Change mesh for convex hull in testbed application

Author: DanielChappuis

include/reactphysics3d/collision/shapes/ConvexMeshShape.h

@@ -234,7 +234,6 @@ RP3D_FORCE_INLINE Vector3 ConvexMeshShape::getCentroid() const {
     return mConvexMesh->getCentroid() * mScale;
 }
 
-
 // Compute and return the volume of the collision shape
 RP3D_FORCE_INLINE decimal ConvexMeshShape::getVolume() const {
     return mConvexMesh->getVolume();

include/reactphysics3d/utils/quickhull/QHHalfEdgeStructure.h

@@ -99,12 +99,9 @@ class QHHalfEdgeStructure {
             decimal area;             // Area of the face
             Array<uint32> conflictPoints;   // Array with some remaining points visible from this face that need to be processed
 
-            // TODO : DELETE THIS
-            Set<uint32> vertices;
-
             /// Constructor
             Face(MemoryAllocator& allocator)
-                : nextFace(nullptr), previousFace(nullptr), normal(0, 0, 0), area(0), conflictPoints(allocator, 8), vertices(allocator) {
+                : nextFace(nullptr), previousFace(nullptr), normal(0, 0, 0), area(0), conflictPoints(allocator, 8) {
 
             }
 
@@ -120,10 +117,6 @@ class QHHalfEdgeStructure {
                 normal.setToZero();
                 uint32 nbVertices = 0;
 
-                //std::cout << "Recalculate Face" << std::endl;
-                //std::cout << "Previous centroid:" << face->centroid.to_string() << std::endl;
-                //std::cout << "Previous normal:" << face->normal.to_string() << std::endl;
-
                 // For each vertex of the face
                 const QHHalfEdgeStructure::Edge* firstFaceEdge = edge;
                 const QHHalfEdgeStructure::Edge* faceEdge = firstFaceEdge;
@@ -149,9 +142,6 @@ class QHHalfEdgeStructure {
                 assert(normalLength > 0);
                 normal = normal / normalLength;
                 area = normalLength * decimal(0.5);
-
-                //std::cout << "New centroid:" << face->centroid.to_string() << std::endl;
-                //std::cout << "New normal:" << face->normal.to_string() << std::endl;
             }
 
             // Return a string with the vertices of the face
@@ -210,23 +200,14 @@ class QHHalfEdgeStructure {
                isValid &= approxEqual(normal.lengthSquare(), 1.0, 0.01);
                isValid &= edge->face == this;
 
-               // For each edge of the face
-               vertices.clear();
-
                 const QHHalfEdgeStructure::Edge* firstFaceEdge = edge;
                 const QHHalfEdgeStructure::Edge* faceEdge = firstFaceEdge;
                 do {
 
-                   if (vertices.contains(faceEdge->startVertex->externalIndex)) {
-                       return false;
-                   }
-
                    if (faceEdge->face != this) {
                        return false;
                    }
 
-                   vertices.add(faceEdge->startVertex->externalIndex);
-
                    faceEdge = faceEdge->nextFaceEdge;
 
                 } while(faceEdge != firstFaceEdge);

src/collision/ConvexMesh.cpp

@@ -222,10 +222,6 @@ bool ConvexMesh::computeFacesNormals(std::vector<Error>& errors) {
             mFacesNormals.add(computeFaceNormal(f));
             decimal normalLength = mFacesNormals[f].length();
 
-            // TODO : DELETE THIS
-            const decimal abc = mFacesNormals[f].length();
-
-            // TODO : Do not use MACHINE_EPSILON here
             if (normalLength > MACHINE_EPSILON) {
 
                 mFacesNormals[f] /= normalLength;
@@ -272,7 +268,7 @@ decimal ConvexMesh::getVolume() const {
     for (uint32 f=0; f < getNbFaces(); f++) {
 
         const HalfEdgeStructure::Face& face = mHalfEdgeStructure.getFace(f);
-        const decimal faceArea = computeFaceNormal(f).length();
+        const decimal faceArea = computeFaceNormal(f).length() * decimal(0.5);
         const Vector3 faceNormal = mFacesNormals[f];
         const Vector3& faceVertex = getVertex(face.faceVertices[0]);
 

src/utils/quickhull/QuickHull.cpp

@@ -118,8 +118,6 @@ bool QuickHull::computeConvexHull(const VertexArray& vertexArray, PolygonVertexA
         // Add the vertex to the hull
         addVertexToHull(nextVertexIndex, nextFace, points, convexHull, epsilon, allocator);
 
-        //std::cout << " New hull: " << std::endl << convexHull.to_string() << std::endl;
-
         // Get the next vertex candidate
         findNextVertexCandidate(points, nextVertexIndex, convexHull, nextFace, epsilon);
 
@@ -406,10 +404,6 @@ void QuickHull::findHorizon(const Vector3& vertex, QHHalfEdgeStructure::Face* fa
                 }
                 else {    // We have found a face that is not visible from the vertex
 
-                    //std::cout << "Face not visible from candidate vertex has vertices : " << nextFace->verticesString() << std::endl;
-
-                    //std::cout << "New horizon edge: (" << candidateFace.currentEdge->startVertex->externalIndex << ", "  << candidateFace.currentEdge->endVertex->externalIndex << ")" << std::endl;
-
                     // We add the edge between current face and next face to the array of horizon edges
                     outHorizonVertices.add(candidateFace.currentEdge->startVertex);
                     outHorizonVertices.add(candidateFace.currentEdge->endVertex);