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fix vertex id assignment #204

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Merged
zfergus merged 3 commits into from
Dec 9, 2025
Merged

fix vertex id assignment #204

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378561a
fix vertex id assignment
iiiian Dec 9, 2025
3fa6321
follow scalable ccd convention
iiiian Dec 9, 2025
87ab705
remove unused include
iiiian Dec 9, 2025
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13 changes: 9 additions & 4 deletions src/ipc/broad_phase/sweep_and_tiniest_queue.cu
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Original file line number Diff line number Diff line change
Expand Up @@ -89,9 +89,14 @@ void SweepAndTiniestQueue::build(
boxes->vertices[i].max.z =
vertex_boxes[i].max.size() > 2 ? vertex_boxes[i].max.z() : 0;

boxes->vertices[i].min.x = vertex_boxes[i].vertex_ids[0];
boxes->vertices[i].min.y = vertex_boxes[i].vertex_ids[1];
boxes->vertices[i].min.z = vertex_boxes[i].vertex_ids[2];
// If vertex id == -1 it means this slot is not used.
// But Scalable CCD does not have this kind of special value so we map
// it to unique negative id.
const auto [vi, vj, vk] = vertex_boxes[i].vertex_ids;
assert(vi >= 0);
boxes->vertices[i].vertex_ids.x = vi;
boxes->vertices[i].vertex_ids.y = vj >= 0 ? vj : (-vi - 1);
boxes->vertices[i].vertex_ids.z = vk >= 0 ? vk : (-vi - 1);

boxes->vertices[i].element_id = i;
}
Expand Down Expand Up @@ -271,4 +276,4 @@ bool SweepAndTiniestQueue::can_faces_collide(size_t fai, size_t fbi) const

} // namespace ipc

#endif
#endif