From d5a9e8343941cd2f43947b7f4725cce475701081 Mon Sep 17 00:00:00 2001
From: Ross Nordby <norbo@bepuentertainment.com>
Date: Sat, 16 Nov 2024 17:52:00 -0600
Subject: [PATCH] Debug fixes.
---
BepuPhysics/Collidables/ConvexHullHelper.cs | 52 +++++++------
Demos/SpecializedTests/ConvexHullTestDemo.cs | 81 +++++++++-----------
2 files changed, 63 insertions(+), 70 deletions(-)
diff --git a/BepuPhysics/Collidables/ConvexHullHelper.cs b/BepuPhysics/Collidables/ConvexHullHelper.cs
index 12e7f715..4560f188 100644
--- a/BepuPhysics/Collidables/ConvexHullHelper.cs
+++ b/BepuPhysics/Collidables/ConvexHullHelper.cs
@@ -526,8 +526,8 @@ public struct DebugStep
public EdgeEndpoints SourceEdge;
public int[] Raw;
public int[] Reduced;
- public int[] MergedRaw;
- public int[] MergedReduced;
+ public int[] RawOverwrittenByMerge;
+ public int[] ReducedOverwrittenByMerge;
public bool[] AllowVertex;
public Vector3 FaceNormal;
public Vector3 BasisX;
@@ -537,25 +537,22 @@ public struct DebugStep
public int FaceIndex;
public Vector3[] FaceNormals;
- void FillAllowVertex(Buffer<int> allowVertex)
- {
- for (int i = 0; i < allowVertex.Length; ++i)
- {
- AllowVertex[i] = allowVertex[i] != 0;
- }
- }
- internal DebugStep(EdgeEndpoints sourceEdge, QuickList<int> rawVertexIndices, Vector3 faceNormal, Vector3 basisX, Vector3 basisY, QuickList<int> reducedVertexIndices, Buffer<int> allowVertex, QuickList<EarlyFace> faces, int faceIndex)
+
+ internal DebugStep(EdgeEndpoints sourceEdge, QuickList<int> rawVertexIndices, Vector3 faceNormal, Vector3 basisX, Vector3 basisY, QuickList<int> reducedVertexIndices, int faceIndex)
{
SourceEdge = sourceEdge;
FaceNormal = faceNormal;
BasisX = basisX;
BasisY = basisY;
- ((Span<int>)rawVertexIndices).ToArray();
- ((Span<int>)reducedVertexIndices).ToArray();
- MergedRaw = null;
- MergedReduced = null;
- AllowVertex = new bool[allowVertex.Length];
- FillAllowVertex(allowVertex);
+ Raw = ((Span<int>)rawVertexIndices).ToArray();
+ Reduced = ((Span<int>)reducedVertexIndices).ToArray();
+ RawOverwrittenByMerge = null;
+ ReducedOverwrittenByMerge = null;
+ FaceIndex = faceIndex;
+ }
+
+ internal DebugStep FillHistory(Buffer<int> allowVertex, QuickList<EarlyFace> faces)
+ {
FaceStarts = new List<int>(faces.Count);
FaceIndices = new List<int>();
FaceNormals = new Vector3[faces.Count];
@@ -567,14 +564,20 @@ internal DebugStep(EdgeEndpoints sourceEdge, QuickList<int> rawVertexIndices, Ve
FaceIndices.Add(face.VertexIndices[j]);
FaceNormals[i] = face.Normal;
}
- FaceIndex = faceIndex;
+ AllowVertex = new bool[allowVertex.Length];
+ for (int i = 0; i < allowVertex.Length; ++i)
+ {
+ AllowVertex[i] = allowVertex[i] != 0;
+ }
+ return this;
}
internal void UpdateForFaceMerge(QuickList<int> rawFaceVertexIndices, QuickList<int> reducedVertexIndices, Buffer<int> allowVertex, int mergedFaceIndex)
{
- MergedRaw = ((Span<int>)rawFaceVertexIndices).ToArray();
- MergedReduced = ((Span<int>)reducedVertexIndices).ToArray();
- FillAllowVertex(allowVertex);
+ RawOverwrittenByMerge = Raw;
+ ReducedOverwrittenByMerge = Reduced;
+ Raw = ((Span<int>)rawFaceVertexIndices).ToArray();
+ Reduced = ((Span<int>)reducedVertexIndices).ToArray();
FaceIndex = mergedFaceIndex;
}
}
@@ -755,7 +758,7 @@ public static void ComputeHull(Span<Vector3> points, BufferPool pool, out HullDa
}
Vector3Wide.ReadFirst(initialBasisX, out var debugInitialBasisX);
Vector3Wide.ReadFirst(initialBasisY, out var debugInitialBasisY);
- steps.Add(new DebugStep(initialSourceEdge, rawFaceVertexIndices, initialFaceNormal, debugInitialBasisX, debugInitialBasisY, reducedFaceIndices, allowVertices, faces, reducedFaceIndices.Count >= 3 ? 0 : -1));
+ steps.Add(new DebugStep(initialSourceEdge, rawFaceVertexIndices, initialFaceNormal, debugInitialBasisX, debugInitialBasisY, reducedFaceIndices, reducedFaceIndices.Count >= 3 ? 0 : -1).FillHistory(allowVertices, faces));
while (edgesToTest.Count > 0)
{
@@ -782,14 +785,13 @@ public static void ComputeHull(Span<Vector3> points, BufferPool pool, out HullDa
if (reducedFaceIndices.Count < 3)
{
- steps.Add(new DebugStep(edgeToTest.Endpoints, rawFaceVertexIndices, faceNormal, basisX, basisY, reducedFaceIndices, allowVertices, faces, -1));
+ steps.Add(new DebugStep(edgeToTest.Endpoints, rawFaceVertexIndices, faceNormal, basisX, basisY, reducedFaceIndices, -1).FillHistory(allowVertices, faces));
//Degenerate face found; don't bother creating work for it.
continue;
}
// Brute force scan all the faces to see if the new face is coplanar with any of them.
+ var step = new DebugStep(edgeToTest.Endpoints, rawFaceVertexIndices, faceNormal, basisX, basisY, reducedFaceIndices, faces.Count);
Console.WriteLine($"step count: {steps.Count}");
- var step = new DebugStep(edgeToTest.Endpoints, rawFaceVertexIndices, faceNormal, basisX, basisY, reducedFaceIndices, allowVertices, faces, faces.Count);
- steps.Add(step);
bool mergedFace = false;
for (int i = 0; i < faces.Count; ++i)
{
@@ -828,6 +830,8 @@ public static void ComputeHull(Span<Vector3> points, BufferPool pool, out HullDa
AddFace(ref faces, pool, faceNormal, reducedFaceIndices);
AddFaceEdgesToTestList(pool, ref reducedFaceIndices, ref edgesToTest, ref submittedEdgeTests, faceNormal, faceCountPriorToAdd);
}
+ step.FillHistory(allowVertices, faces);
+ steps.Add(step);
if (steps.Count > 500)
break;
diff --git a/Demos/SpecializedTests/ConvexHullTestDemo.cs b/Demos/SpecializedTests/ConvexHullTestDemo.cs
index 3a83ed29..4ce7a485 100644
--- a/Demos/SpecializedTests/ConvexHullTestDemo.cs
+++ b/Demos/SpecializedTests/ConvexHullTestDemo.cs
@@ -736,18 +736,7 @@ void DrawVertexIndex(int i, Vector3 color, Vector2 offset = default)
}
if (showFaceVertexStatuses)
{
- int[] raw, reduced;
- if (step.MergedRaw == null)
- {
- raw = step.Raw;
- reduced = step.Reduced;
- }
- else
- {
- raw = step.MergedRaw;
- reduced = step.MergedReduced;
- }
- for (int i = 0; i < raw.Length; ++i)
+ for (int i = 0; i < step.Raw.Length; ++i)
{
var color = new Vector3(0.3f, 0.3f, 1);
var pose = new RigidPose(renderOffset + points[step.Raw[i]] * scale);
@@ -755,7 +744,7 @@ void DrawVertexIndex(int i, Vector3 color, Vector2 offset = default)
if (showVertexIndices)
DrawVertexIndex(step.Raw[i], color, new Vector2(0, 2));
}
- for (int i = 0; i < reduced.Length; ++i)
+ for (int i = 0; i < step.Reduced.Length; ++i)
{
var color = new Vector3(0, 1, 0);
var pose = new RigidPose(renderOffset + points[step.Reduced[i]] * scale);
@@ -767,49 +756,48 @@ void DrawVertexIndex(int i, Vector3 color, Vector2 offset = default)
{
var pose = new RigidPose(renderOffset);
- for (int i = 0; i < step.FaceStarts.Count; ++i)
+ void DrawFace(DebugStep step, int[] raw, int[] reduced, bool deleted, int i)
{
- if (showDeleted || !step.FaceDeleted[i])
+ var color = deleted ? new Vector3(0.25f, 0.25f, 0.25f) : stepIndex == i ? new Vector3(1, 0, 0.5f) : new Vector3(1, 0, 1);
+ var deletionInducedScale = deleted ? new Vector3(1.1f) : new Vector3(1f);
+
+ var offset = deleted ? step.FaceNormal * 0.25f : new Vector3();
+ if (showWireframe)
{
- var faceStart = step.FaceStarts[i];
- var faceEnd = i + 1 < step.FaceStarts.Count ? step.FaceStarts[i + 1] : step.FaceIndices.Count;
- var count = faceEnd - faceStart;
- var color = step.FaceDeleted[i] ? new Vector3(0.25f, 0.25f, 0.25f) : step.FaceIndex == i ? new Vector3(1, 0, 0.5f) : new Vector3(1, 0, 1);
- var deletionInducedScale = step.FaceDeleted[i] ? new Vector3(1.1f) : new Vector3(1f);
-
- var offset = step.FaceDeleted[i] ? step.FaceNormals[i] * 0.25f : new Vector3();
- if (showWireframe)
+ var previousIndex = reduced.Length - 1;
+ for (int q = 0; q < reduced.Length; ++q)
{
- var previousIndex = faceEnd - 1;
- for (int q = faceStart; q < faceEnd; ++q)
- {
- var a = points[step.FaceIndices[q]] * scale + pose.Position + offset;
- var b = points[step.FaceIndices[previousIndex]] * scale + pose.Position + offset;
- previousIndex = q;
- renderer.Lines.Allocate() = new LineInstance(a, b, color, Vector3.Zero);
- }
+ var a = points[reduced[q]] * scale + pose.Position + offset;
+ var b = points[reduced[previousIndex]] * scale + pose.Position + offset;
+ previousIndex = q;
+ renderer.Lines.Allocate() = new LineInstance(a, b, color, Vector3.Zero);
}
- else
+ }
+ else
+ {
+ for (int k = 2; k < reduced.Length; ++k)
{
- for (int k = faceStart + 2; k < faceEnd; ++k)
+ renderer.Shapes.AddShape(new Triangle
{
- renderer.Shapes.AddShape(new Triangle
- {
- A = points[step.FaceIndices[faceStart]] * scale + offset,
- B = points[step.FaceIndices[k]] * scale + offset,
- C = points[step.FaceIndices[k - 1]] * scale + offset
- }, Simulation.Shapes, pose, color);
- }
+ A = points[reduced[0]] * scale + offset,
+ B = points[reduced[k]] * scale + offset,
+ C = points[reduced[k - 1]] * scale + offset
+ }, Simulation.Shapes, pose, color);
}
}
}
- }
- //Console.WriteLine("Current step edges: ");
- //for (int i = 0; i < step.Reduced.Count; ++i)
- //{
- // Console.WriteLine($" Edge {i}: ({step.Reduced[i]}, {step.Reduced[(i + 1) % step.Reduced.Count]})");
- //}
+ for (int i = 0; i <= stepIndex; ++i)
+ {
+ var localStep = debugSteps[i];
+ DrawFace(localStep, localStep.Raw, localStep.Reduced, false, i);
+ if (localStep.RawOverwrittenByMerge != null)
+ {
+ DrawFace(localStep, localStep.RawOverwrittenByMerge, localStep.ReducedOverwrittenByMerge, true, i);
+ }
+ }
+ }
+ Console.WriteLine($"face count: {step.FaceStarts.Count}");
if (showVertexIndices)
{
@@ -829,6 +817,7 @@ void DrawVertexIndex(int i, Vector3 color, Vector2 offset = default)
renderer.TextBatcher.Write(text.Clear().Append("Show deleted: U ").Append(showDeleted ? "(on)" : "(off)"), new Vector2(32, renderer.Surface.Resolution.Y - 100), 20, new Vector3(1), font);
renderer.TextBatcher.Write(text.Clear().Append("Show vertex indices: Y ").Append(showVertexIndices ? "(on)" : "(off)"), new Vector2(32, renderer.Surface.Resolution.Y - 80), 20, new Vector3(1), font);
renderer.TextBatcher.Write(text.Clear().Append("Show face vertex statuses: H ").Append(showFaceVertexStatuses ? "(on)" : "(off)"), new Vector2(32, renderer.Surface.Resolution.Y - 60), 20, new Vector3(1), font);
+ renderer.TextBatcher.Write(text.Clear().Append("Face count: ").Append(step.FaceStarts.Count), new Vector2(32, renderer.Surface.Resolution.Y - 20), 20, new Vector3(1), font);
base.Render(renderer, camera, input, text, font);