//----------------------------------------------------------------------- bool ConvexBody::operator == ( const ConvexBody& rhs ) const { if ( getPolygonCount() != rhs.getPolygonCount() ) return false; // Compare the polygons. They may not be in correct order. // A correct convex body does not have identical polygons in its body. bool *bChecked = OGRE_ALLOC_T(bool, getPolygonCount(), MEMCATEGORY_SCENE_CONTROL); for ( size_t i=0; i<getPolygonCount(); ++i ) { bChecked[ i ] = false; } for ( size_t i=0; i<getPolygonCount(); ++i ) { bool bFound = false; for ( size_t j=0; j<getPolygonCount(); ++j ) { const Polygon& pA = getPolygon( i ); const Polygon& pB = rhs.getPolygon( j ); if ( pA == pB ) { bFound = true; bChecked[ i ] = true; break; } } if ( bFound == false ) { OGRE_FREE(bChecked, MEMCATEGORY_SCENE_CONTROL); bChecked = 0; return false; } } for ( size_t i=0; i<getPolygonCount(); ++i ) { if ( bChecked[ i ] != true ) { OGRE_FREE(bChecked, MEMCATEGORY_SCENE_CONTROL); bChecked = 0; return false; } } OGRE_FREE(bChecked, MEMCATEGORY_SCENE_CONTROL); bChecked = 0; return true; }
//----------------------------------------------------------------------- void ConvexBody::storeEdgesOfPolygon(size_t poly, Polygon::EdgeMap *edgeMap ) const { OgreAssert(poly <= getPolygonCount(), "Search position out of range" ); OgreAssert( edgeMap != NULL, "TEdgeMap ptr is NULL" ); mPolygons[poly]->storeEdges(edgeMap); }
//----------------------------------------------------------------------- void ConvexBody::deletePolygon(size_t poly) { OgreAssert(poly < getPolygonCount(), "Search position out of range" ); PolygonList::iterator it = mPolygons.begin(); std::advance(it, poly); freePolygon(*it); mPolygons.erase(it); }
//----------------------------------------------------------------------- Polygon::EdgeMap ConvexBody::getSingleEdges() const { Polygon::EdgeMap edgeMap; // put all edges of all polygons into a list every edge has to be // walked in each direction once for ( size_t i = 0; i < getPolygonCount(); ++i ) { const Polygon& p = getPolygon( i ); for ( size_t j = 0; j < p.getVertexCount(); ++j ) { const Vector3& a = p.getVertex( j ); const Vector3& b = p.getVertex( ( j + 1 ) % p.getVertexCount() ); edgeMap.insert( Polygon::Edge( a, b ) ); } } // search corresponding parts Polygon::EdgeMap::iterator it; Polygon::EdgeMap::iterator itStart; Polygon::EdgeMap::const_iterator itEnd; while( !edgeMap.empty() ) { it = edgeMap.begin(); ++it; // start one element after itStart itStart = edgeMap.begin(); // the element to be compared with the others itEnd = edgeMap.end(); // beyond the last element bool bFound = false; for ( ; it != itEnd; ++it ) { if (itStart->first.positionEquals(it->second) && itStart->second.positionEquals(it->first)) { // erase itStart and it edgeMap.erase( it ); edgeMap.erase( itStart ); bFound = true; break; // found } } if ( bFound == false ) { break; // not all edges could be matched // body is not closed } } return edgeMap; }
//----------------------------------------------------------------------- void ConvexBody::insertPolygon(Polygon* pdata, size_t poly ) { OgreAssert(poly <= getPolygonCount(), "Insert position out of range" ); OgreAssert( pdata != NULL, "Polygon is NULL" ); PolygonList::iterator it = mPolygons.begin(); std::advance(it, poly); mPolygons.insert( it, pdata ); }
CoverageMapStorageResult CoverageRegion::checkRegion(OctreeProjectedPolygon* polygon, const BoundingBox& polygonBox, bool storeIt) { CoverageMapStorageResult result = DOESNT_FIT; if (_isRoot || _myBoundingBox.contains(polygonBox)) { result = NOT_STORED; // if we got here, then we DO fit... // only actually check the polygons if this polygon is in the covered bounds for this region if (!_currentCoveredBounds.contains(polygonBox)) { _regionSkips += _polygonCount; } else { // check to make sure this polygon isn't occluded by something at this level for (int i = 0; i < _polygonCount; i++) { OctreeProjectedPolygon* polygonAtThisLevel = _polygons[i]; // Check to make sure that the polygon in question is "behind" the polygon in the list // otherwise, we don't need to test it's occlusion (although, it means we've potentially // added an item previously that may be occluded??? Is that possible? Maybe not, because two // voxels can't have the exact same outline. So one occludes the other, they can't both occlude // each other. _occlusionTests++; if (polygonAtThisLevel->occludes(*polygon)) { // if the polygonAtThisLevel is actually behind the one we're inserting, then we don't // want to report our inserted one as occluded, but we do want to add our inserted one. if (polygonAtThisLevel->getDistance() >= polygon->getDistance()) { _outOfOrderPolygon++; if (storeIt) { if (polygon->getBoundingBox().area() > CoverageMap::MINIMUM_POLYGON_AREA_TO_STORE) { if (getPolygonCount() < MAX_POLYGONS_PER_REGION) { storeInArray(polygon); return STORED; } else { CoverageRegion::_regionFullSkips++; return NOT_STORED; } } else { _tooSmallSkips++; return NOT_STORED; } } else { return NOT_STORED; } } // this polygon is occluded by a closer polygon, so don't store it, and let the caller know return OCCLUDED; } } } } return result; }
//----------------------------------------------------------------------- AxisAlignedBox ConvexBody::getAABB( void ) const { AxisAlignedBox aab; for ( size_t i = 0; i < getPolygonCount(); ++i ) { for ( size_t j = 0; j < getVertexCount( i ); ++j ) { aab.merge( getVertex( i, j ) ); } } return aab; }
//----------------------------------------------------------------------- void ConvexBody::setPolygon(Polygon* pdata, size_t poly) { OgreAssert(poly < getPolygonCount(), "Search position out of range" ); OgreAssert(pdata != NULL, "Polygon is NULL" ); if (pdata != mPolygons[poly]) { // delete old polygon freePolygon(mPolygons[ poly ]); // set new polygon mPolygons[poly] = pdata; } }
//----------------------------------------------------------------------- Polygon* ConvexBody::unlinkPolygon(size_t poly) { OgreAssert( poly >= 0 && poly < getPolygonCount(), "Search position out of range" ); PolygonList::iterator it = mPolygons.begin(); std::advance(it, poly); // safe address Polygon *pRet = *it; // delete entry mPolygons.erase(it); // return polygon pointer return pRet; }
//----------------------------------------------------------------------- bool ConvexBody::operator == ( const ConvexBody& rhs ) const { if ( getPolygonCount() != rhs.getPolygonCount() ) return false; // Compare the polygons. They may not be in correct order. // A correct convex body does not have identical polygons in its body. bool *bChecked = new bool[ getPolygonCount() ]; for ( size_t i=0; i<getPolygonCount(); ++i ) { bChecked[ i ] = false; } for ( size_t i=0; i<getPolygonCount(); ++i ) { bool bFound = false; for ( size_t j=0; j<getPolygonCount(); ++j ) { const Polygon& pA = getPolygon( i ); const Polygon& pB = rhs.getPolygon( j ); if ( pA == pB ) { bFound = true; bChecked[ i ] = true; break; } } if ( bFound == false ) { OGRE_DELETE_ARRAY( bChecked ); return false; } } for ( size_t i=0; i<getPolygonCount(); ++i ) { if ( bChecked[ i ] != true ) { OGRE_DELETE_ARRAY( bChecked ); return false; } } OGRE_DELETE_ARRAY( bChecked ); return true; }
//----------------------------------------------------------------------- void ConvexBody::clip( const Plane& pl, bool keepNegative ) { if ( getPolygonCount() == 0 ) return; // current will be used as the reference body ConvexBody current; current.moveDataFromBody(*this); OgreAssert( this->getPolygonCount() == 0, "Body not empty!" ); OgreAssert( current.getPolygonCount() != 0, "Body empty!" ); // holds all intersection edges for the different polygons Polygon::EdgeMap intersectionEdges; // clip all polygons by the intersection plane // add only valid or intersected polygons to *this for ( size_t iPoly = 0; iPoly < current.getPolygonCount(); ++iPoly ) { // fetch vertex count and ignore polygons with less than three vertices // the polygon is not valid and won't be added const size_t vertexCount = current.getVertexCount( iPoly ); if ( vertexCount < 3 ) continue; // current polygon const Polygon& p = current.getPolygon( iPoly ); // the polygon to assemble Polygon *pNew = allocatePolygon(); // the intersection polygon (indeed it's an edge or it's empty) Polygon *pIntersect = allocatePolygon(); // check if polygons lie inside or outside (or on the plane) // for each vertex check where it is situated in regard to the plane // three possibilities appear: Plane::Side clipSide = keepNegative ? Plane::POSITIVE_SIDE : Plane::NEGATIVE_SIDE; // - side is clipSide: vertex will be clipped // - side is !clipSide: vertex will be untouched // - side is NOSIDE: vertex will be untouched Plane::Side *side = OGRE_ALLOC_T(Plane::Side, vertexCount, MEMCATEGORY_SCENE_CONTROL); for ( size_t iVertex = 0; iVertex < vertexCount; ++iVertex ) { side[ iVertex ] = pl.getSide( p.getVertex( iVertex ) ); } // now we check the side combinations for the current and the next vertex // four different combinations exist: // - both points inside (or on the plane): keep the second (add it to the body) // - both points outside: discard both (don't add them to the body) // - first vertex is inside, second is outside: add the intersection point // - first vertex is outside, second is inside: add the intersection point, then the second for ( size_t iVertex = 0; iVertex < vertexCount; ++iVertex ) { // determine the next vertex size_t iNextVertex = ( iVertex + 1 ) % vertexCount; const Vector3& vCurrent = p.getVertex( iVertex ); const Vector3& vNext = p.getVertex( iNextVertex ); // case 1: both points inside (store next) if ( side[ iVertex ] != clipSide && // NEGATIVE or NONE side[ iNextVertex ] != clipSide ) // NEGATIVE or NONE { // keep the second pNew->insertVertex( vNext ); } // case 3: inside -> outside (store intersection) else if ( side[ iVertex ] != clipSide && side[ iNextVertex ] == clipSide ) { // Do an intersection with the plane. We use a ray with a start point and a direction. // The ray is forced to hit the plane with any option available (eigher current or next // is the starting point) // intersect from the outside vertex towards the inside one Vector3 vDirection = vCurrent - vNext; vDirection.normalise(); Ray ray( vNext, vDirection ); std::pair< bool, Real > intersect = ray.intersects( pl ); // store intersection if ( intersect.first ) { // convert distance to vector Vector3 vIntersect = ray.getPoint( intersect.second ); // store intersection pNew->insertVertex( vIntersect ); pIntersect->insertVertex( vIntersect ); } } // case 4: outside -> inside (store intersection, store next) else if ( side[ iVertex ] == clipSide && side[ iNextVertex ] != clipSide ) { // Do an intersection with the plane. We use a ray with a start point and a direction. // The ray is forced to hit the plane with any option available (eigher current or next // is the starting point) // intersect from the outside vertex towards the inside one Vector3 vDirection = vNext - vCurrent; vDirection.normalise(); Ray ray( vCurrent, vDirection ); std::pair< bool, Real > intersect = ray.intersects( pl ); // store intersection if ( intersect.first ) { // convert distance to vector Vector3 vIntersect = ray.getPoint( intersect.second ); // store intersection pNew->insertVertex( vIntersect ); pIntersect->insertVertex( vIntersect ); } pNew->insertVertex( vNext ); } // else: // case 2: both outside (do nothing) } // insert the polygon only, if at least three vertices are present if ( pNew->getVertexCount() >= 3 ) { // in case there are double vertices, remove them pNew->removeDuplicates(); // in case there are still at least three vertices, insert the polygon if ( pNew->getVertexCount() >= 3 ) { this->insertPolygon( pNew ); } else { // delete pNew because it's empty or invalid freePolygon(pNew); pNew = 0; } } else { // delete pNew because it's empty or invalid freePolygon(pNew); pNew = 0; } // insert intersection polygon only, if there are two vertices present if ( pIntersect->getVertexCount() == 2 ) { intersectionEdges.insert( Polygon::Edge( pIntersect->getVertex( 0 ), pIntersect->getVertex( 1 ) ) ); } // delete intersection polygon // vertices were copied (if there were any) freePolygon(pIntersect); pIntersect = 0; // delete side info OGRE_FREE(side, MEMCATEGORY_SCENE_CONTROL); side = 0; } // if the polygon was partially clipped, close it // at least three edges are needed for a polygon if ( intersectionEdges.size() >= 3 ) { Polygon *pClosing = allocatePolygon(); // Analyze the intersection list and insert the intersection points in ccw order // Each point is twice in the list because of the fact that we have a convex body // with convex polygons. All we have to do is order the edges (an even-odd pair) // in a ccw order. The plane normal shows us the direction. Polygon::EdgeMap::iterator it = intersectionEdges.begin(); // check the cross product of the first two edges Vector3 vFirst = it->first; Vector3 vSecond = it->second; // remove inserted edge intersectionEdges.erase( it ); Vector3 vNext; // find mating edge if (findAndEraseEdgePair(vSecond, intersectionEdges, vNext)) { // detect the orientation // the polygon must have the same normal direction as the plane and then n Vector3 vCross = ( vFirst - vSecond ).crossProduct( vNext - vSecond ); bool frontside = ( pl.normal ).directionEquals( vCross, Degree( 1 ) ); // first inserted vertex Vector3 firstVertex; // currently inserted vertex Vector3 currentVertex; // direction equals -> front side (walk ccw) if ( frontside ) { // start with next as first vertex, then second, then first and continue with first to walk ccw pClosing->insertVertex( vNext ); pClosing->insertVertex( vSecond ); pClosing->insertVertex( vFirst ); firstVertex = vNext; currentVertex = vFirst; #ifdef _DEBUG_INTERSECTION_LIST std::cout << "Plane: n=" << pl.normal << ", d=" << pl.d << std::endl; std::cout << "First inserted vertex: " << *next << std::endl; std::cout << "Second inserted vertex: " << *vSecond << std::endl; std::cout << "Third inserted vertex: " << *vFirst << std::endl; #endif } // direction does not equal -> back side (walk cw) else { // start with first as first vertex, then second, then next and continue with next to walk ccw pClosing->insertVertex( vFirst ); pClosing->insertVertex( vSecond ); pClosing->insertVertex( vNext ); firstVertex = vFirst; currentVertex = vNext; #ifdef _DEBUG_INTERSECTION_LIST std::cout << "Plane: n=" << pl.normal << ", d=" << pl.d << std::endl; std::cout << "First inserted vertex: " << *vFirst << std::endl; std::cout << "Second inserted vertex: " << *vSecond << std::endl; std::cout << "Third inserted vertex: " << *next << std::endl; #endif } // search mating edges that have a point in common // continue this operation as long as edges are present while ( !intersectionEdges.empty() ) { if (findAndEraseEdgePair(currentVertex, intersectionEdges, vNext)) { // insert only if it's not the last (which equals the first) vertex if ( !intersectionEdges.empty() ) { currentVertex = vNext; pClosing->insertVertex( vNext ); } } else { // degenerated... break; } } // while intersectionEdges not empty // insert polygon (may be degenerated!) this->insertPolygon( pClosing ); } // mating intersection edge NOT found! else { freePolygon(pClosing); } } // if intersectionEdges contains more than three elements }
//----------------------------------------------------------------------- void ConvexBody::mergePolygons( void ) { // Merge all polygons that lay in the same plane as one big polygon. // A convex body does not have two separate regions (separated by polygons // with different normals) where the same normal occurs, so we can simply // search all similar normals of a polygon. Two different options are // possible when the normals fit: // - the two polygons are neighbors // - the two polygons aren't neighbors (but a third, fourth,.. polygon lays // in between) // Signals if the body holds polygons which aren't neighbors but have the same // normal. That means another step has to be processed. bool bDirty = false; for ( size_t iPolyA = 0; iPolyA < getPolygonCount(); ++iPolyA ) { // ?? OgreAssert( iPolyA >= 0, "strange..." ); for ( size_t iPolyB = iPolyA+1; iPolyB < getPolygonCount(); ++iPolyB ) { const Vector3& n1 = getNormal( iPolyA ); const Vector3& n2 = getNormal( iPolyB ); // if the normals point into the same direction if ( n1.directionEquals( n2, Radian( Degree( 0.00001 ) ) ) ) { // indicates if a neighbor has been found and joined bool bFound = false; // search the two fitting vertices (if there are any) for the common edge const size_t numVerticesA = getVertexCount( iPolyA ); for ( size_t iVertexA = 0; iVertexA < numVerticesA; ++iVertexA ) { const size_t numVerticesB = getVertexCount( iPolyB ); for ( size_t iVertexB = 0; iVertexB < numVerticesB; ++iVertexB ) { const Vector3& aCurrent = getVertex( iPolyA, iVertexA ); const Vector3& aNext = getVertex( iPolyA, (iVertexA + 1) % getVertexCount( iPolyA ) ); const Vector3& bCurrent = getVertex( iPolyB, iVertexB ); const Vector3& bNext = getVertex( iPolyB, (iVertexB + 1) % getVertexCount( iPolyB ) ); // if the edge is the same the current vertex of A has to be equal to the next of B and the other // way round if ( aCurrent.positionEquals(bNext) && bCurrent.positionEquals(aNext)) { // polygons are neighbors, assemble new one Polygon *pNew = allocatePolygon(); // insert all vertices of A up to the join (including the common vertex, ignoring // whether the first vertex of A may be a shared vertex) for ( size_t i = 0; i <= iVertexA; ++i ) { pNew->insertVertex( getVertex( iPolyA, i%numVerticesA ) ); } // insert all vertices of B _after_ the join to the end for ( size_t i = iVertexB + 2; i < numVerticesB; ++i ) { pNew->insertVertex( getVertex( iPolyB, i ) ); } // insert all vertices of B from the beginning up to the join (including the common vertex // and excluding the first vertex if the first is part of the shared edge) for ( size_t i = 0; i <= iVertexB; ++i ) { pNew->insertVertex( getVertex( iPolyB, i%numVerticesB ) ); } // insert all vertices of A _after_ the join to the end for ( size_t i = iVertexA + 2; i < numVerticesA; ++i ) { pNew->insertVertex( getVertex( iPolyA, i ) ); } // in case there are double vertices (in special cases), remove them for ( size_t i = 0; i < pNew->getVertexCount(); ++i ) { const Vector3& a = pNew->getVertex( i ); const Vector3& b = pNew->getVertex( (i + 1) % pNew->getVertexCount() ); // if the two vertices are the same... if (a.positionEquals(b)) { // remove a pNew->deleteVertex( i ); // decrement counter --i; } } // delete the two old ones OgreAssert( iPolyA != iPolyB, "PolyA and polyB are the same!" ); // polyB is always higher than polyA, so delete polyB first deletePolygon( iPolyB ); deletePolygon( iPolyA ); // continue with next (current is deleted, so don't jump to the next after the next) --iPolyA; --iPolyB; // insert new polygon insertPolygon( pNew ); bFound = true; break; } } if ( bFound ) { break; } } if ( bFound == false ) { // there are two polygons available with the same normal direction, but they // could not be merged into one single because of no shared edge bDirty = true; break; } } } } // recursion to merge the previous non-neighbors if ( bDirty ) { mergePolygons(); } }
//----------------------------------------------------------------------- size_t ConvexBody::getVertexCount( size_t poly ) const { OgreAssert(poly < getPolygonCount(), "Search position out of range" ); return mPolygons[ poly ]->getVertexCount(); }
//----------------------------------------------------------------------- const Vector3& ConvexBody::getVertex(size_t poly, size_t vertex) const { OgreAssert( poly >= 0 && poly < getPolygonCount(), "Search position out of range" ); return mPolygons[poly]->getVertex(vertex); }
//----------------------------------------------------------------------- void ConvexBody::setVertex(size_t poly, const Vector3& vdata, size_t vertex) { OgreAssert(poly < getPolygonCount(), "Search position out of range"); mPolygons[poly]->setVertex(vdata, vertex); }
//----------------------------------------------------------------------- const Vector3& ConvexBody::getNormal( size_t poly ) { OgreAssert( poly >= 0 && poly < getPolygonCount(), "Search position out of range" ); return mPolygons[ poly ]->getNormal(); }
//----------------------------------------------------------------------- const Polygon& ConvexBody::getPolygon(size_t poly) const { OgreAssert(poly < getPolygonCount(), "Search position out of range"); return *mPolygons[poly]; }
//----------------------------------------------------------------------- void ConvexBody::deleteVertex(size_t poly, size_t vertex) { OgreAssert(poly < getPolygonCount(), "Search position out of range" ); mPolygons[poly]->deleteVertex(vertex); }
//----------------------------------------------------------------------- void ConvexBody::extend(const Vector3& pt) { // Erase all polygons facing towards the point. For all edges that // are not removed twice (once in AB and once BA direction) build a // convex polygon (triangle) with the point. Polygon::EdgeMap edgeMap; for ( size_t i = 0; i < getPolygonCount(); ++i ) { const Vector3& normal = getNormal( i ); // direction of the point in regard to the polygon // the polygon is planar so we can take an arbitrary vertex Vector3 ptDir = pt - getVertex( i, 0 ); ptDir.normalise(); // remove polygon if dot product is greater or equals null. if ( normal.dotProduct( ptDir ) >= 0 ) { // store edges (copy them because if the polygon is deleted // its vertices are also deleted) storeEdgesOfPolygon( i, &edgeMap ); // remove polygon deletePolygon( i ); // decrement iterator because of deleted polygon --i; } } // point is already a part of the hull (point lies inside) if ( edgeMap.empty() ) return; // remove the edges that are twice in the list (once from each side: AB,BA) Polygon::EdgeMap::iterator it; // iterate from first to the element before the last one for (Polygon::EdgeMap::iterator itStart = edgeMap.begin(); itStart != edgeMap.end(); ) { // compare with iterator + 1 to end // don't need to skip last entry in itStart since omitted in inner loop it = itStart; ++it; bool erased = false; // iterate from itStart+1 to the element before the last one for ( ; it != edgeMap.end(); ++it ) { if (itStart->first.positionEquals(it->second) && itStart->second.positionEquals(it->first)) { edgeMap.erase(it); // increment itStart before deletion (iterator invalidation) Polygon::EdgeMap::iterator delistart = itStart++; edgeMap.erase(delistart); erased = true; break; // found and erased } } // increment itStart if we didn't do it when erasing if (!erased) ++itStart; } // use the remaining edges to build triangles with the point // the vertices of the edges are in ccw order (edgePtA-edgePtB-point // to form a ccw polygon) while ( !edgeMap.empty() ) { Polygon::EdgeMap::iterator mapIt = edgeMap.begin(); // build polygon it.first, it.second, point Polygon *p = allocatePolygon(); p->insertVertex(mapIt->first); p->insertVertex(mapIt->second); p->insertVertex( pt ); // attach polygon to body insertPolygon( p ); // erase the vertices from the list // pointers are now held by the polygon edgeMap.erase( mapIt ); } }
//----------------------------------------------------------------------- void ConvexBody::insertVertex(size_t poly, const Vector3& vdata) { OgreAssert(poly < getPolygonCount(), "Search position (polygon) out of range" ); mPolygons[poly]->insertVertex(vdata); }