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Debug poking.
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@RossNordby
RossNordby committed Nov 11, 2024
1 parent f3737d6 commit fb350b2
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Showing 2 changed files with 38 additions and 50 deletions.
73 changes: 25 additions & 48 deletions BepuPhysics/Collidables/ConvexHullHelper.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -475,7 +475,6 @@ public override string ToString()
internal struct EarlyFace
{
public QuickList<int> VertexIndices;
public bool Deleted;
public Vector3 Normal;
}

Expand Down Expand Up @@ -526,52 +525,57 @@ public struct DebugStep
{
public EdgeEndpoints SourceEdge;
public int[] Raw;
public int[] Premerged;
public int[] Reduced;
public int[] MergedRaw;
public int[] MergedReduced;
public bool[] AllowVertex;
public Vector3 FaceNormal;
public Vector3 BasisX;
public Vector3 BasisY;
public List<int> FaceStarts;
public List<int> FaceIndices;
public bool[] FaceDeleted;
public int FaceIndex;
public Vector3[] FaceNormals;

internal DebugStep(EdgeEndpoints sourceEdge, ref QuickList<int> raw, Vector3 faceNormal, Vector3 basisX, Vector3 basisY, ref QuickList<int> reduced, ref Buffer<int> allowVertex, ref QuickList<EarlyFace> faces, int faceIndex)
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)
{
SourceEdge = sourceEdge;
FaceNormal = faceNormal;
BasisX = basisX;
BasisY = basisY;
((Span<int>)raw).ToArray();
((Span<int>)reduced).ToArray();
Premerged = null;
((Span<int>)rawVertexIndices).ToArray();
((Span<int>)reducedVertexIndices).ToArray();
MergedRaw = null;
MergedReduced = null;
AllowVertex = new bool[allowVertex.Length];
for (int i = 0; i < allowVertex.Length; ++i)
{
AllowVertex[i] = allowVertex[i] != 0;
}
FillAllowVertex(allowVertex);
FaceStarts = new List<int>(faces.Count);
FaceIndices = new List<int>();
FaceDeleted = new bool[faces.Count];
FaceNormals = new Vector3[faces.Count];
for (int i = 0; i < faces.Count; ++i)
{
ref var face = ref faces[i];
FaceStarts.Add(FaceIndices.Count);
for (int j = 0; j < face.VertexIndices.Count; ++j)
FaceIndices.Add(face.VertexIndices[j]);
FaceDeleted[i] = face.Deleted;
FaceNormals[i] = face.Normal;
}
FaceIndex = faceIndex;
}

internal void UpdateForFaceMerge(Span<int> mergedFaceIndices)
internal void UpdateForFaceMerge(QuickList<int> rawFaceVertexIndices, QuickList<int> reducedVertexIndices, Buffer<int> allowVertex, int mergedFaceIndex)
{
PremergeFaceIndices = this.MergedFaceIndices;
this.MergedFaceIndices = mergedFaceIndices.ToArray();
MergedRaw = ((Span<int>)rawFaceVertexIndices).ToArray();
MergedReduced = ((Span<int>)reducedVertexIndices).ToArray();
FillAllowVertex(allowVertex);
FaceIndex = mergedFaceIndex;
}
}
/// <summary>
Expand Down Expand Up @@ -751,9 +755,7 @@ 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, ref rawFaceVertexIndices, initialFaceNormal, debugInitialBasisX, debugInitialBasisY, ref reducedFaceIndices, ref allowVertices, ref faces, reducedFaceIndices.Count >= 3 ? 0 : -1));

int facesDeletedCount = 0;
steps.Add(new DebugStep(initialSourceEdge, rawFaceVertexIndices, initialFaceNormal, debugInitialBasisX, debugInitialBasisY, reducedFaceIndices, allowVertices, faces, reducedFaceIndices.Count >= 3 ? 0 : -1));

while (edgesToTest.Count > 0)
{
Expand All @@ -780,18 +782,18 @@ public static void ComputeHull(Span<Vector3> points, BufferPool pool, out HullDa

if (reducedFaceIndices.Count < 3)
{
steps.Add(new DebugStep(edgeToTest.Endpoints, ref rawFaceVertexIndices, faceNormal, basisX, basisY, ref reducedFaceIndices, ref allowVertices, ref faces, -1));
steps.Add(new DebugStep(edgeToTest.Endpoints, rawFaceVertexIndices, faceNormal, basisX, basisY, reducedFaceIndices, allowVertices, faces, -1));
//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.
Console.WriteLine($"step count: {steps.Count}");
var step = new DebugStep(edgeToTest.Endpoints, rawFaceVertexIndices, faceNormal, basisX, basisY, reducedFaceIndices, allowVertices, faces, faces.Count);
steps.Add(step);
bool mergedFace = false;
for (int i = 0; i < faces.Count; ++i)
{
ref var face = ref faces[i];
if (face.Deleted)
continue;
if (Vector3.Dot(face.Normal, faceNormal) > normalCoplanarityEpsilon)
{
Console.WriteLine($"Merging face {i} with new face, dot {Vector3.Dot(face.Normal, faceNormal)}:");
Expand All @@ -811,12 +813,11 @@ public static void ComputeHull(Span<Vector3> points, BufferPool pool, out HullDa
}
}
// Rerun reduction for the merged face.
var step = new DebugStep(edgeToTest.Endpoints, ref rawFaceVertexIndices, faceNormal, basisX, basisY, ref reducedFaceIndices, ref allowVertices, ref faces, i);
face.VertexIndices.Count = 0;
facePoints.Count = 0;
face.VertexIndices.EnsureCapacity(rawFaceVertexIndices.Count, pool);
ReduceFace(ref rawFaceVertexIndices, faceNormal, points, planeEpsilonNarrow, ref facePoints, ref allowVertices, ref face.VertexIndices);
steps.Add(step);
step.UpdateForFaceMerge(rawFaceVertexIndices, face.VertexIndices, allowVertices, i);
mergedFace = true;
break;
}
Expand All @@ -826,7 +827,6 @@ public static void ComputeHull(Span<Vector3> points, BufferPool pool, out HullDa
var faceCountPriorToAdd = faces.Count;
AddFace(ref faces, pool, faceNormal, reducedFaceIndices);
AddFaceEdgesToTestList(pool, ref reducedFaceIndices, ref edgesToTest, ref submittedEdgeTests, faceNormal, faceCountPriorToAdd);
steps.Add(new DebugStep(edgeToTest.Endpoints, ref rawFaceVertexIndices, faceNormal, basisX, basisY, ref reducedFaceIndices, ref allowVertices, ref faces, faceCountPriorToAdd));
}

if (steps.Count > 500)
Expand Down Expand Up @@ -855,28 +855,6 @@ public static void ComputeHull(Span<Vector3> points, BufferPool pool, out HullDa
// }
//}

if (facesDeletedCount > 0)
{
//During execution, some faces were found to be coplanar and got merged. To avoid breaking face index references during execution, we left those triangles in place.
//Now, though, we need to get rid of any faces that are marked deleted!
int shift = 0;
for (int i = 0; i < faces.Count; ++i)
{
if (faces[i].Deleted)
{
//Removing the face from the list, so we gotta dispose it now rather than later.
faces[i].VertexIndices.Dispose(pool);
++shift;
}
else if (shift > 0)
{
faces[i - shift] = faces[i];
}
}
Debug.Assert(facesDeletedCount == shift);
faces.Count -= facesDeletedCount;
}

//Create a reduced hull point set from the face vertex references.
int totalIndexCount = 0;
for (int i = 0; i < faces.Count; ++i)
Expand Down Expand Up @@ -921,7 +899,6 @@ public static void ComputeHull(Span<Vector3> points, BufferPool pool, out HullDa
faces[i].VertexIndices.Dispose(pool);
}
faces.Dispose(pool);
facesNeedingMerge.Dispose(pool);
}


Expand Down
15 changes: 13 additions & 2 deletions Demos/SpecializedTests/ConvexHullTestDemo.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -736,15 +736,26 @@ void DrawVertexIndex(int i, Vector3 color, Vector2 offset = default)
}
if (showFaceVertexStatuses)
{
for (int i = 0; i < step.Raw.Count; ++i)
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)
{
var color = new Vector3(0.3f, 0.3f, 1);
var pose = new RigidPose(renderOffset + points[step.Raw[i]] * scale);
renderer.Shapes.AddShape(new Box(0.25f, 0.6f, 0.25f), Simulation.Shapes, pose, color);
if (showVertexIndices)
DrawVertexIndex(step.Raw[i], color, new Vector2(0, 2));
}
for (int i = 0; i < step.Reduced.Count; ++i)
for (int i = 0; i < reduced.Length; ++i)
{
var color = new Vector3(0, 1, 0);
var pose = new RigidPose(renderOffset + points[step.Reduced[i]] * scale);
Expand Down

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