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Collection of algebraic methods and data structures for collision detection

License: MIT License

CMake 2.78% C++ 97.13% Shell 0.09%
convex-hull jacobi hyperplane heds linear-algebra quickhull

epona's Introduction

Epona

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epona's People

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epona's Issues

Local build fails on g++ and clang++

I am not sure what's the difference in the setup between my local build and travis pr build

Tested on g++-5, g++-6, g++7, clang++-5.0, clang++-6.0 and got similar errors. Different system headers?

g++ output:

FAILED: /usr/bin/c++  -DEPONA_DEBUG -I../ -I../Epona/include -I../Epona/third_party/glm -Wall -Werror -pedantic -Wall -Werror -pedantic -g -g3 -ggdb3 -O0 -g3 -ggdb3 -O0   -std=gnu++1z -MD -MT Epona/CMakeFiles/EponaMath.dir/sources/Analysis.cpp.o -MF Epona/CMakeFiles/EponaMath.dir/sources/Analysis.cpp.o.d -o Epona/CMakeFiles/EponaMath.dir/sources/Analysis.cpp.o -c ../Epona/sources/Analysis.cpp
In file included from /usr/include/c++/7/cassert:44:0,
                 from ../Epona/third_party/glm/glm/detail/../detail/../detail/../detail/func_exponential.inl:8,
                 from ../Epona/third_party/glm/glm/detail/../detail/../detail/../exponential.hpp:108,
                 from ../Epona/third_party/glm/glm/detail/../detail/../detail/func_geometric.inl:4,
                 from ../Epona/third_party/glm/glm/detail/../detail/../geometric.hpp:116,
                 from ../Epona/third_party/glm/glm/detail/../detail/func_matrix.inl:4,
                 from ../Epona/third_party/glm/glm/detail/../matrix.hpp:164,
                 from ../Epona/third_party/glm/glm/detail/type_mat2x2.inl:4,
                 from ../Epona/third_party/glm/glm/detail/type_mat2x2.hpp:181,
                 from ../Epona/third_party/glm/glm/mat2x2.hpp:8,
                 from ../Epona/third_party/glm/glm/glm.hpp:100,
                 from ../Epona/include/Epona/FloatingPoint.hpp:9,
                 from ../Epona/sources/Analysis.cpp:6:
../Epona/sources/Analysis.cpp: In function ‘glm::vec3 epona::CalculateBarycentricCoordinates(glm::vec3, glm::vec3, glm::vec3, glm::vec3)’:
../Epona/sources/Analysis.cpp:42:13: error: ‘isnan’ was not declared in this scope
     assert(!isnan(coordinates.x) && !isnan(coordinates.y) && !isnan(coordinates.z));
             ^
../Epona/sources/Analysis.cpp:42:13: note: suggested alternatives:
In file included from ../Epona/third_party/glm/glm/detail/_fixes.hpp:4:0,
                 from ../Epona/third_party/glm/glm/glm.hpp:79,
                 from ../Epona/include/Epona/FloatingPoint.hpp:9,
                 from ../Epona/sources/Analysis.cpp:6:
/usr/include/c++/7/cmath:639:5: note:   ‘std::isnan’
     isnan(_Tp __x)
     ^~~~~
In file included from ../Epona/third_party/glm/glm/gtx/../gtx/../gtc/quaternion.hpp:434:0,
                 from ../Epona/third_party/glm/glm/gtx/../gtx/quaternion.hpp:19,
                 from ../Epona/third_party/glm/glm/gtx/norm.hpp:18,
                 from ../Epona/include/Epona/Analysis.hpp:13,
                 from ../Epona/sources/Analysis.cpp:7:
../Epona/third_party/glm/glm/gtx/../gtx/../gtc/quaternion.inl:780:37: note:   ‘glm::isnan’
  GLM_FUNC_QUALIFIER vec<4, bool, Q> isnan(tquat<T, Q> const& q)
                                     ^~~~~
In file included from /usr/include/c++/7/cassert:44:0,
                 from ../Epona/third_party/glm/glm/detail/../detail/../detail/../detail/func_exponential.inl:8,
                 from ../Epona/third_party/glm/glm/detail/../detail/../detail/../exponential.hpp:108,
                 from ../Epona/third_party/glm/glm/detail/../detail/../detail/func_geometric.inl:4,
                 from ../Epona/third_party/glm/glm/detail/../detail/../geometric.hpp:116,
                 from ../Epona/third_party/glm/glm/detail/../detail/func_matrix.inl:4,
                 from ../Epona/third_party/glm/glm/detail/../matrix.hpp:164,
                 from ../Epona/third_party/glm/glm/detail/type_mat2x2.inl:4,
                 from ../Epona/third_party/glm/glm/detail/type_mat2x2.hpp:181,
                 from ../Epona/third_party/glm/glm/mat2x2.hpp:8,
                 from ../Epona/third_party/glm/glm/glm.hpp:100,
                 from ../Epona/include/Epona/FloatingPoint.hpp:9,
                 from ../Epona/sources/Analysis.cpp:6:
../Epona/sources/Analysis.cpp:43:13: error: ‘isinf’ was not declared in this scope
     assert(!isinf(coordinates.x) && !isinf(coordinates.y) && !isinf(coordinates.z));
             ^
../Epona/sources/Analysis.cpp:43:13: note: suggested alternatives:
In file included from ../Epona/third_party/glm/glm/detail/_fixes.hpp:4:0,
                 from ../Epona/third_party/glm/glm/glm.hpp:79,
                 from ../Epona/include/Epona/FloatingPoint.hpp:9,
                 from ../Epona/sources/Analysis.cpp:6:
/usr/include/c++/7/cmath:612:5: note:   ‘std::isinf’
     isinf(_Tp __x)
     ^~~~~
In file included from ../Epona/third_party/glm/glm/gtx/../gtx/../gtc/quaternion.hpp:434:0,
                 from ../Epona/third_party/glm/glm/gtx/../gtx/quaternion.hpp:19,
                 from ../Epona/third_party/glm/glm/gtx/norm.hpp:18,
                 from ../Epona/include/Epona/Analysis.hpp:13,
                 from ../Epona/sources/Analysis.cpp:7:
../Epona/third_party/glm/glm/gtx/../gtx/../gtc/quaternion.inl:788:37: note:   ‘glm::isinf’
  GLM_FUNC_QUALIFIER vec<4, bool, Q> isinf(tquat<T, Q> const& q)

clang output:

FAILED: /usr/bin/clang++-6.0  -DEPONA_DEBUG -I../ -I../Epona/include -I../Epona/third_party/glm -Wno-error=unused-command-line-argument -Wall -Werror -pedantic -Wno-error=unused-command-line-argument -Wall -Werror -pedantic -g -g3 -ggdb3 -O0 -g3 -ggdb3 -O0   -std=gnu++1z -MD -MT Epona/CMakeFiles/EponaMath.dir/sources/Analysis.cpp.o -MF Epona/CMakeFiles/EponaMath.dir/sources/Analysis.cpp.o.d -o Epona/CMakeFiles/EponaMath.dir/sources/Analysis.cpp.o -c ../Epona/sources/Analysis.cpp
../Epona/sources/Analysis.cpp:42:13: error: use of undeclared identifier 'isnan'
    assert(!isnan(coordinates.x) && !isnan(coordinates.y) && !isnan(coordinates.z));
            ^
../Epona/sources/Analysis.cpp:42:38: error: use of undeclared identifier 'isnan'
    assert(!isnan(coordinates.x) && !isnan(coordinates.y) && !isnan(coordinates.z));
                                     ^
../Epona/sources/Analysis.cpp:42:63: error: use of undeclared identifier 'isnan'
    assert(!isnan(coordinates.x) && !isnan(coordinates.y) && !isnan(coordinates.z));
                                                              ^
../Epona/sources/Analysis.cpp:43:13: error: use of undeclared identifier 'isinf'
    assert(!isinf(coordinates.x) && !isinf(coordinates.y) && !isinf(coordinates.z));
            ^
../Epona/sources/Analysis.cpp:43:38: error: use of undeclared identifier 'isinf'
    assert(!isinf(coordinates.x) && !isinf(coordinates.y) && !isinf(coordinates.z));
                                     ^
../Epona/sources/Analysis.cpp:43:63: error: use of undeclared identifier 'isinf'
    assert(!isinf(coordinates.x) && !isinf(coordinates.y) && !isinf(coordinates.z));

Floating point IsEqual returns false positive result

IsEqual does not account for the different signs, so it would return true if you would call it with -1 and +1.

Propose solution:

inline bool IsEqual(double lhs, double rhs)
{
    return glm::abs(lhs - rhs) < g_floatingPointThreshold;
}

Use modern CMake features

Move add_library block to the beginning of the file, unify add_library blocks by using ${PROJECT_NAME}
Add library aliases for configuration-level library checking
Use PUBLIC, INTERFACE and PRIVATE sections of target_ directives to allow CMake inherit options from linked libraries

Overall using modern CMake features reduces amount of boilerplate user code required to use the library and makes it easier to read CMake files when looking for some specific library options.

QuickhullConvexHull returns incorrect faces data

For the given data QuickhullConvexHull returns invalid face data.

std::vector<glm::dvec3> g_vertices = { 
    { 0.00000000000000000, -0.94377566217683917, 0.00000000000000000 },
    { 0.00000000000000000, 0.056224337823160830, 0.00000000000000000 },
    { 1.0000000000000000, -0.94377566217683917, 0.00000000000000000 },
    { 1.0000000000000000, 0.056224337823160830, 0.00000000000000000 },
    { 0.00000000000000000, -0.94377566217683917, 1.0000000000000000 },
    { 0.00000000000000000, 0.056224337823160830, 1.0000000000000000 },
    { 1.0000000000000000, -0.94377566217683917, 1.0000000000000000 },
    { 1.0000000000000000, 0.056224337823160830, 1.0000000000000000 },
    { 0.00000000000000000, -1.9437756621768392, 0.00000000000000000 },
    { 0.00000000000000000, -0.94377566217683917, 0.00000000000000000 },
    { 1.0000000000000000, -1.9437756621768392, 0.00000000000000000 },
    { 1.0000000000000000, -0.94377566217683917, 0.00000000000000000 },
    { 0.00000000000000000, -1.9437756621768392, 1.0000000000000000 },
    { 0.00000000000000000, -0.94377566217683917, 1.0000000000000000 },
    { 1.0000000000000000, -1.9437756621768392, 1.0000000000000000 },
    { 1.0000000000000000, -0.94377566217683917, 1.0000000000000000 },
    { -1.0000000000000000, -0.94377566217683917, 0.00000000000000000 },
    { -1.0000000000000000, 0.056224337823160830, 0.00000000000000000 },
    { 0.00000000000000000, -0.94377566217683917, 0.00000000000000000 },
    { 0.00000000000000000, 0.056224337823160830, 0.00000000000000000 },
    { -1.0000000000000000, -0.94377566217683917, 1.0000000000000000 },
    { -1.0000000000000000, 0.056224337823160830, 1.0000000000000000 },
    { 0.00000000000000000, -0.94377566217683917, 1.0000000000000000 },
    { 0.00000000000000000, 0.056224337823160830, 1.0000000000000000 },
    { -1.0000000000000000, -1.9437756621768392, 0.00000000000000000 },
    { -1.0000000000000000, -0.94377566217683917, 0.00000000000000000 },
    { 0.00000000000000000, -1.9437756621768392, 0.00000000000000000 },
    { 0.00000000000000000, -0.94377566217683917, 0.00000000000000000 },
    { -1.0000000000000000, -1.9437756621768392, 1.0000000000000000 },
    { -1.0000000000000000, -0.94377566217683917, 1.0000000000000000 },
    { 0.00000000000000000, -1.9437756621768392, 1.0000000000000000 },
    { 0.00000000000000000, -0.94377566217683917, 1.0000000000000000 },
    { 0.00000000000000000, -0.94377566217683917, -1.0000000000000000 },
    { 0.00000000000000000, 0.056224337823160830, -1.0000000000000000 },
    { 1.0000000000000000, -0.94377566217683917, -1.0000000000000000 },
    { 1.0000000000000000, 0.056224337823160830, -1.0000000000000000 },
    { 0.00000000000000000, -0.94377566217683917, 0.00000000000000000 },
    { 0.00000000000000000, 0.056224337823160830, 0.00000000000000000 },
    { 1.0000000000000000, -0.94377566217683917, 0.00000000000000000 },
    { 1.0000000000000000, 0.056224337823160830, 0.00000000000000000 },
    { 0.00000000000000000, -1.9437756621768392, -1.0000000000000000 },
    { 0.00000000000000000, -0.94377566217683917, -1.0000000000000000 },
    { 1.0000000000000000, -1.9437756621768392, -1.0000000000000000 },
    { 1.0000000000000000, -0.94377566217683917, -1.0000000000000000 },
    { 0.00000000000000000, -1.9437756621768392, 0.00000000000000000 },
    { 0.00000000000000000, -0.94377566217683917, 0.00000000000000000 },
    { 1.0000000000000000, -1.9437756621768392, 0.00000000000000000 },
    { 1.0000000000000000, -0.94377566217683917, 0.00000000000000000 },
    { -1.0000000000000000, -0.94377566217683917, -1.0000000000000000 },
    { -1.0000000000000000, 0.056224337823160830, -1.0000000000000000 },
    { 0.00000000000000000, -0.94377566217683917, -1.0000000000000000 },
    { 0.00000000000000000, 0.056224337823160830, -1.0000000000000000 },
    { -1.0000000000000000, -0.94377566217683917, 0.00000000000000000 },
    { -1.0000000000000000, 0.056224337823160830, 0.00000000000000000 },
    { 0.00000000000000000, -0.94377566217683917, 0.00000000000000000 },
    { 0.00000000000000000, 0.056224337823160830, 0.00000000000000000 },
    { -1.0000000000000000, -1.9437756621768392, -1.0000000000000000 },
    { -1.0000000000000000, -0.94377566217683917, -1.0000000000000000 },
    { 0.00000000000000000, -1.9437756621768392, -1.0000000000000000 },
    { 0.00000000000000000, -0.94377566217683917, -1.0000000000000000 },
    { -1.0000000000000000, -1.9437756621768392, 0.00000000000000000 },
    { -1.0000000000000000, -0.94377566217683917, 0.00000000000000000 },
    { 0.00000000000000000, -1.9437756621768392, 0.00000000000000000 },
    { 0.00000000000000000, -0.94377566217683917, 0.00000000000000000 } 
};

Crash observed when EPONA_DEBUG is defined

If EPONA_DEBUG is defined but no debug callback was set, application crashes with the following message:

terminate called after throwing an instance of 'std::bad_function_call'
  what():  bad_function_call
Aborted (core dumped)

gdb indicates the problem as follows:

// /usr/include/c++/7/bits/std_function.h

       template<typename _Res, typename... _ArgTypes>
         _Res
         function<_Res(_ArgTypes...)>::
         operator()(_ArgTypes... __args) const
         {
           if (_M_empty())
/* crash */  __throw_bad_function_call();
           return _M_invoker(_M_functor, std::forward<_ArgTypes>(__args)...);
         }

This call was a result of Epona/debug/DebugIMplementation.hpp:44:

GetQuickhullConvexHullCallback<VertexBuffer>()(convexHull, vertexBuffer);

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