Merge pull request #93 from notgiven688/dev

src/Jitter2/Collision/NarrowPhase/ConvexPolytope.cs

@@ -89,25 +89,28 @@ public static bool Equals(in Edge a, in Edge b)
 
     private const float NumericEpsilon = 1e-16f;
 
-    private const int MaxVertices = 100;
-    private const int MaxTriangles = 3 * MaxVertices;
+    // (*) Euler-characteristic: V (vertices) - E (edges) + F (faces) = 2
+    // We have triangles T instead of faces: F = T
+    // and every edge shares two triangles -> T = 2*V - 4
+    private const int MaxVertices = 128;
+    private const int MaxTriangles = 2 * MaxVertices;
 
     private Triangle* triangles;
     private Vertex* vertices;
 
-    private short tCount;
+    private short tPointer;
     private short vPointer;
 
     private bool originEnclosed;
 
     private JVector center;
 
-    public Span<Triangle> HullTriangles => new Span<Triangle>(triangles, tCount);
+    public Span<Triangle> HullTriangles => new Span<Triangle>(triangles, tPointer);
 
     [MethodImpl(MethodImplOptions.AggressiveInlining)]
     public ref ConvexPolytope.Vertex GetVertex(int index)
     {
-        System.Diagnostics.Debug.Assert(index < MaxTriangles, "Out of bounds.");
+        System.Diagnostics.Debug.Assert(index < MaxVertices, "Out of bounds.");
         return ref vertices[index];
     }
 
@@ -237,7 +240,7 @@ private readonly bool IsLit(int candidate, int w)
 
     private bool CreateTriangle(short a, short b, short c)
     {
-        ref Triangle triangle = ref triangles[tCount];
+        ref Triangle triangle = ref triangles[tPointer];
         triangle.A = a;
         triangle.B = b;
         triangle.C = c;
@@ -277,7 +280,7 @@ private bool CreateTriangle(short a, short b, short c)
             triangle.ClosestToOriginSq = triangle.ClosestToOrigin.LengthSquared();
         }
 
-        tCount++;
+        tPointer++;
         return true;
     }
 
@@ -292,7 +295,7 @@ public ref Triangle GetClosestTriangle()
 
         originEnclosed = true;
 
-        for (int i = 0; i < tCount; i++)
+        for (int i = 0; i < tPointer; i++)
         {
             if (triangles[i].ClosestToOriginSq < currentMin)
             {
@@ -313,7 +316,7 @@ public void InitTetrahedron()
     {
         originEnclosed = false;
         vPointer = 4;
-        tCount = 0;
+        tPointer = 0;
 
         center = 0.25f * (vertices[0].V + vertices[1].V + vertices[2].V + vertices[3].V);
 
@@ -330,7 +333,7 @@ public void InitTetrahedron(in JVector point)
     {
         originEnclosed = false;
         vPointer = 4;
-        tCount = 0;
+        tPointer = 0;
         center = point;
 
         const float scale = 1e-2f; // minkowski sums not allowed to be thinner
@@ -379,21 +382,22 @@ public bool AddPoint(in JVector point)
     /// <returns>Indicates whether the polyhedron successfully incorporated the new vertex.</returns>
     public bool AddVertex(in Vertex vertex)
     {
-        Edge* edges = stackalloc Edge[256];
+        System.Diagnostics.Debug.Assert(vPointer < MaxVertices, "Maximum number of vertices exceeded.");
+
+        // see (*) above
+        Edge* edges = stackalloc Edge[MaxVertices * 3 / 2];
 
         vertices[vPointer] = vertex;
 
         int ePointer = 0;
-        for (int index = tCount; index-- > 0;)
+        for (int index = tPointer; index-- > 0;)
         {
             if (!IsLit(index, vPointer)) continue;
-            Edge edge;
-            bool added;
 
             for (int k = 0; k < 3; k++)
             {
-                edge = new Edge(triangles[index][(k + 0) % 3], triangles[index][(k + 1) % 3]);
-                added = true;
+                Edge edge = new Edge(triangles[index][(k + 0) % 3], triangles[index][(k + 1) % 3]);
+                bool added = true;
                 for (int e = ePointer; e-- > 0;)
                 {
                     if (Edge.Equals(edges[e], edge))
@@ -406,7 +410,7 @@ public bool AddVertex(in Vertex vertex)
                 if (added) edges[ePointer++] = edge;
             }
 
-            triangles[index] = triangles[--tCount];
+            triangles[index] = triangles[--tPointer];
         }
 
         if (ePointer == 0) return false;
@@ -418,7 +422,6 @@ public bool AddVertex(in Vertex vertex)
         }
 
         vPointer++;
-
         return true;
     }
 }

src/JitterDemo/ConvexDecomposition.cs

@@ -48,7 +48,7 @@ public void Load()
         {
             List<JTriangle> hullTriangles = new();
 
-            for (int i = group.FromInclusive; i < group.ToExlusive; i++)
+            for (int i = group.FromInclusive; i < group.ToExclusive; i++)
             {
                 ref TriangleVertexIndex tvi = ref mesh.Indices[i];
 

src/JitterDemo/Demos/Demo06.cs

@@ -79,7 +79,7 @@ public override void LightPass(PhongShader shader)
         shader.MaterialProperties.ColorMixing.Set(0.1f, 0, 1.2f);
         shader.MaterialProperties.Shininess.Set(1000);
         shader.MaterialProperties.Specular.Set(1, 1, 1);
-        GLDevice.DrawElementsInstanced(DrawMode.Triangles, 3 * (mg.ToExlusive - mg.FromInclusive),
+        GLDevice.DrawElementsInstanced(DrawMode.Triangles, 3 * (mg.ToExclusive - mg.FromInclusive),
             IndexType.UnsignedInt, mg.FromInclusive * sof * 3, Count);
 
         // glass
@@ -88,7 +88,7 @@ public override void LightPass(PhongShader shader)
         shader.MaterialProperties.Color.Set(0.6f, 0.6f, 0.6f);
         shader.MaterialProperties.Alpha.Set(0.6f);
         shader.MaterialProperties.Shininess.Set(1000.0f);
-        GLDevice.DrawElementsInstanced(DrawMode.Triangles, 3 * (mg.ToExlusive - mg.FromInclusive),
+        GLDevice.DrawElementsInstanced(DrawMode.Triangles, 3 * (mg.ToExclusive - mg.FromInclusive),
             IndexType.UnsignedInt, mg.FromInclusive * sof * 3, Count);
         shader.MaterialProperties.Alpha.Set(1.0f);
     }

src/JitterDemo/Demos/SoftBody/PressurizedSphere.cs

@@ -28,7 +28,7 @@ public void SupportMap(in JVector direction, out JVector result)
 
     private static IEnumerable<JTriangle> GenSphereTriangles(JVector offset)
     {
-        return ShapeHelper.MakeHull(new UnitSphere())
+        return ShapeHelper.MakeHull(new UnitSphere(), subdivisions: 4)
             .Select(t => new JTriangle(t.V0 + offset, t.V1 + offset, t.V2 + offset));
     }
 
@@ -48,7 +48,7 @@ public SoftBodySphere(World world, JVector offset) : base(world, GenSphereTriang
     {
         foreach (var rb in Vertices)
         {
-            rb.SetMassInertia(JMatrix.Identity * 1000, 0.01f);
+            rb.SetMassInertia(JMatrix.Zero, 100.0f, true);
             rb.Damping = (0.001f, 0);
         }
 

src/JitterDemo/Demos/SoftBody/SoftBodyCloth.cs

@@ -35,8 +35,6 @@ public Edge(ushort u0, ushort u1)
 
     public List<TriangleVertexIndex> Triangles => triangles;
 
-    private List<SpringConstraint> MatchConstraints = new();
-
     public SoftBodyCloth(World world, IEnumerable<JTriangle> triangles) : base(world)
     {
         this.world = world;
@@ -85,7 +83,7 @@ private void Build()
         foreach (var vertex in vertices)
         {
             RigidBody body = world.CreateRigidBody();
-            body.SetMassInertia(JMatrix.Identity * 1000, 0.01f);
+            body.SetMassInertia(JMatrix.Zero, 100.0f, true);
             body.Position = vertex;
             Vertices.Add(body);
         }

src/JitterDemo/Demos/SoftBody/SoftBodyCube.cs

@@ -33,7 +33,7 @@ public SoftBodyCube(World world, JVector offset) : base(world)
         for (int i = 0; i < 8; i++)
         {
             var rb = world.CreateRigidBody();
-            rb.SetMassInertia(JMatrix.Identity * 100000, 0.2f);
+            rb.SetMassInertia(JMatrix.Zero, 5.0f, true);
             rb.Position = vertices[i] + offset;
             Vertices.Add(rb);
         }

src/JitterDemo/Renderer/Assets/Image.cs

@@ -32,20 +32,20 @@ public class Image
 
     private readonly byte[] argbData;
 
-    public Image(byte[] argbData, int width, int height)
+    private Image(byte[] argbData, int width, int height)
     {
         this.argbData = argbData;
         Width = width;
         Height = height;
     }
 
     /// <summary>
-    /// Minimimal  *.tga (Truevision TGA) loader for true color images with runtime
+    /// Minimal  *.tga (Truevision TGA) loader for true color images with runtime
     /// length encoding support.
     /// </summary>
     public static Image LoadImage(string filename)
     {
-        const int DataOffset = 18;
+        const int dataOffset = 18;
 
         var data = File.ReadAllBytes(filename).AsSpan();
 
@@ -56,18 +56,18 @@ public static Image LoadImage(string filename)
         int descriptor = data[17];
 
         // Image type 2 and 10: The image data is a direct representation of the pixel color.
-        // For a Pixel Depth of 15 and 16 bit, each pixel is stored with 5 bits per color. 
+        // For a Pixel Depth of 15 and 16 bit, each pixel is stored with 5 bits per color.
         // If the pixel depth is 16 bits, the topmost bit is reserved for transparency. For
         // a pixel depth of 24 bits, each pixel is stored with 8 bits per color. A 32-bit pixel
         // depth defines an additional 8-bit alpha channel.
         // [https://en.wikipedia.org/wiki/Truevision_TGA]
 
-        if (!((imageType == 2 || imageType == 10) && (bitPerPixel == 24 || bitPerPixel == 32)))
+        if (!(imageType is 2 or 10 && bitPerPixel is 24 or 32))
         {
             throw new Exception("Only 24bit and 32bit encoded *.tga-files supported!");
         }
 
-        var colorData = data[DataOffset..data.Length];
+        var colorData = data[dataOffset..data.Length];
 
         int bytesPerPixel = bitPerPixel / 8;
 

src/JitterDemo/Renderer/Assets/Mesh.cs

@@ -14,7 +14,7 @@ public struct Group
     {
         public string Name;
         public int FromInclusive;
-        public int ToExlusive;
+        public int ToExclusive;
     }
 
     public readonly Vertex[] Vertices;
@@ -55,44 +55,45 @@ public static Mesh LoadMesh(string filename, bool revertWinding = false)
     {
         var format = new NumberFormatInfo { NumberDecimalSeparator = "." };
 
-        float PF(string str)
-        {
-            return float.Parse(str, format);
-        } // Parse float
-
-        int PIm1(string str)
-        {
-            return int.Parse(str) - 1;
-        } // Parse int minus 1
+        float ParseFloat(string str) => float.Parse(str, format);
+        int ParseIndex(string str) => int.Parse(str) - 1;
 
         string[] content = filename.EndsWith(".zip") ? ReadFromZip(filename).ToArray() : File.ReadAllLines(filename);
         var lines = content.Select(s => s.Trim()).Where(s => s != string.Empty);
 
-        List<Vector3> v = new();
-        List<Vector3> vn = new();
-        List<Vector2> vt = new();
+        List<Vector3> v = [], vn = [];
+        List<Vector2> vt = [];
 
         foreach (string line in lines)
         {
             var s = line.Split(' ', StringSplitOptions.TrimEntries | StringSplitOptions.RemoveEmptyEntries);
-            if (s[0] == "v") v.Add(new Vector3(PF(s[1]), PF(s[2]), PF(s[3])));
-            if (s[0] == "vn") vn.Add(new Vector3(PF(s[1]), PF(s[2]), PF(s[3])));
-            if (s[0] == "vt") vt.Add(new Vector2(PF(s[1]), PF(s[2])));
+            switch (s[0])
+            {
+                case "v":
+                    v.Add(new Vector3(ParseFloat(s[1]), ParseFloat(s[2]), ParseFloat(s[3])));
+                    break;
+                case "vn":
+                    vn.Add(new Vector3(ParseFloat(s[1]), ParseFloat(s[2]), ParseFloat(s[3])));
+                    break;
+                case "vt":
+                    vt.Add(new Vector2(ParseFloat(s[1]), ParseFloat(s[2])));
+                    break;
+            }
         }
 
         bool hasTexture = vt.Count > 0;
         bool hasNormals = vn.Count > 0;
 
         Dictionary<string, int> dict = new();
-        List<Vertex> vertices = new();
-        List<TriangleVertexIndex> indices = new();
+        List<Vertex> vertices = [];
+        List<TriangleVertexIndex> indices = [];
 
         int AddVertex(string s)
         {
             var a = s.Split("/");
-            if (hasTexture && hasNormals) vertices.Add(new Vertex(v[PIm1(a[0])], vn[PIm1(a[2])], vt[PIm1(a[1])]));
-            else if (hasNormals) vertices.Add(new Vertex(v[PIm1(a[0])], vn[PIm1(a[2])]));
-            else vertices.Add(new Vertex(v[PIm1(a[0])]));
+            if (hasTexture && hasNormals) vertices.Add(new Vertex(v[ParseIndex(a[0])], vn[ParseIndex(a[2])], vt[ParseIndex(a[1])]));
+            else if (hasNormals) vertices.Add(new Vertex(v[ParseIndex(a[0])], vn[ParseIndex(a[2])]));
+            else vertices.Add(new Vertex(v[ParseIndex(a[0])]));
 
             return vertices.Count - 1;
         }
@@ -112,41 +113,46 @@ int AddVertex(string s)
             }
         }
 
-        List<Group> groups = new();
-        Group glast = new();
-        bool firstg = true;
+        List<Group> groups = [];
+        Group groupLast = new();
+        bool firstGroup = true;
 
         foreach (string line in lines)
         {
-            var s = line.Split(' ', StringSplitOptions.TrimEntries | StringSplitOptions.RemoveEmptyEntries);
+            var s = line.Split(' ', StringSplitOptions.TrimEntries |
+                                    StringSplitOptions.RemoveEmptyEntries);
 
-            if (s[0] == "o")
+            switch (s[0])
             {
-                if (!firstg)
+                case "o":
                 {
-                    glast.ToExlusive = indices.Count;
-                    groups.Add(glast);
+                    if (!firstGroup)
+                    {
+                        groupLast.ToExclusive = indices.Count;
+                        groups.Add(groupLast);
+                    }
+
+                    firstGroup = false;
+                    groupLast.FromInclusive = indices.Count;
+                    groupLast.Name = s.Length > 1 ? s[1] : string.Empty;
+                    break;
                 }
+                case "f":
+                {
+                    int i0 = dict[s[1]];
+                    int i1 = dict[s[2]];
+                    int i2 = dict[s[3]];
 
-                firstg = false;
-                glast.FromInclusive = indices.Count;
-                glast.Name = s.Length > 1 ? s[1] : string.Empty;
-            }
-            else if (s[0] == "f")
-            {
-                int i0 = dict[s[1]];
-                int i1 = dict[s[2]];
-                int i2 = dict[s[3]];
-
-                if (revertWinding) indices.Add(new TriangleVertexIndex(i1, i0, i2));
-                else indices.Add(new TriangleVertexIndex(i0, i1, i2));
+                    indices.Add(revertWinding ? new TriangleVertexIndex(i1, i0, i2) : new TriangleVertexIndex(i0, i1, i2));
+                    break;
+                }
             }
         }
 
-        if (!firstg)
+        if (!firstGroup)
         {
-            glast.ToExlusive = indices.Count;
-            groups.Add(glast);
+            groupLast.ToExclusive = indices.Count;
+            groups.Add(groupLast);
         }
 
         return new Mesh(vertices.ToArray(), indices.ToArray(), groups.ToArray());

src/JitterDemo/Renderer/CSM/Instances/MultiMesh.cs

@@ -31,7 +31,7 @@ public override void LightPass(PhongShader shader)
 
 
             GLDevice.DrawElementsInstanced(DrawMode.Triangles,
-                3 * (mesh.Groups[i].ToExlusive - mesh.Groups[i].FromInclusive), IndexType.UnsignedInt,
+                3 * (mesh.Groups[i].ToExclusive - mesh.Groups[i].FromInclusive), IndexType.UnsignedInt,
                 mesh.Groups[i].FromInclusive * sof * 3, Count);
         }