Fix duplicate faces in TirMesh connected components

Fix #115
dimforge · Jan 15, 2023 · d870907 · d870907
1 parent 9e7abd6
commit d870907
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Showing 8 changed files with 49 additions and 15 deletions.
diff --git a/Cargo.toml b/Cargo.toml
@@ -9,5 +9,5 @@ parry2d-f64 = { path = "crates/parry2d-f64" }
 parry3d-f64 = { path = "crates/parry3d-f64" }
 
 #simba = { path = "../simba" }
-simba = { git = "https://github.com/dimforge/simba", rev = "45a5266eb36ed9d25907e9bf9130cd4ac846a748" }
-nalgebra = { git = "https://github.com/dimforge/nalgebra", rev = "0cf79aef0e6155befc3279a3145f1940822b8377" }
+#simba = { git = "https://github.com/dimforge/simba", rev = "45a5266eb36ed9d25907e9bf9130cd4ac846a748" }
+#nalgebra = { git = "https://github.com/dimforge/nalgebra", rev = "0cf79aef0e6155befc3279a3145f1940822b8377" }
diff --git a/crates/parry2d-f64/Cargo.toml b/crates/parry2d-f64/Cargo.toml
@@ -48,8 +48,8 @@ num-traits      = { version = "0.2", default-features = false }
 smallvec        = "1"
 slab            = { version = "0.4", optional = true }
 arrayvec        = { version = "0.7", default-features = false }
-simba           = { version = "^0.7.3", default-features = false }
-nalgebra        = { version = "0.31", default-features = false, features = [ "libm" ] }
+simba           = { version = "0.8", default-features = false }
+nalgebra        = { version = "0.32", default-features = false, features = [ "libm" ] }
 approx          = { version = "0.5", default-features = false }
 serde           = { version = "1.0", optional = true, features = ["derive"] }
 rkyv            = { version = "0.7", optional = true }
@@ -65,5 +65,5 @@ bytemuck        = { version = "1", features = [ "derive" ], optional = true }
 cust       = { version = "0.3", optional = true }
 
 [dev-dependencies]
-simba = { version = "0.7", default-features = false, features = [ "partial_fixed_point_support" ] }
+simba = { version = "0.8", default-features = false, features = [ "partial_fixed_point_support" ] }
 oorandom = "11"
diff --git a/crates/parry2d/Cargo.toml b/crates/parry2d/Cargo.toml
@@ -48,8 +48,8 @@ num-traits      = { version = "0.2", default-features = false }
 smallvec        = "1"
 slab            = { version = "0.4", optional = true }
 arrayvec        = { version = "0.7", default-features = false }
-simba           = { version = "^0.7.3", default-features = false }
-nalgebra        = { version = "0.31", default-features = false, features = [ "libm" ] }
+simba           = { version = "0.8", default-features = false }
+nalgebra        = { version = "0.32", default-features = false, features = [ "libm" ] }
 approx          = { version = "0.5", default-features = false }
 serde           = { version = "1.0", optional = true, features = ["derive"] }
 rkyv            = { version = "0.7", optional = true }
@@ -65,5 +65,5 @@ bytemuck        = { version = "1", features = [ "derive" ], optional = true }
 cust = { version = "0.3", optional = true }
 
 [dev-dependencies]
-simba = { version = "0.7", default-features = false, features = [ "partial_fixed_point_support" ] }
+simba = { version = "0.8", default-features = false, features = [ "partial_fixed_point_support" ] }
 oorandom = "11"
diff --git a/crates/parry3d-f64/Cargo.toml b/crates/parry3d-f64/Cargo.toml
@@ -48,8 +48,8 @@ num-traits = { version = "0.2", default-features = false }
 smallvec   = "1"
 slab       = { version = "0.4", optional = true }
 arrayvec   = { version = "0.7", default-features = false }
-simba      = { version = "^0.7.3", default-features = false }
-nalgebra   = { version = "0.31", default-features = false, features = [ "libm" ] }
+simba      = { version = "0.8", default-features = false }
+nalgebra   = { version = "0.32", default-features = false, features = [ "libm" ] }
 approx     = { version = "0.5", default-features = false }
 serde      = { version = "1.0", optional = true, features = ["derive", "rc"]}
 rkyv       = { version = "0.7", optional = true }

diff --git a/crates/parry3d/Cargo.toml b/crates/parry3d/Cargo.toml
@@ -49,8 +49,8 @@ num-traits = { version = "0.2", default-features = false }
 smallvec   = "1"
 slab       = { version = "0.4", optional = true }
 arrayvec   = { version = "0.7", default-features = false }
-simba      = { version = "^0.7.3", default-features = false }
-nalgebra   = { version = "0.31", default-features = false, features = [ "libm" ] }
+simba      = { version = "0.8", default-features = false }
+nalgebra   = { version = "0.32", default-features = false, features = [ "libm" ] }
 approx     = { version = "0.5", default-features = false }
 serde      = { version = "1.0", optional = true, features = ["derive", "rc"]}
 rkyv       = { version = "0.7", optional = true }

diff --git a/crates/parry3d/tests/geometry/mod.rs b/crates/parry3d/tests/geometry/mod.rs
@@ -6,5 +6,6 @@ mod cylinder_cuboid_contact;
 mod epa3;
 mod still_objects_toi;
 mod time_of_impact3;
+mod trimesh_connected_components;
 mod trimesh_intersection;
 mod trimesh_trimesh_toi;
diff --git a/crates/parry3d/tests/geometry/trimesh_connected_components.rs b/crates/parry3d/tests/geometry/trimesh_connected_components.rs
@@ -0,0 +1,31 @@
+use parry3d::math::Point;
+use parry3d::shape::{TriMesh, TriMeshFlags};
+
+#[test]
+// From https://github.com/dimforge/parry/issues/115
+fn mesh_connected_components_grouped_faces() {
+    let verts = vec![
+        // Face 0
+        Point::new(15.82, 6.455, -0.15), // <- Vertex shared with face 1.
+        Point::new(9.915, 6.455, -0.15),
+        Point::new(9.915, 6.4, 0.0), // <- Vertex shared with face 1.
+        // Face1
+        Point::new(15.82, 6.455, -0.15), // <- Vertex shared with face 0.
+        Point::new(9.915, 6.4, 0.0),     // <- Vertex shared with face 0.
+        Point::new(15.82, 6.4, 0.0),
+    ];
+
+    let mut roof = TriMesh::new(verts, vec![[0, 1, 2], [3, 4, 5]]);
+
+    if let Err(e) =
+        roof.set_flags(TriMeshFlags::MERGE_DUPLICATE_VERTICES | TriMeshFlags::CONNECTED_COMPONENTS)
+    {
+        dbg!(e);
+        assert!(false);
+    }
+
+    let components = roof.connected_components().unwrap();
+    println!("components: {:?}", components);
+    assert_eq!(components.ranges.len(), 2); // Only one connected-component (two range values).
+    assert_eq!(components.grouped_faces.len(), 2); // Only two faces in the connected-component.
+}
diff --git a/src/shape/trimesh.rs b/src/shape/trimesh.rs
@@ -921,20 +921,22 @@ impl TriMesh {
     // NOTE: we can only compute connected components if the topology
     //       has been computed too. So instead of making this method
     //       public, the `.compute_topology` method has a boolean to
-    //       compute the connected componets too.
+    //       compute the connected components too.
     fn compute_connected_components(&mut self) {
         let topo = self.topology.as_ref().unwrap();
         let mut face_colors = vec![u32::MAX; topo.faces.len()];
         let mut grouped_faces = Vec::new();
         let mut ranges = vec![0];
+        let mut stack = vec![];
 
         for i in 0..topo.faces.len() {
             if face_colors[i] == u32::MAX {
-                let mut stack = vec![i as u32];
                 let color = ranges.len() as u32 - 1;
+                face_colors[i] = color;
+                grouped_faces.push(i as u32);
+                stack.push(i as u32);
 
                 while let Some(tri_id) = stack.pop() {
-                    grouped_faces.push(tri_id);
                     let eid = topo.faces[tri_id as usize].half_edge;
                     let edge_a = &topo.half_edges[eid as usize];
                     let edge_b = &topo.half_edges[edge_a.next as usize];