zig/mach
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

trimesh2d: fix correctness issues, algo correctly implemented

Browse source 
Signed-off-by: Stephen Gutekanst <stephen@hexops.com>
This commit is contained in:
Stephen Gutekanst 2022-09-16 10:17:37 -07:00 • committed by Stephen Gutekanst
parent 6ee405e7c7
commit ae699565bb
2 changed files with 97 additions and 53 deletions
Download patch file Download diff file Expand all files Collapse all files

2
libs/trimesh2d/README.md
View file

@ -41,7 +41,7 @@ pub fn main() {
var polygon = std.ArrayListUnmanaged(f32){}; var polygon = std.ArrayListUnmanaged(f32){};
// append your polygon vertices: // append your polygon vertices:
// try polygon.append(1.0); // try polygon.append(allocator, 1.0);
var out_triangles = std.ArrayListUnmanaged(u32){}; var out_triangles = std.ArrayListUnmanaged(u32){};
var processor = trimesh2d.Processor(f32){}; var processor = trimesh2d.Processor(f32){};

148
libs/trimesh2d/src/main.zig
View file

@ -4,6 +4,8 @@ const std = @import("std");
/// (call reset between process calls.) The type T denotes e.g. f16, f32, or f64 vertices. /// (call reset between process calls.) The type T denotes e.g. f16, f32, or f64 vertices.
pub fn Processor(comptime T: type) type { pub fn Processor(comptime T: type) type {
return struct { return struct {
const Vec2 = @Vector(2, T);
// Doubly linked list for fast polygon inspection // Doubly linked list for fast polygon inspection
prev: std.ArrayListUnmanaged(u32) = .{}, prev: std.ArrayListUnmanaged(u32) = .{},
next: std.ArrayListUnmanaged(u32) = .{}, next: std.ArrayListUnmanaged(u32) = .{},
@ -16,14 +18,14 @@ pub fn Processor(comptime T: type) type {
/// Resets the processor, clearing the internal buffers and preparing it for processing a /// Resets the processor, clearing the internal buffers and preparing it for processing a
/// new polygon. /// new polygon.
pub fn reset(self: *Processor) void { pub fn reset(self: *@This()) void {
self.prev.clearRetainingCapacity(); self.prev.clearRetainingCapacity();
self.next.clearRetainingCapacity(); self.next.clearRetainingCapacity();
self.ears.clearRetainingCapacity(); self.ears.clearRetainingCapacity();
self.is_ear.clearRetainingCapacity(); self.is_ear.clearRetainingCapacity();
} }
pub fn deinit(self: *Processor, allocator: std.mem.Allocator) void { pub fn deinit(self: *@This(), allocator: std.mem.Allocator) void {
self.prev.deinit(allocator); self.prev.deinit(allocator);
self.next.deinit(allocator); self.next.deinit(allocator);
self.ears.deinit(allocator); self.ears.deinit(allocator);
@ -32,96 +34,118 @@ pub fn Processor(comptime T: type) type {
/// Processes a simple polygon (no holes) into triangles in linear time, writing the /// Processes a simple polygon (no holes) into triangles in linear time, writing the
/// triangles to out_triangles (indices into polygon vertices list.) /// triangles to out_triangles (indices into polygon vertices list.)
///
/// The polygons must be sorted in counter-clockwise order.
pub fn process( pub fn process(
self: *Processor, self: *@This(),
allocator: std.mem.Allocator, allocator: std.mem.Allocator,
polygon: std.ArrayListUnmanaged(T), // TODO(trimesh2d): make this a slice?
polygon: std.ArrayListUnmanaged(Vec2),
out_triangles: *std.ArrayListUnmanaged(u32), out_triangles: *std.ArrayListUnmanaged(u32),
) error{OutOfMemory}!void { ) error{OutOfMemory}!void {
if (polygon.len < 3) { if (polygon.items.len < 3) {
return; return;
} }
// Ensure our doubly linked list and ears list are large enough. // Ensure our doubly linked list and ears list are large enough.
const size = polygon.len; const size = polygon.items.len;
try self.prev.ensureTotalCapacity(allocator, size); try self.prev.resize(allocator, size);
try self.next.ensureTotalCapacity(allocator, size); try self.next.resize(allocator, size);
try self.ears.ensureTotalCapacity(allocator, size); try self.ears.ensureTotalCapacity(allocator, size);
try self.is_ear.resize(allocator, size); try self.is_ear.resize(allocator, size);
for (self.is_ear.items) |*v| v.* = false;
// Fill prev list with prior-index values, e.g.: // Fill prev list with prior-index values, e.g.:
// [4, 0, 1, 2, 3] // [4, 0, 1, 2, 3]
for (self.prev.items) |_, i| self.prev.items[i] = if (i == 0) size - 1 else i - 1; for (self.prev.items) |_, i| self.prev.items[i] = @intCast(u32, if (i == 0) size - 1 else i - 1);
// Fill next list with next-index values, e.g.: // Fill next list with next-index values, e.g.:
// [1, 2, 3, 4, 0] // [1, 2, 3, 4, 0]
for (self.prev.items) |_, i| self.prev.items[i] = if (i == self.prev.items.len - 1) size - 1 else i + 1; for (self.next.items) |_, i| self.next.items[i] = @intCast(u32, if (i == size - 1) 0 else i + 1);
// Detect all safe ears in O(n). // Detect all safe ears in O(n).
// This amounts to finding all convex vertices but the endpoints of the constrained edge // This amounts to finding all convex vertices but the endpoints of the constrained edge
var curr: u32 = 1; var curr: u32 = 1;
while (cur < size - 1) : (curr += 1) { while (curr < size - 1) : (curr += 1) {
// NOTE: the polygon may contain dangling edges, so !arrayListElementsEqual(prev, next) // NOTE: the polygon may contain dangling edges
// avoids need to even do the more expensive ear test for them below. if (orient2d(
if (!arrayListElementsEqual(prev, next) and orient2d( polygon.items[self.prev.items[curr]],
// TODO(trimesh2d): all this code would be simpler if we had a poly index helper polygon.items[curr],
// which returned a @Vector2(2, T) polygon.items[self.next.items[curr]],
@Vector(2, T){ poly[self.prev.items[curr]], poly[self.prev.items[curr] + 1] }, ) > 0) {
@Vector(2, T){ poly[curr], poly[curr + 1] }, try self.ears.append(allocator, curr);
@Vector(2, T){ poly[self.next.items[curr]], poly[self.next.items[curr] + 1] },
)) {
try self.ears.append(curr);
self.is_ear.items[curr] = true; self.is_ear.items[curr] = true;
} }
} }
// Progressively delete all ears, updating the data structure // Progressively delete all ears, updating the data structure
const length = size; while (self.ears.items.len > 0) {
while (true) { curr = self.ears.pop();
const curr = self.ears.pop();
// make new tri // make new tri
try out_triangles.append(self.prev.items[curr]); try out_triangles.append(allocator, self.prev.items[curr]);
try out_triangles.append(curr); try out_triangles.append(allocator, curr);
try out_triangles.append(self.next.items[curr]); try out_triangles.append(allocator, self.next.items[curr]);
// exclude curr from the polygon, connecting prev and next // exclude curr from the polygon, connecting prev and next
self.next.items[self.prev.items[curr]] = self.next.items[curr]; self.next.items[self.prev.items[curr]] = self.next.items[curr];
self.prev.items[self.next.items[curr]] = self.prev.items[curr]; self.prev.items[self.next.items[curr]] = self.prev.items[curr];
length -= 1;
if (length < 3) return; // last triangle
// check if prev and next have become new ears // check if prev and next have become new ears
if (!self.is_ear.items[self.prev.items[curr]] and self.prev.items[curr] != 0) { if (!self.is_ear.items[self.prev.items[curr]] and self.prev.items[curr] != 0) {
if (self.prev.items[self.prev.items[curr]] != self.next.items[curr] and orient2d( if (self.prev.items[self.prev.items[curr]] != self.next.items[curr] and orient2d(
@Vector(2, T){ poly[self.prev.items[self.prev.items[curr]]], poly[(self.prev.items[self.prev.items[curr]]) + 1] }, polygon.items[self.prev.items[self.prev.items[curr]]],
@Vector(2, T){ poly[self.prev.items[curr]], poly[self.prev.items[curr] + 1] }, polygon.items[self.prev.items[curr]],
@Vector(2, T){ poly[self.next.items[curr]], poly[self.next.items[curr] + 1] }, polygon.items[self.next.items[curr]],
) > 0) { ) > 0) {
try self.ears.append(self.prev.items[curr]); try self.ears.append(allocator, self.prev.items[curr]);
self.is_ear.items[self.prev.items[curr]] = true; self.is_ear.items[self.prev.items[curr]] = true;
} }
} }
if (!self.is_ear.items[self.next.items[curr]] and self.next.items[curr] < size - 1) { if (!self.is_ear.items[self.next.items[curr]] and self.next.items[curr] < size - 1) {
if (self.next.items[self.next.items[curr]] != self.prev.items[curr] and orient2d( if (self.next.items[self.next.items[curr]] != self.prev.items[curr] and orient2d(
@Vector(2, T){ poly[self.prev.items[curr]], poly[(self.prev.items[curr]) + 1] }, polygon.items[self.prev.items[curr]],
@Vector(2, T){ poly[self.next.items[curr]], poly[self.next.items[curr] + 1] }, polygon.items[self.next.items[curr]],
@Vector(2, T){ poly[self.next.items[self.next.items[curr]]], poly[self.next.items[self.next.items[curr]] + 1] }, polygon.items[self.next.items[self.next.items[curr]]],
) > 0) { ) > 0) {
try self.ears.append(self.next.items[curr]); try self.ears.append(allocator, self.next.items[curr]);
self.is_ear.items[self.next.items[curr]] = true; self.is_ear.items[self.next.items[curr]] = true;
} }
} }
} }
} }
pub fn sort(allocator: std.mem.Allocator, polygon: std.ArrayListUnmanaged(Vec2)) !std.ArrayListUnmanaged(Vec2) {
var max_dist: f32 = 0;
var extrema_start: usize = undefined;
var extrema_end: usize = undefined;
var i: usize = 0;
while (i < polygon.items.len) : (i += 1) {
var next_index = (i + 1) % polygon.items.len;
var p0 = polygon.items[i];
var p1 = polygon.items[next_index];
var dist = std.math.hypot(T, p1[0] - p0[0], p1[1] - p0[1]);
if (dist > max_dist) {
max_dist = dist;
extrema_start = i;
extrema_end = next_index;
}
}
var sorted = std.ArrayListUnmanaged(Vec2){};
i = extrema_end;
while (i < polygon.items.len) : (i += 1) try sorted.append(allocator, polygon.items[i]);
i = 0;
while (i <= extrema_start) : (i += 1) try sorted.append(allocator, polygon.items[i]);
return sorted;
}
/// Inexact geometric predicate. /// Inexact geometric predicate.
/// Basically Shewchuk's orient2dfast() /// Basically Shewchuk's orient2dfast()
fn orient2d( fn orient2d(
pa: @Vector(2, T), pa: Vec2,
pb: @Vector(2, T), pb: Vec2,
pc: @Vector(2, T), pc: Vec2,
) T { ) T {
const acx = pa[0] - pc[0]; const acx = pa[0] - pc[0];
const bcx = pb[0] - pc[0]; const bcx = pb[0] - pc[0];
@ -129,20 +153,40 @@ pub fn Processor(comptime T: type) type {
const bcy = pb[1] - pc[1]; const bcy = pb[1] - pc[1];
return acx * bcy - acy * bcx; return acx * bcy - acy * bcx;
} }
fn arrayListElementsEqual(
a: std.ArrayListUnmanaged(u32),
b: std.ArrayListUnmanaged(u32),
) bool {
if (a.len != b.len) return false;
for (a.items) |aa, i| {
if (b.items[i] != aa) return false;
}
return true;
}
}; };
} }
test "simple" {
const allocator = std.testing.allocator;
const Vec2 = @Vector(2, f32);
var polygon = std.ArrayListUnmanaged(Vec2){};
defer polygon.deinit(allocator);
// CCW
try polygon.append(allocator, Vec2{ 0.0, 0.0 }); // bottom-left
try polygon.append(allocator, Vec2{ 1.0, 0.0 }); // bottom-right
try polygon.append(allocator, Vec2{ 1.0, 1.0 }); // top-right
try polygon.append(allocator, Vec2{ 0.0, 1.0 }); // top-left
var out_triangles = std.ArrayListUnmanaged(u32){};
defer out_triangles.deinit(allocator);
var processor = Processor(f32){};
defer processor.deinit(allocator);
// Process a polygon.
try processor.process(allocator, polygon, &out_triangles);
// out_triangles has indices into polygon.items of our triangle vertices.
// If desired, call .reset() and call .process() again! Internal buffers will be reused.
try std.testing.expectEqual(@as(usize, 6), out_triangles.items.len);
try std.testing.expectEqual(@as(u32, 1), out_triangles.items[0]); // bottom-right
try std.testing.expectEqual(@as(u32, 2), out_triangles.items[1]); // top-right
try std.testing.expectEqual(@as(u32, 3), out_triangles.items[2]); // top-left
try std.testing.expectEqual(@as(u32, 0), out_triangles.items[3]); // bottom-left
try std.testing.expectEqual(@as(u32, 1), out_triangles.items[4]); // bottom-right
try std.testing.expectEqual(@as(u32, 3), out_triangles.items[5]); // top-left
}
test { test {
std.testing.refAllDeclsRecursive(@This()); std.testing.refAllDeclsRecursive(@This());
} }