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Optimize Convex Collision

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Implements the Gauss Mapping optimization to SAT convex collision test.

* Described [here](https://ubm-twvideo01.s3.amazonaws.com/o1/vault/gdc2013/slides/822403Gregorius_Dirk_TheSeparatingAxisTest.pdf) by Dirk Gregorius.
* Requires adding of face information to edges in MeshData
* Took the chance to convert MeshData to LocalVector for performance.
This commit is contained in:
Juan Linietsky
2022-09-23 12:37:40 +02:00
parent 99bc4905cb
commit 71d2e38cb5
11 changed files with 170 additions and 81 deletions
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12
modules/navigation/navigation_mesh_generator.cpp
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@@ -266,10 +266,10 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans
if (err == OK) {
PackedVector3Array faces;
for (int j = 0; j < md.faces.size(); ++j) {
Geometry3D::MeshData::Face face = md.faces[j];
for (uint32_t j = 0; j < md.faces.size(); ++j) {
const Geometry3D::MeshData::Face &face = md.faces[j];
for (int k = 2; k < face.indices.size(); ++k) {
for (uint32_t k = 2; k < face.indices.size(); ++k) {
faces.push_back(md.vertices[face.indices[0]]);
faces.push_back(md.vertices[face.indices[k - 1]]);
faces.push_back(md.vertices[face.indices[k]]);
@@ -392,10 +392,10 @@ void NavigationMeshGenerator::_parse_geometry(const Transform3D &p_navmesh_trans
if (err == OK) {
PackedVector3Array faces;
for (int j = 0; j < md.faces.size(); ++j) {
Geometry3D::MeshData::Face face = md.faces[j];
for (uint32_t j = 0; j < md.faces.size(); ++j) {
const Geometry3D::MeshData::Face &face = md.faces[j];
for (int k = 2; k < face.indices.size(); ++k) {
for (uint32_t k = 2; k < face.indices.size(); ++k) {
faces.push_back(md.vertices[face.indices[0]]);
faces.push_back(md.vertices[face.indices[k - 1]]);
faces.push_back(md.vertices[face.indices[k]]);