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Mesh collision improvements #5818

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merged 10 commits into from
Feb 19, 2024
Merged

Mesh collision improvements #5818

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c1b7b01
use indexed array
LeXXik Nov 11, 2023
6f3a1e4
fix memory leak
LeXXik Nov 11, 2023
147fa42
lint
LeXXik Nov 11, 2023
c8ffc8c
Update src/framework/components/collision/system.js
LeXXik Nov 21, 2023
a77c123
revert to original cache
LeXXik Nov 21, 2023
4ef2922
use local vertex cache
LeXXik Jan 28, 2024
8e159ef
lint
LeXXik Jan 28, 2024
eb856bf
copy property on clone
LeXXik Jan 28, 2024
ee2d3c7
Merge branch 'main' into mesh-col-opts
LeXXik Jan 28, 2024
a253681
Merge branch 'main' into mesh-col-opts
mvaligursky Feb 19, 2024
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1 change: 1 addition & 0 deletions src/framework/components/collision/data.js
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ class CollisionComponentData {
this.height = 2;
this.asset = null;
this.renderAsset = null;
this.checkVertexDuplicates = true;

// Non-serialized properties
this.shape = null;
Expand Down
83 changes: 55 additions & 28 deletions src/framework/components/collision/system.js
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,8 @@ const _schema = [
'renderAsset',
'shape',
'model',
'render'
'render',
'checkVertexDuplicates'
];

// Collision system implementations
Expand Down Expand Up @@ -205,7 +206,8 @@ class CollisionSystemImpl {
asset: src.data.asset,
renderAsset: src.data.renderAsset,
model: src.data.model,
render: src.data.render
render: src.data.render,
checkVertexDuplicates: src.data.checkVertexDuplicates
};

return this.system.addComponent(clone, data);
Expand Down Expand Up @@ -330,17 +332,17 @@ class CollisionMeshSystemImpl extends CollisionSystemImpl {
// special handling
beforeInitialize(component, data) {}

createAmmoMesh(mesh, node, shape) {
createAmmoMesh(mesh, node, shape, checkDupes = true) {
const system = this.system;
let triMesh;

if (this.system._triMeshCache[mesh.id]) {
triMesh = this.system._triMeshCache[mesh.id];
if (system._triMeshCache[mesh.id]) {
triMesh = system._triMeshCache[mesh.id];
} else {
const vb = mesh.vertexBuffer;

const format = vb.getFormat();
let stride;
let positions;
let stride, positions;
for (let i = 0; i < format.elements.length; i++) {
const element = format.elements[i];
if (element.name === SEMANTIC_POSITION) {
Expand All @@ -355,37 +357,61 @@ class CollisionMeshSystemImpl extends CollisionSystemImpl {
const numTriangles = mesh.primitive[0].count / 3;

const v1 = new Ammo.btVector3();
const v2 = new Ammo.btVector3();
const v3 = new Ammo.btVector3();
let i1, i2, i3;

const base = mesh.primitive[0].base;
triMesh = new Ammo.btTriangleMesh();
this.system._triMeshCache[mesh.id] = triMesh;

for (let i = 0; i < numTriangles; i++) {
i1 = indices[base + i * 3] * stride;
i2 = indices[base + i * 3 + 1] * stride;
i3 = indices[base + i * 3 + 2] * stride;
v1.setValue(positions[i1], positions[i1 + 1], positions[i1 + 2]);
v2.setValue(positions[i2], positions[i2 + 1], positions[i2 + 2]);
v3.setValue(positions[i3], positions[i3 + 1], positions[i3 + 2]);
triMesh.addTriangle(v1, v2, v3, true);
system._triMeshCache[mesh.id] = triMesh;

const vertexCache = new Map();
const indexedArray = triMesh.getIndexedMeshArray();
indexedArray.at(0).m_numTriangles = numTriangles;

const addVertex = (index) => {
const x = positions[index * stride];
const y = positions[index * stride + 1];
const z = positions[index * stride + 2];

let idx;
if (checkDupes) {
const str = `${x}:${y}:${z}`;

idx = vertexCache.get(str);
if (idx !== undefined) {
return idx;
}

v1.setValue(x, y, z);
idx = triMesh.findOrAddVertex(v1, false);
vertexCache.set(str, idx);
} else {
v1.setValue(x, y, z);
idx = triMesh.findOrAddVertex(v1, false);
}

return idx;
};

for (var i = 0; i < numTriangles; i++) {
i1 = addVertex(indices[base + i * 3]);
i2 = addVertex(indices[base + i * 3 + 1]);
i3 = addVertex(indices[base + i * 3 + 2]);

triMesh.addIndex(i1);
triMesh.addIndex(i2);
triMesh.addIndex(i3);
}

Ammo.destroy(v1);
Ammo.destroy(v2);
Ammo.destroy(v3);
}

const useQuantizedAabbCompression = true;
const triMeshShape = new Ammo.btBvhTriangleMeshShape(triMesh, useQuantizedAabbCompression);
const triMeshShape = new Ammo.btBvhTriangleMeshShape(triMesh, true /* useQuantizedAabbCompression */);

const scaling = this.system._getNodeScaling(node);
const scaling = system._getNodeScaling(node);
triMeshShape.setLocalScaling(scaling);
Ammo.destroy(scaling);

const transform = this.system._getNodeTransform(node);
const transform = system._getNodeTransform(node);
shape.addChildShape(transform, triMeshShape);
Ammo.destroy(transform);
}
Expand All @@ -400,12 +426,12 @@ class CollisionMeshSystemImpl extends CollisionSystemImpl {
if (data.model) {
const meshInstances = data.model.meshInstances;
for (let i = 0; i < meshInstances.length; i++) {
this.createAmmoMesh(meshInstances[i].mesh, meshInstances[i].node, shape);
this.createAmmoMesh(meshInstances[i].mesh, meshInstances[i].node, shape, data.checkVertexDuplicates);
}
} else if (data.render) {
const meshes = data.render.meshes;
for (let i = 0; i < meshes.length; i++) {
this.createAmmoMesh(meshes[i], tempGraphNode, shape);
this.createAmmoMesh(meshes[i], tempGraphNode, shape, data.checkVertexDuplicates);
}
}

Expand Down Expand Up @@ -628,7 +654,8 @@ class CollisionComponentSystem extends ComponentSystem {
'renderAsset',
'enabled',
'linearOffset',
'angularOffset'
'angularOffset',
'checkVertexDuplicates'
];

// duplicate the input data because we are modifying it
Expand Down