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HPL1: Fixes for Shadowing Warnings in Newton Convex Hull 3D Code

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This also has several formatting fixes for the code to avoid misleading
indentation which gives a confusing sense of scope.
This commit is contained in:
D G Turner 2022-09-12 17:57:03 +01:00 committed by Eugene Sandulenko
parent 6612ec03a7
commit 5d4819583d
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GPG Key ID: 014D387312D34F08
1 changed files with 70 additions and 69 deletions
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139
engines/hpl1/engine/libraries/newton/core/dgConvexHull3d.cpp
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@ -344,14 +344,14 @@ dgInt32 dgConvexHull3d::InitVertexArray(dgHullVertex* const points, const dgFloa
bool validTetrahedrum = false;
dgBigVector e1 (dgFloat64 (0.0f), dgFloat64 (0.0f), dgFloat64 (0.0f), dgFloat64 (0.0f)) ;
for (dgInt32 i = 1; i < normalCount; i ++) {
dgInt32 index = SupportVertex (&tree, points, normalArray[i]);
_ASSERTE (index >= 0);
dgInt32 indexSV = SupportVertex (&tree, points, normalArray[i]);
_ASSERTE (indexSV >= 0);
e1 = points[index] - m_points[0];
e1 = points[indexSV] - m_points[0];
dgFloat64 error2 = e1 % e1;
if (error2 > (dgFloat32 (1.0e-4f) * m_diag * m_diag)) {
m_points[1] = points[index];
points[index].m_index = 1;
m_points[1] = points[indexSV];
points[indexSV].m_index = 1;
validTetrahedrum = true;
break;
}
@ -366,14 +366,14 @@ dgInt32 dgConvexHull3d::InitVertexArray(dgHullVertex* const points, const dgFloa
dgBigVector e2(dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));;
dgBigVector normal (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
for (dgInt32 i = 2; i < normalCount; i ++) {
dgInt32 index = SupportVertex (&tree, points, normalArray[i]);
_ASSERTE (index >= 0);
e2 = points[index] - m_points[0];
dgInt32 indexSV = SupportVertex (&tree, points, normalArray[i]);
_ASSERTE (indexSV >= 0);
e2 = points[indexSV] - m_points[0];
normal = e1 * e2;
dgFloat64 error2 = sqrt (normal % normal);
if (error2 > (dgFloat32 (1.0e-4f) * m_diag * m_diag)) {
m_points[2] = points[index];
points[index].m_index = 1;
m_points[2] = points[indexSV];
points[indexSV].m_index = 1;
validTetrahedrum = true;
break;
}
@ -400,28 +400,28 @@ dgInt32 dgConvexHull3d::InitVertexArray(dgHullVertex* const points, const dgFloa
}
if (!validTetrahedrum) {
dgVector n (normal.Scale(dgFloat64 (-1.0f)));
dgInt32 index = SupportVertex (&tree, points, n);
e3 = points[index] - m_points[0];
dgFloat64 error2 = normal % e3;
if (fabs (error2) > (dgFloat64 (1.0e-6f) * m_diag * m_diag)) {
dgInt32 indexSV = SupportVertex (&tree, points, n);
e3 = points[indexSV] - m_points[0];
dgFloat64 error2n = normal % e3;
if (fabs (error2n) > (dgFloat64 (1.0e-6f) * m_diag * m_diag)) {
// we found a valid tetrahedra, about and start build the hull by adding the rest of the points
m_points[3] = points[index];
points[index].m_index = 1;
m_points[3] = points[indexSV];
points[indexSV].m_index = 1;
validTetrahedrum = true;
}
}
if (!validTetrahedrum) {
for (dgInt32 i = 3; i < normalCount; i ++) {
dgInt32 index = SupportVertex (&tree, points, normalArray[i]);
_ASSERTE (index >= 0);
dgInt32 indexSV = SupportVertex (&tree, points, normalArray[i]);
_ASSERTE (indexSV >= 0);
//make sure the volume of the fist tetrahedral is no negative
e3 = points[index] - m_points[0];
dgFloat64 error2 = normal % e3;
if (fabs (error2) > (dgFloat64 (1.0e-6f) * m_diag * m_diag)) {
e3 = points[indexSV] - m_points[0];
dgFloat64 error2n = normal % e3;
if (fabs (error2n) > (dgFloat64 (1.0e-6f) * m_diag * m_diag)) {
// we found a valid tetrahedra, about and start build the hull by adding the rest of the points
m_points[3] = points[index];
points[index].m_index = 1;
m_points[3] = points[indexSV];
points[indexSV].m_index = 1;
validTetrahedrum = true;
break;
}
@ -749,22 +749,22 @@ void dgConvexHull3d::CalculateConvexHull (dgAABBPointTree3d* vertexTree, dgHullV
while (stackIndex) {
stackIndex --;
dgListNode* const node = stack[stackIndex];
dgConvexHull3DFace* const face = &node->GetInfo();
dgListNode* const stackNode = stack[stackIndex];
dgConvexHull3DFace* const stackFace = &stackNode->GetInfo();
if (!face->m_mark && (face->Evalue(&m_points[0], p) > dgFloat64(0.0f))) {
if (!stackFace->m_mark && (stackFace->Evalue(&m_points[0], p) > dgFloat64(0.0f))) {
#ifdef _DEBUG
for (dgInt32 i = 0; i < deletedCount; i ++) {
_ASSERTE (deleteList[i] != node);
_ASSERTE (deleteList[i] != stackNode);
}
#endif
deleteList[deletedCount] = node;
deleteList[deletedCount] = stackNode;
deletedCount ++;
_ASSERTE (deletedCount < dgInt32 (deleteListPool.GetElementsCount()));
face->m_mark = 1;
stackFace->m_mark = 1;
for (dgInt32 i = 0; i < 3; i ++) {
dgListNode* const twinNode = (dgListNode*)face->m_twin[i];
dgListNode* const twinNode = (dgListNode*)stackFace->m_twin[i];
_ASSERTE (twinNode);
dgConvexHull3DFace* const twinFace = &twinNode->GetInfo();
if (!twinFace->m_mark) {
@ -782,21 +782,21 @@ void dgConvexHull3d::CalculateConvexHull (dgAABBPointTree3d* vertexTree, dgHullV
dgInt32 newCount = 0;
for (dgInt32 i = 0; i < deletedCount; i ++) {
dgListNode* const node = deleteList[i];
dgConvexHull3DFace* const face = &node->GetInfo();
_ASSERTE (face->m_mark == 1);
dgListNode* const deleteNode = deleteList[i];
dgConvexHull3DFace* const deleteFace = &deleteNode->GetInfo();
_ASSERTE (deleteFace->m_mark == 1);
for (dgInt32 j0 = 0; j0 < 3; j0 ++) {
dgListNode* const twinNode = face->m_twin[j0];
dgListNode* const twinNode = deleteFace->m_twin[j0];
dgConvexHull3DFace* const twinFace = &twinNode->GetInfo();
if (!twinFace->m_mark) {
dgInt32 j1 = (j0 == 2) ? 0 : j0 + 1;
dgListNode* const newNode = AddFace (currentIndex, face->m_index[j0], face->m_index[j1]);
dgListNode* const newNode = AddFace (currentIndex, deleteFace->m_index[j0], deleteFace->m_index[j1]);
boundaryFaces.Addtop(newNode);
dgConvexHull3DFace* const newFace = &newNode->GetInfo();
newFace->m_twin[1] = twinNode;
for (dgInt32 k = 0; k < 3; k ++) {
if (twinFace->m_twin[k] == node) {
if (twinFace->m_twin[k] == deleteNode) {
twinFace->m_twin[k] = newNode;
}
}
@ -991,66 +991,67 @@ dgFloat64 dgConvexHull3d::RayCast (const dgBigVector& localP0, const dgBigVector
heap.Push (data, t);
while (heap.GetCount()) {
const dgConvexHullRayCastData& data = heap[0];
dgFloat64 t = heap.Value();
const dgConvexHull3DFace* face = data.m_face;
dgFloat64 normalDistProjection = data.m_normalProjection;
const dgConvexHullRayCastData& heapData = heap[0];
dgFloat64 tc = heap.Value();
const dgConvexHull3DFace* heapFace = heapData.m_face;
dgFloat64 normalDistProjection = heapData.m_normalProjection;
heap.Pop();
bool foundThisBestFace = true;
if (normalDistProjection < dgFloat64 (0.0f)) {
if (t > t0) {
t0 = t;
if (tc > t0) {
t0 = tc;
}
if (t0 > t1) {
#ifdef DG_SANITY_CHECK_RAYCAST
dgFloat64 t2 = RayCastBruteForce(localP0, localP1);
_ASSERTE (fabs (1.2 - t2) < 1.0e-6f);
#endif
return dgFloat64 (1.2f);
}
#ifdef DG_SANITY_CHECK_RAYCAST
dgFloat64 t2 = RayCastBruteForce(localP0, localP1);
_ASSERTE (fabs (1.2 - t2) < 1.0e-6f);
#endif
return dgFloat64 (1.2f);
}
} else {
foundThisBestFace = false;
}
for (dgInt32 i = 0; i < 3; i ++) {
const dgConvexHull3DFace* const face1 = &face->m_twin[i]->GetInfo();
const dgConvexHull3DFace* const face1 = &heapFace->m_twin[i]->GetInfo();
if (face1->m_mark != m_mark) {
face1->m_mark = m_mark;
dgConvexHullRayCastData data;
data.m_face = face1;
dgFloat64 t = FaceRayCast (face1, localP0, dS, data.m_normalProjection);
if (data.m_normalProjection >= dgFloat32 (0.0)) {
t = dgFloat64 (-1.0e30);
} else if (t >= t0) {
dgConvexHullRayCastData newData;
newData.m_face = face1;
dgFloat64 tn = FaceRayCast (face1, localP0, dS, newData.m_normalProjection);
if (newData.m_normalProjection >= dgFloat32 (0.0)) {
tn = dgFloat64 (-1.0e30);
} else if (tn >= t0) {
foundThisBestFace = false;
} else if (fabs (t - t0) < dgFloat64 (1.0e-12f)) {
} else if (fabs (tn - t0) < dgFloat64 (1.0e-12f)) {
// this convex hull have face that at almost parallel, partial hill climbing will not work
return RayCastBruteForce(localP0, localP1);
}
heap.Push (newData, tn);
}
heap.Push (data, t);
}
}
if (foundThisBestFace) {
if ((t0 >= dgFloat64 (0.0f)) && (t0 <= dgFloat64 (1.0f))) {
#ifdef DG_SANITY_CHECK_RAYCAST
dgFloat64 t2 = RayCastBruteForce(localP0, localP1);
_ASSERTE (fabs (t0 - t2) < 1.0e-6f);
#endif
if (firstFaceGuess) {
*firstFaceGuess = face;
}
#ifdef DG_SANITY_CHECK_RAYCAST
dgFloat64 t2 = RayCastBruteForce(localP0, localP1);
_ASSERTE (fabs (t0 - t2) < 1.0e-6f);
#endif
if (firstFaceGuess) {
*firstFaceGuess = heapFace;
}
return t0;
}
break;
}
}
#ifdef DG_SANITY_CHECK_RAYCAST
dgFloat64 t2 = RayCastBruteForce(localP0, localP1);
_ASSERTE (fabs (1.2f - t2) < 1.0e-6f);
#endif
#ifdef DG_SANITY_CHECK_RAYCAST
dgFloat64 t2 = RayCastBruteForce(localP0, localP1);
_ASSERTE (fabs (1.2f - t2) < 1.0e-6f);
#endif
return dgFloat64 (1.2f);
}