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Remove ObjArray from Dx(Trimesh)Heightfield #106

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May 13, 2023
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Remove ObjArray from Dx(Trimesh)Heightfield #106

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df58cd4
Removed ObjArray
tzaeschke May 13, 2023
b8de4df
Removed ObjArray
tzaeschke May 13, 2023
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4 changes: 4 additions & 0 deletions CHANGELOG.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -22,10 +22,14 @@ DxHeightfield.tempPlaneBuffer should probably just be a simple array. ALso check
DxTrimeshHeightfield.tempHeightBuffer??
DxGimpactData.check().edges

Bug: Dropping first box on Heightfield is wrong.
-> Cylinder is also often iffy, but that is the same in C++ -> e.g. 7. cylinder (java) or 11th (c++)!

Fix ENABLE_CONTACT_SORTING / Issue #22

0.5.0 (unreleased)
=====
- Removed unnecessary ObjArray from heightfield. [#106](https://github.com/tzaeschke/ode4j/pull/106)
- Added linter and fixed some lint. [#105](https://github.com/tzaeschke/ode4j/pull/105)
- Cleaned up Junit 3 style tests. [#104](https://github.com/tzaeschke/ode4j/pull/104)
- Moved tests into core/core-cpp. [#103](https://github.com/tzaeschke/ode4j/pull/103)
Expand Down
65 changes: 30 additions & 35 deletions core/src/main/java/org/ode4j/ode/internal/DxHeightfield.java
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,6 @@
import org.ode4j.ode.DContactGeomBuffer;
import org.ode4j.ode.DGeom;
import org.ode4j.ode.DHeightfieldData;
import org.ode4j.ode.internal.cpp4j.java.ObjArray;
import org.ode4j.ode.internal.trimesh.DxTriMesh;

/**
Expand All @@ -55,16 +54,16 @@ public class DxHeightfield extends DxAbstractHeightfield {
static final int HEIGHTFIELDMAXCONTACTPERCELL = 10;

//#define dMIN(A,B) ((A)>(B) ? (B) : (A))
private static final double dMIN(double A, double B) { return ((A)>(B) ? (B) : (A)); }
private static double dMIN(double A, double B) { return (Math.min((A), (B))); }
//#define dMAX(A,B) ((A)>(B) ? (A) : (B))
private static final double dMAX(double A, double B) { return ((A)>(B) ? (A) : (B)); }
private static double dMAX(double A, double B) { return (Math.max((A), (B))); }
//
//
////Three-way MIN and MAX
//#define dMIN3(A,B,C) ( (A)<(B) ? dMIN((A),(C)) : dMIN((B),(C)) )
private final double dMIN3(double A, double B, double C) { return A<B ? dMIN(A,C) : dMIN(B,C); }
private double dMIN3(double A, double B, double C) { return A<B ? dMIN(A,C) : dMIN(B,C); }
//#define dMAX3(A,B,C) ( (A)>(B) ? dMAX((A),(C)) : dMAX((B),(C)) )
private final double dMAX3(double A, double B, double C) { return A>B ? dMAX(A,C) : dMAX(B,C); }
private double dMAX3(double A, double B, double C) { return A>B ? dMAX(A,C) : dMAX(B,C); }
//
//#define dOPESIGN(a, op1, op2,b) \
//(a)[0] op1 op2 ((b)[0]); \
Expand Down Expand Up @@ -175,15 +174,16 @@ private static int AlignBufferSize(int value, int alignment) {
// size_t tempHeightBufferSizeX;
// size_t tempHeightBufferSizeZ;
//private HeightFieldPlane[] tempPlaneBuffer;
private ObjArray<HeightFieldPlane>[] tempPlaneBuffer;
private HeightFieldPlane[] tempPlaneBuffer;
private HeightFieldPlane[] tempPlaneInstances;
private int tempPlaneBufferSize;

private HeightFieldTriangle[] tempTriangleBuffer;
private int tempTriangleBufferSize;

// TZ: Instead of pointers into tempHeightInstances[], we store indexes in tempHeightInstances[].
//private HeightFieldVertex[] tempHeightBuffer;
private ObjArray<HeightFieldVertex>[] tempHeightBuffer;
private int[] tempHeightBuffer;
private HeightFieldVertex[] tempHeightInstances;
private int tempHeightBufferSizeX;
private int tempHeightBufferSizeZ;
Expand Down Expand Up @@ -389,7 +389,7 @@ private void allocatePlaneBuffer(int numTri)
int alignedNumTri = AlignBufferSize(numTri, TEMP_PLANE_BUFFER_ELEMENT_COUNT_ALIGNMENT);
tempPlaneBufferSize = alignedNumTri;
//tempPlaneBuffer = new HeightFieldPlane [alignedNumTri];
tempPlaneBuffer = new ObjArray[alignedNumTri];
tempPlaneBuffer = new HeightFieldPlane[alignedNumTri];
tempPlaneInstances = new HeightFieldPlane[alignedNumTri];
for (int indexTri = 0; indexTri != alignedNumTri; indexTri++)
tempPlaneInstances[indexTri] = new HeightFieldPlane();
Expand All @@ -399,7 +399,7 @@ private void allocatePlaneBuffer(int numTri)
{
//tempPlaneBuffer[indexTri] = tempPlaneInstances[indexTri];//ptrPlaneMatrix;
//ptrPlaneMatrix += 1;
tempPlaneBuffer[indexTri] = new ObjArray<HeightFieldPlane>(tempPlaneInstances, indexTri);//ptrPlaneMatrix;
tempPlaneBuffer[indexTri] = tempPlaneInstances[indexTri];
}
}

Expand All @@ -419,7 +419,7 @@ private void allocateHeightBuffer(int numX, int numZ)
tempHeightBufferSizeX = alignedNumX;
tempHeightBufferSizeZ = alignedNumZ;
//tempHeightBuffer = new HeightFieldVertex *[alignedNumX];
tempHeightBuffer = new ObjArray[alignedNumX];
tempHeightBuffer = new int[alignedNumX];
int numCells = alignedNumX * alignedNumZ;
tempHeightInstances = new HeightFieldVertex [numCells];
for (int i = 0; i < tempHeightInstances.length; i++) {
Expand All @@ -431,8 +431,7 @@ private void allocateHeightBuffer(int numX, int numZ)
{
// tempHeightBuffer[indexX] = ptrHeightMatrix;
// ptrHeightMatrix += alignedNumZ;
//tempHeightBuffer[indexX] = tempHeightInstances[indexX];
tempHeightBuffer[indexX] = new ObjArray<HeightFieldVertex>(tempHeightInstances, indexX*alignedNumZ);
tempHeightBuffer[indexX] = indexX * alignedNumZ;
}
}

Expand Down Expand Up @@ -623,11 +622,11 @@ void sortPlanes(final int numPlanes)
for (int i = 0; i < numPlanes - 1; i++)
{
//if they are in the wrong order
if (DescendingPlaneSort(tempPlaneBuffer[i].at0(), tempPlaneBuffer[i + 1].at0()))
if (DescendingPlaneSort(tempPlaneBuffer[i], tempPlaneBuffer[i + 1]))
{
//exchange them
//HeightFieldPlane * tempPlane = tempPlaneBuffer[i];
ObjArray<HeightFieldPlane> tempPlane = tempPlaneBuffer[i];
HeightFieldPlane tempPlane = tempPlaneBuffer[i];
tempPlaneBuffer[i] = tempPlaneBuffer[i + 1];
tempPlaneBuffer[i + 1] = tempPlane;

Expand Down Expand Up @@ -720,7 +719,8 @@ int dCollideHeightfieldZone( final int minX, final int maxX, final int minZ, fin
final double c_Xpos = Xpos;
//HeightFieldVertex HeightFieldRow = tempHeightBuffer[x_local];
//ObjArray<HeightFieldVertex> HeightFieldRow = new ObjArray<HeightFieldVertex>(tempHeightBuffer, x_local);
ObjArray<HeightFieldVertex> HeightFieldRow = tempHeightBuffer[x_local];
int posHeightFieldRow = tempHeightBuffer[x_local];
//HeightFieldVertex HeightFieldRow = tempHeightBuffer[x_local];
for ( z = minZ, z_local = 0; z_local < numZ; z++, z_local++)
{
Ypos = z * cfSampleDepth; // Always calculate pos via multiplication to avoid computational error accumulation during multiple additions
Expand All @@ -729,9 +729,10 @@ int dCollideHeightfieldZone( final int minX, final int maxX, final int minZ, fin
// HeightFieldRow.at(z_local).vertex[0] = c_Xpos;
// HeightFieldRow.at(z_local).vertex[1] = h;
// HeightFieldRow.at(z_local).vertex[2] = Ypos;
HeightFieldRow.at(z_local).vertex.set( c_Xpos, h, Ypos);
HeightFieldRow.at(z_local).coords0 = x;
HeightFieldRow.at(z_local).coords1 = z;
HeightFieldVertex HeightFieldRowZ = tempHeightInstances[posHeightFieldRow + z_local];
HeightFieldRowZ.vertex.set( c_Xpos, h, Ypos);
HeightFieldRowZ.coords0 = x;
HeightFieldRowZ.coords1 = z;

maxY = dMAX(maxY, h);
minY = dMIN(minY, h);
Expand Down Expand Up @@ -1033,31 +1034,25 @@ discontinuities at the grid edges (causing small jumps when the contact
{
// HeightFieldVertex HeightFieldRow = tempHeightBuffer[x_local];
// HeightFieldVertex HeightFieldNextRow = tempHeightBuffer[x_local + 1];
// int posHeightFieldRow = x_local;
// int posHeightFieldNextRow = x_local + 1;
ObjArray<HeightFieldVertex> HeightFieldRow = tempHeightBuffer[x_local];
ObjArray<HeightFieldVertex> HeightFieldNextRow = tempHeightBuffer[x_local + 1];
int posHeightFieldRow = tempHeightBuffer[x_local];
int posHeightFieldNextRow = tempHeightBuffer[x_local + 1];

// First A
//C = &HeightFieldRow [0];
//C = tempHeightBuffer[posHeightFieldRow];// [0];
C = HeightFieldRow.at(0);
C = tempHeightInstances[posHeightFieldRow];// [0];
// First B
//D = &HeightFieldNextRow[0];
//D = tempHeightBuffer[posHeightFieldNextRow];//[0];
D = HeightFieldNextRow.at(0);
D = tempHeightInstances[posHeightFieldNextRow];//[0];

for ( z_local = 0; z_local < maxZ_local; z_local++)
{
A = C;
B = D;

// C = &HeightFieldRow [z_local + 1];
// D = &HeightFieldNextRow[z_local + 1];
// C = tempHeightBuffer[posHeightFieldRow + z_local + 1];// [z_local + 1];
// D = tempHeightBuffer[posHeightFieldNextRow + z_local + 1];//[z_local + 1];
C = HeightFieldRow.at(z_local + 1);// [z_local + 1];
D = HeightFieldNextRow.at(z_local + 1);//[z_local + 1];
// C = &HeightFieldRow [z_local + 1];
// D = &HeightFieldNextRow[z_local + 1];
C = tempHeightInstances[posHeightFieldRow + z_local + 1];// [z_local + 1];
D = tempHeightInstances[posHeightFieldNextRow + z_local + 1];//[z_local + 1];

final double AHeight = A.vertex.get1();
final double BHeight = B.vertex.get1();
Expand Down Expand Up @@ -1138,7 +1133,7 @@ discontinuities at the grid edges (causing small jumps when the contact
//compute all triangles normals.
for (int k = 0; k < numTri; k++)
{
HeightFieldTriangle itTriangle = tempTriangleBuffer[k]; // final? TZ
HeightFieldTriangle itTriangle = tempTriangleBuffer[k];

// define 2 edges and a point that will define collision plane
//dVector3Subtract(itTriangle.vertices[2].vertex, itTriangle.vertices[0].vertex, Edge1);
Expand Down Expand Up @@ -1186,7 +1181,7 @@ discontinuities at the grid edges (causing small jumps when the contact
continue;// already tested or added to plane list.

//HeightFieldPlane * const currPlane = tempPlaneBuffer[numPlanes];
HeightFieldPlane currPlane = tempPlaneBuffer[numPlanes].at0();// final ? TZ
HeightFieldPlane currPlane = tempPlaneBuffer[numPlanes];// final ? TZ
currPlane.resetTriangleListSize(numTri - k);
currPlane.addTriangle(tri_base);
// saves normal for collision check (planes, triangles, vertices and edges.)
Expand Down Expand Up @@ -1257,7 +1252,7 @@ additionally repeated after some contacts have been generated (in "if (didCollid
for (int k = 0; k < numPlanes; k++)
{
//HeightFieldPlane * const itPlane = tempPlaneBuffer[k];
HeightFieldPlane itPlane = tempPlaneBuffer[k].at0();//final TZ
HeightFieldPlane itPlane = tempPlaneBuffer[k];

//set Geom
dGeomPlaneSetNoNormalize (sliding_plane, itPlane.planeDefV, itPlane.planeDefD);
Expand Down
54 changes: 31 additions & 23 deletions core/src/main/java/org/ode4j/ode/internal/DxTrimeshHeightfield.java
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,6 @@
import org.ode4j.ode.DGeom;
import org.ode4j.ode.DHeightfieldData;
import org.ode4j.ode.DSpace;
import org.ode4j.ode.internal.cpp4j.java.ObjArray;

/**
*
Expand Down Expand Up @@ -125,7 +124,7 @@ private static int AlignBufferSize(int value, int alignment) {
private int tempTriangleBufferSize;

//private HeightFieldVertex[] tempHeightBuffer;
private ObjArray<HeightFieldVertex>[] tempHeightBuffer;
private int[] tempHeightBuffer;
private HeightFieldVertex[] tempHeightInstances;
private int tempHeightBufferSizeX;
private int tempHeightBufferSizeZ;
Expand Down Expand Up @@ -333,7 +332,7 @@ private void allocateHeightBuffer(int numX, int numZ)
tempHeightBufferSizeX = alignedNumX;
tempHeightBufferSizeZ = alignedNumZ;
//tempHeightBuffer = new HeightFieldVertex *[alignedNumX];
tempHeightBuffer = new ObjArray[alignedNumX];
tempHeightBuffer = new int[alignedNumX];
int numCells = alignedNumX * alignedNumZ;
tempHeightInstances = new HeightFieldVertex [numCells];
for (int i = 0; i < tempHeightInstances.length; i++) {
Expand All @@ -346,7 +345,7 @@ private void allocateHeightBuffer(int numX, int numZ)
// tempHeightBuffer[indexX] = ptrHeightMatrix;
// ptrHeightMatrix += alignedNumZ;
//tempHeightBuffer[indexX] = tempHeightInstances[indexX];
tempHeightBuffer[indexX] = new ObjArray<HeightFieldVertex>(tempHeightInstances, indexX*alignedNumZ);
tempHeightBuffer[indexX] = indexX * alignedNumZ;
}
}

Expand Down Expand Up @@ -414,7 +413,8 @@ class HeightFieldVertex
// HeightFieldEdge(){};
//
// //HeightFieldVertex *vertices[2];
// HeightFieldVertex[] vertices = new HeightFieldVertex[2]; //TODO v1/v1 (TZ)
// HeightFieldVertex[] vertices = new HeightFieldVertex[2];
// HeightFieldVertex[] virtices0, vertices1; // TZ: This is better than an array[2]
// };

private class HeightFieldTriangle
Expand All @@ -423,7 +423,8 @@ private class HeightFieldTriangle
// HeightFieldTriangle(){};

//HeightFieldVertex *vertices[3];
HeightFieldVertex[] vertices = new HeightFieldVertex[3]; //TODO c1, c2, c3 (TZ)
// HeightFieldVertex[] vertices = new HeightFieldVertex[3]; //TODO c1, c2, c3 (TZ)
HeightFieldVertex vertices0, vertices1, vertices2;
//double[] planeDef=new double[4];
}

Expand Down Expand Up @@ -474,7 +475,7 @@ int dCollideHeightfieldZone( final int minX, final int maxX, final int minZ, fin
final double c_Xpos = Xpos;
//HeightFieldVertex HeightFieldRow = tempHeightBuffer[x_local];
//ObjArray<HeightFieldVertex> HeightFieldRow = new ObjArray<HeightFieldVertex>(tempHeightBuffer, x_local);
ObjArray<HeightFieldVertex> HeightFieldRow = tempHeightBuffer[x_local];
int posHeightFieldRow = tempHeightBuffer[x_local];
for ( z = minZ, z_local = 0; z_local < numZ; z++, z_local++)
{
Ypos = z * cfSampleDepth; // Always calculate pos via multiplication to avoid computational error accumulation during multiple additions
Expand All @@ -483,9 +484,10 @@ int dCollideHeightfieldZone( final int minX, final int maxX, final int minZ, fin
// HeightFieldRow.at(z_local).vertex[0] = c_Xpos;
// HeightFieldRow.at(z_local).vertex[1] = h;
// HeightFieldRow.at(z_local).vertex[2] = Ypos;
HeightFieldRow.at(z_local).vertex.set( c_Xpos, h, Ypos);
HeightFieldRow.at(z_local).coords0 = x;
HeightFieldRow.at(z_local).coords1 = z;
HeightFieldVertex HeightFieldRowZ = tempHeightInstances[posHeightFieldRow + z_local];
HeightFieldRowZ.vertex.set( c_Xpos, h, Ypos);
HeightFieldRowZ.coords0 = x;
HeightFieldRowZ.coords1 = z;

maxY = dMAX(maxY, h);
minY = dMIN(minY, h);
Expand Down Expand Up @@ -542,18 +544,22 @@ int dCollideHeightfieldZone( final int minX, final int maxX, final int minZ, fin

for ( x_local = 0; x_local < maxX_local; x_local++)
{
ObjArray<HeightFieldVertex> HeightFieldRow = tempHeightBuffer[x_local];
ObjArray<HeightFieldVertex> HeightFieldNextRow = tempHeightBuffer[x_local + 1];
// ObjArray<HeightFieldVertex> HeightFieldRow = tempHeightBuffer[x_local];
// ObjArray<HeightFieldVertex> HeightFieldNextRow = tempHeightBuffer[x_local + 1];
int posHeightFieldRow = tempHeightBuffer[x_local];
int posHeightFieldNextRow = tempHeightBuffer[x_local + 1];

C = HeightFieldRow.at(0);
D = HeightFieldNextRow.at(0);
C = tempHeightInstances[posHeightFieldRow];//.at(0);
D = tempHeightInstances[posHeightFieldNextRow];//.at(0);

for ( z_local = 0; z_local < maxZ_local; z_local++)
{
A = C;
B = D;
C = HeightFieldRow.at(z_local + 1);// [z_local + 1];
D = HeightFieldNextRow.at(z_local + 1);//[z_local + 1];
// C = HeightFieldRow.at(z_local + 1);// [z_local + 1];
// D = HeightFieldNextRow.at(z_local + 1);//[z_local + 1];
C = tempHeightInstances[posHeightFieldRow + z_local + 1];// [z_local + 1];
D = tempHeightInstances[posHeightFieldNextRow + z_local + 1];//[z_local + 1];

final double AHeight = A.vertex.get1();
final double BHeight = B.vertex.get1();
Expand All @@ -571,16 +577,16 @@ int dCollideHeightfieldZone( final int minX, final int maxX, final int minZ, fin
if (isACollide || isBCollide || isCCollide)
{
HeightFieldTriangle CurrTriUp = tempTriangleBuffer[numTri++];// final ?? TZ
CurrTriUp.vertices[0] = A;
CurrTriUp.vertices[1] = C;
CurrTriUp.vertices[2] = B;
CurrTriUp.vertices0 = A;
CurrTriUp.vertices1 = C;
CurrTriUp.vertices2 = B;
}
if (isBCollide || isCCollide || isDCollide)
{
HeightFieldTriangle CurrTriDown = tempTriangleBuffer[numTri++];//final ?? TZ
CurrTriDown.vertices[0] = D;
CurrTriDown.vertices[1] = B;
CurrTriDown.vertices[2] = C;
CurrTriDown.vertices0 = D;
CurrTriDown.vertices1 = B;
CurrTriDown.vertices2 = C;
}
}
}
Expand All @@ -592,8 +598,10 @@ int dCollideHeightfieldZone( final int minX, final int maxX, final int minZ, fin
for (int k = 0; k < numTri; k++) {
HeightFieldTriangle itTriangle = tempTriangleBuffer[k];
for (int j = 0; j < 3; j ++) {
HeightFieldVertex hFVertex = j == 0 ? itTriangle.vertices0 : j == 1 ? itTriangle.vertices1 : itTriangle.vertices2;
for (int i = 0; i < 3; i ++) {
vertices[k * 9 + j * 3 + i] = (float) itTriangle.vertices[j].vertex.get(i);
// vertices[k * 9 + j * 3 + i] = (float) itTriangle.vertices[j].vertex.get(i);
vertices[k * 9 + j * 3 + i] = (float) hFVertex.vertex.get(i);
}
faces[k * 3 + j] = k * 3 + j;
}
Expand Down