; using Mesh = omath::source_engine::Mesh;
using Collider = omath::source_engine::MeshCollider; using Collider = omath::source_engine::MeshCollider;
@@ -41,9 +42,10 @@ TEST(UnitTestEpa, TestCollisionTrue)
// EPA // EPA
EPA::Params params; EPA::Params params;
auto pool = std::make_shared<std::pmr::monotonic_buffer_resource>(1024);
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, pool);
ASSERT_TRUE(epa.has_value()) << "EPA should converge"; ASSERT_TRUE(epa.has_value()) << "EPA should converge";
// Normal is unit // Normal is unit
@@ -112,12 +114,12 @@ TEST(UnitTestEpa, TestCollisionTrue2)
// --- GJK must detect collision and provide simplex --- // --- GJK must detect collision and provide simplex ---
auto gjk = GJK::is_collide_with_simplex_info(A, B); auto gjk = GJK::is_collide_with_simplex_info(A, B);
ASSERT_TRUE(gjk.hit) << "GJK should report collision for overlapping cubes"; ASSERT_TRUE(gjk.hit) << "GJK should report collision for overlapping cubes";
// --- EPA penetration --- // --- EPA penetration ---
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 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"; ASSERT_TRUE(epa.has_value()) << "EPA should converge";
// Normal is unit-length // Normal is unit-length