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Debug fixes.
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@RossNordby
RossNordby committed Nov 29, 2024
1 parent d6995e6 commit d5f1518
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Showing 2 changed files with 63 additions and 70 deletions.
52 changes: 28 additions & 24 deletions BepuPhysics/Collidables/ConvexHullHelper.cs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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];
Expand All @@ -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;
}
}
Expand Down Expand Up @@ -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)
{
Expand All @@ -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)
{
Expand Down Expand Up @@ -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;
Expand Down
81 changes: 35 additions & 46 deletions Demos/SpecializedTests/ConvexHullTestDemo.cs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -736,26 +736,15 @@ 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);
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 < 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);
Expand All @@ -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)
{
Expand All @@ -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);
Expand Down

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