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Extend bindings for OBB and misc fixes. #493

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merged 2 commits into from
Feb 20, 2020
Merged

Extend bindings for OBB and misc fixes. #493

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a4b7b82
OBB fixes and extends. Also added error val to sample navigable point
Skylion007 Feb 13, 2020
23cee7b
Make getRandomNavigablePoint failure value constant.
Skylion007 Feb 19, 2020
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13 changes: 12 additions & 1 deletion habitat_sim/geo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,17 @@
LEFT,
RIGHT,
UP,
compute_gravity_aligned_MOBB,
)

__all__ = ["BBox", "OBB", "UP", "GRAVITY", "FRONT", "BACK", "LEFT", "RIGHT"]
__all__ = [
"BBox",
"OBB",
"UP",
"GRAVITY",
"FRONT",
"BACK",
"LEFT",
"RIGHT",
"compute_gravity_aligned_MOBB",
]
15 changes: 14 additions & 1 deletion src/esp/bindings/geoBindings.cpp
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Expand Up @@ -24,11 +24,24 @@ void initGeoBindings(py::module& m) {

// ==== OBB ====
py::class_<OBB>(m, "OBB")
.def(py::init<box3f&>())
.def("contains", &OBB::contains)
.def("closest_point", &OBB::closestPoint)
.def("distance", &OBB::distance)
.def("to_aabb", &OBB::toAABB)
.def_property_readonly("center", &OBB::center)
.def_property_readonly("sizes", &OBB::sizes)
.def_property_readonly("half_extents", &OBB::halfExtents)
.def_property_readonly(
"rotation", [](const OBB& self) { return self.rotation().coeffs(); });
"rotation", [](const OBB& self) { return self.rotation().coeffs(); })
.def_property_readonly(
"local_to_world",
[](const OBB& self) { return self.localToWorld().matrix(); })
.def_property_readonly("world_to_local", [](const OBB& self) {
return self.worldToLocal().matrix();
});

geo.def("compute_gravity_aligned_MOBB", &geo::computeGravityAlignedMOBB);
}

} // namespace geo
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4 changes: 2 additions & 2 deletions src/esp/geo/OBB.cpp
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Expand Up @@ -107,7 +107,7 @@ OBB computeGravityAlignedMOBB(const vec3f& gravity,
const float dd = d0[0] * d1[1] - d0[1] * d1[0];

const float dx = s1[0] - s0[0];
const float dy = s1[1] - s0[0];
const float dy = s1[1] - s0[1];
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@Skylion007, can you remind me what was the bug here?

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dy was not actually calculating a delta y.

const float t = (dx * d1[1] - dy * d1[0]) / dd;

return s0 + t * d0;
Expand Down Expand Up @@ -240,7 +240,7 @@ OBB computeGravityAlignedMOBB(const vec3f& gravity,
aabb.extend(T_w2b * pt);
}

return OBB{aabb.center(), aabb.sizes(), T_w2b.inverse()};
return OBB{T_w2b.inverse() * aabb.center(), aabb.sizes(), T_w2b.inverse()};
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And here.

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The center was not in world coordinates

}

} // namespace geo
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7 changes: 3 additions & 4 deletions src/esp/geo/geo.cpp
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Expand Up @@ -39,13 +39,12 @@ std::vector<vec2f> convexHull2D(const std::vector<vec2f>& points) {
}

// Build upper hull
for (size_t i = idx.size() - 2, t = k + 1; i >= 0; i--) {
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And here, just to have a history record for all this deep changes.

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Resolves a segfault that occurs on Linux due to undefined behavior of unsigned integer underflows.

for (size_t i = idx.size() - 1, t = k + 1; i > 0; i--) {
while (k >= t && cross(points[hullIdx[k - 2]], points[hullIdx[k - 1]],
points[idx[i]]) <= 0) {
points[idx[i - 1]]) <= 0) {
k--;
}

hullIdx[k++] = idx[i];
hullIdx[k++] = idx[i - 1];
}

hullIdx.resize(k - 1);
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3 changes: 2 additions & 1 deletion src/esp/nav/PathFinder.cpp
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Expand Up @@ -854,7 +854,8 @@ static float frand() {

vec3f PathFinder::Impl::getRandomNavigablePoint() {
dtPolyRef ref;
vec3f pt;
float inf = std::numeric_limits<float>::infinity();
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vec3f pt(inf, inf, inf);
dtStatus status =
navQuery_->findRandomPoint(filter_.get(), frand, &ref, pt.data());
if (!dtStatusSucceed(status)) {
Expand Down