Options to clean/simplify convex hull generated from mesh

Clean: remove duplicate and interior vertices (uses Bullet algorithm)
Simplify: modify the geometry for further simplification (uses VHACD
algorithm)

In the editor, single convex hull now uses the clean option.
Added a new editor entry to create a simplified convex hull, can be
useful for creating convex hull from highly tessellated triangle meshes.

Specific change for 3.x:
Add support for Vector<Vector3> and PoolVector<Vector3> in the convex hull generator.

core/math/convex_hull.cpp

@@ -2249,14 +2249,22 @@ real_t ConvexHullComputer::compute(const Vector3 *p_coords, int32_t p_count, rea
 }
 
 Error ConvexHullComputer::convex_hull(const Vector<Vector3> &p_points, Geometry::MeshData &r_mesh) {
+	return convex_hull(p_points.ptr(), p_points.size(), r_mesh);
+}
+
+Error ConvexHullComputer::convex_hull(const PoolVector<Vector3> &p_points, Geometry::MeshData &r_mesh) {
+	return convex_hull(p_points.read().ptr(), p_points.size(), r_mesh);
+}
+
+Error ConvexHullComputer::convex_hull(const Vector3 *p_points, int32_t p_point_count, Geometry::MeshData &r_mesh) {
 	r_mesh = Geometry::MeshData(); // clear
 
-	if (p_points.size() == 0) {
+	if (p_point_count == 0) {
 		return FAILED; // matches QuickHull
 	}
 
 	ConvexHullComputer ch;
-	ch.compute(p_points.ptr(), p_points.size(), -1.0, -1.0);
+	ch.compute(p_points, p_point_count, -1.0, -1.0);
 
 	r_mesh.vertices = ch.vertices;
 

core/math/convex_hull.h

@@ -111,6 +111,8 @@ public:
 	real_t compute(const Vector3 *p_coords, int32_t p_count, real_t p_shrink, real_t p_shrink_clamp);
 
 	static Error convex_hull(const Vector<Vector3> &p_points, Geometry::MeshData &r_mesh);
+	static Error convex_hull(const PoolVector<Vector3> &p_points, Geometry::MeshData &r_mesh);
+	static Error convex_hull(const Vector3 *p_points, int32_t p_point_count, Geometry::MeshData &r_mesh);
 };
 
 #endif // CONVEX_HULL_H

doc/classes/Mesh.xml

@@ -16,8 +16,14 @@
 		<method name="create_convex_shape" qualifiers="const">
 			<return type="Shape">
 			</return>
+			<argument index="0" name="clean" type="bool" default="true">
+			</argument>
+			<argument index="1" name="simplify" type="bool" default="false">
+			</argument>
 			<description>
 				Calculate a [ConvexPolygonShape] from the mesh.
+				If [code]clean[/code] is [code]true[/code] (default), duplicate and interior vertices are removed automatically. You can set it to [code]false[/code] to make the process faster if not needed.
+				If [code]simplify[/code] is [code]true[/code], the geometry can be further simplified to reduce the amount of vertices. Disabled by default.
 			</description>
 		</method>
 		<method name="create_outline" qualifiers="const">

doc/classes/MeshInstance.xml

@@ -16,8 +16,14 @@
 		<method name="create_convex_collision">
 			<return type="void">
 			</return>
+			<argument index="0" name="clean" type="bool" default="true">
+			</argument>
+			<argument index="1" name="simplify" type="bool" default="false">
+			</argument>
 			<description>
 				This helper creates a [StaticBody] child node with a [ConvexPolygonShape] collision shape calculated from the mesh geometry. It's mainly used for testing.
+				If [code]clean[/code] is [code]true[/code] (default), duplicate and interior vertices are removed automatically. You can set it to [code]false[/code] to make the process faster if not needed.
+				If [code]simplify[/code] is [code]true[/code], the geometry can be further simplified to reduce the amount of vertices. Disabled by default.
 			</description>
 		</method>
 		<method name="create_debug_tangents">

editor/plugins/mesh_instance_editor_plugin.cpp

@@ -153,14 +153,18 @@ void MeshInstanceEditor::_menu_option(int p_option) {
 			ur->add_undo_method(node->get_parent(), "remove_child", cshape);
 			ur->commit_action();
 		} break;
-		case MENU_OPTION_CREATE_SINGLE_CONVEX_COLLISION_SHAPE: {
+
+		case MENU_OPTION_CREATE_SINGLE_CONVEX_COLLISION_SHAPE:
+		case MENU_OPTION_CREATE_SIMPLIFIED_CONVEX_COLLISION_SHAPE: {
 			if (node == get_tree()->get_edited_scene_root()) {
 				err_dialog->set_text(TTR("Can't create a single convex collision shape for the scene root."));
 				err_dialog->popup_centered_minsize();
 				return;
 			}
 
-			Ref<Shape> shape = mesh->create_convex_shape();
+			bool simplify = (p_option == MENU_OPTION_CREATE_SIMPLIFIED_CONVEX_COLLISION_SHAPE);
+
+			Ref<Shape> shape = mesh->create_convex_shape(true, simplify);
 
 			if (shape.is_null()) {
 				err_dialog->set_text(TTR("Couldn't create a single convex collision shape."));
@@ -169,7 +173,11 @@ void MeshInstanceEditor::_menu_option(int p_option) {
 			}
 			UndoRedo *ur = EditorNode::get_singleton()->get_undo_redo();
 
-			ur->create_action(TTR("Create Single Convex Shape"));
+			if (simplify) {
+				ur->create_action(TTR("Create Simplified Convex Shape"));
+			} else {
+				ur->create_action(TTR("Create Single Convex Shape"));
+			}
 
 			CollisionShape *cshape = memnew(CollisionShape);
 			cshape->set_shape(shape);
@@ -186,6 +194,7 @@ void MeshInstanceEditor::_menu_option(int p_option) {
 			ur->commit_action();
 
 		} break;
+
 		case MENU_OPTION_CREATE_MULTIPLE_CONVEX_COLLISION_SHAPES: {
 			if (node == get_tree()->get_edited_scene_root()) {
 				err_dialog->set_text(TTR("Can't create multiple convex collision shapes for the scene root."));
@@ -447,8 +456,10 @@ MeshInstanceEditor::MeshInstanceEditor() {
 	options->get_popup()->set_item_tooltip(options->get_popup()->get_item_count() - 1, TTR("Creates a polygon-based collision shape.\nThis is the most accurate (but slowest) option for collision detection."));
 	options->get_popup()->add_item(TTR("Create Single Convex Collision Sibling"), MENU_OPTION_CREATE_SINGLE_CONVEX_COLLISION_SHAPE);
 	options->get_popup()->set_item_tooltip(options->get_popup()->get_item_count() - 1, TTR("Creates a single convex collision shape.\nThis is the fastest (but least accurate) option for collision detection."));
+	options->get_popup()->add_item(TTR("Create Simplified Convex Collision Sibling"), MENU_OPTION_CREATE_SIMPLIFIED_CONVEX_COLLISION_SHAPE);
+	options->get_popup()->set_item_tooltip(options->get_popup()->get_item_count() - 1, TTR("Creates a simplified convex collision shape.\nThis is similar to single collision shape, but can result in a simpler geometry in some cases, at the cost of accuracy."));
 	options->get_popup()->add_item(TTR("Create Multiple Convex Collision Siblings"), MENU_OPTION_CREATE_MULTIPLE_CONVEX_COLLISION_SHAPES);
-	options->get_popup()->set_item_tooltip(options->get_popup()->get_item_count() - 1, TTR("Creates a polygon-based collision shape.\nThis is a performance middle-ground between the two above options."));
+	options->get_popup()->set_item_tooltip(options->get_popup()->get_item_count() - 1, TTR("Creates a polygon-based collision shape.\nThis is a performance middle-ground between a single convex collision and a polygon-based collision."));
 	options->get_popup()->add_separator();
 	options->get_popup()->add_item(TTR("Create Navigation Mesh"), MENU_OPTION_CREATE_NAVMESH);
 	options->get_popup()->add_separator();

editor/plugins/mesh_instance_editor_plugin.h

@@ -44,6 +44,7 @@ class MeshInstanceEditor : public Control {
 		MENU_OPTION_CREATE_STATIC_TRIMESH_BODY,
 		MENU_OPTION_CREATE_TRIMESH_COLLISION_SHAPE,
 		MENU_OPTION_CREATE_SINGLE_CONVEX_COLLISION_SHAPE,
+		MENU_OPTION_CREATE_SIMPLIFIED_CONVEX_COLLISION_SHAPE,
 		MENU_OPTION_CREATE_MULTIPLE_CONVEX_COLLISION_SHAPES,
 		MENU_OPTION_CREATE_NAVMESH,
 		MENU_OPTION_CREATE_OUTLINE_MESH,

modules/vhacd/register_types.cpp

@@ -32,7 +32,7 @@
 #include "scene/resources/mesh.h"
 #include "thirdparty/vhacd/public/VHACD.h"
 
-static Vector<Vector<Face3>> convex_decompose(const Vector<Face3> &p_faces) {
+static Vector<Vector<Face3>> convex_decompose(const Vector<Face3> &p_faces, int p_max_convex_hulls = -1) {
 	Vector<float> vertices;
 	vertices.resize(p_faces.size() * 9);
 	Vector<uint32_t> indices;
@@ -47,8 +47,12 @@ static Vector<Vector<Face3>> convex_decompose(const Vector<Face3> &p_faces) {
 		}
 	}
 
-	VHACD::IVHACD *decomposer = VHACD::CreateVHACD();
 	VHACD::IVHACD::Parameters params;
+	if (p_max_convex_hulls > 0) {
+		params.m_maxConvexHulls = p_max_convex_hulls;
+	}
+
+	VHACD::IVHACD *decomposer = VHACD::CreateVHACD();
 	decomposer->Compute(vertices.ptr(), vertices.size() / 3, indices.ptr(), indices.size() / 3, params);
 
 	int hull_count = decomposer->GetNConvexHulls();

scene/3d/mesh_instance.cpp

@@ -611,12 +611,12 @@ void MeshInstance::create_multiple_convex_collisions() {
 	}
 }
 
-Node *MeshInstance::create_convex_collision_node() {
+Node *MeshInstance::create_convex_collision_node(bool p_clean, bool p_simplify) {
 	if (mesh.is_null()) {
 		return nullptr;
 	}
 
-	Ref<Shape> shape = mesh->create_convex_shape();
+	Ref<Shape> shape = mesh->create_convex_shape(p_clean, p_simplify);
 	if (shape.is_null()) {
 		return nullptr;
 	}
@@ -628,8 +628,8 @@ Node *MeshInstance::create_convex_collision_node() {
 	return static_body;
 }
 
-void MeshInstance::create_convex_collision() {
-	StaticBody *static_body = Object::cast_to<StaticBody>(create_convex_collision_node());
+void MeshInstance::create_convex_collision(bool p_clean, bool p_simplify) {
+	StaticBody *static_body = Object::cast_to<StaticBody>(create_convex_collision_node(p_clean, p_simplify));
 	ERR_FAIL_COND(!static_body);
 	static_body->set_name(String(get_name()) + "_col");
 
@@ -841,7 +841,7 @@ void MeshInstance::_bind_methods() {
 	ClassDB::set_method_flags("MeshInstance", "create_trimesh_collision", METHOD_FLAGS_DEFAULT);
 	ClassDB::bind_method(D_METHOD("create_multiple_convex_collisions"), &MeshInstance::create_multiple_convex_collisions);
 	ClassDB::set_method_flags("MeshInstance", "create_multiple_convex_collisions", METHOD_FLAGS_DEFAULT);
-	ClassDB::bind_method(D_METHOD("create_convex_collision"), &MeshInstance::create_convex_collision);
+	ClassDB::bind_method(D_METHOD("create_convex_collision", "clean", "simplify"), &MeshInstance::create_convex_collision, DEFVAL(true), DEFVAL(false));
 	ClassDB::set_method_flags("MeshInstance", "create_convex_collision", METHOD_FLAGS_DEFAULT);
 	ClassDB::bind_method(D_METHOD("_mesh_changed"), &MeshInstance::_mesh_changed);
 	ClassDB::bind_method(D_METHOD("_update_skinning"), &MeshInstance::_update_skinning);

scene/3d/mesh_instance.h

@@ -128,8 +128,8 @@ public:
 	Node *create_multiple_convex_collisions_node();
 	void create_multiple_convex_collisions();
 
-	Node *create_convex_collision_node();
-	void create_convex_collision();
+	Node *create_convex_collision_node(bool p_clean = true, bool p_simplify = false);
+	void create_convex_collision(bool p_clean = true, bool p_simplify = false);
 
 	void create_debug_tangents();
 

scene/resources/mesh.cpp

@@ -32,6 +32,7 @@
 
 #include "core/crypto/crypto_core.h"
 #include "core/local_vector.h"
+#include "core/math/convex_hull.h"
 #include "core/pair.h"
 #include "scene/resources/concave_polygon_shape.h"
 #include "scene/resources/convex_polygon_shape.h"
@@ -229,9 +230,17 @@ PoolVector<Face3> Mesh::get_faces() const {
 */
 }
 
-Ref<Shape> Mesh::create_convex_shape() const {
-	PoolVector<Vector3> vertices;
+Ref<Shape> Mesh::create_convex_shape(bool p_clean, bool p_simplify) const {
+	if (p_simplify) {
+		Vector<Ref<Shape>> decomposed = convex_decompose(1);
+		if (decomposed.size() == 1) {
+			return decomposed[0];
+		} else {
+			ERR_PRINT("Convex shape simplification failed, falling back to simpler process.");
+		}
+	}
 
+	PoolVector<Vector3> vertices;
 	for (int i = 0; i < get_surface_count(); i++) {
 		Array a = surface_get_arrays(i);
 		ERR_FAIL_COND_V(a.empty(), Ref<ConvexPolygonShape>());
@@ -240,6 +249,24 @@ Ref<Shape> Mesh::create_convex_shape() const {
 	}
 
 	Ref<ConvexPolygonShape> shape = memnew(ConvexPolygonShape);
+
+	if (p_clean) {
+		Geometry::MeshData md;
+		Error err = ConvexHullComputer::convex_hull(vertices, md);
+		if (err == OK) {
+			int vertex_count = md.vertices.size();
+			vertices.resize(vertex_count);
+			{
+				PoolVector<Vector3>::Write w = vertices.write();
+				for (int idx = 0; idx < vertex_count; ++idx) {
+					w[idx] = md.vertices[idx];
+				}
+			}
+		} else {
+			ERR_PRINT("Convex shape cleaning failed, falling back to simpler process.");
+		}
+	}
+
 	shape->set_points(vertices);
 	return shape;
 }
@@ -539,7 +566,7 @@ void Mesh::clear_cache() const {
 	debug_lines.clear();
 }
 
-Vector<Ref<Shape>> Mesh::convex_decompose() const {
+Vector<Ref<Shape>> Mesh::convex_decompose(int p_max_convex_hulls) const {
 	ERR_FAIL_COND_V(!convex_composition_function, Vector<Ref<Shape>>());
 
 	PoolVector<Face3> faces = get_faces();
@@ -550,7 +577,7 @@ Vector<Ref<Shape>> Mesh::convex_decompose() const {
 		f3.write[i] = f[i];
 	}
 
-	Vector<Vector<Face3>> decomposed = convex_composition_function(f3);
+	Vector<Vector<Face3>> decomposed = convex_composition_function(f3, p_max_convex_hulls);
 
 	Vector<Ref<Shape>> ret;
 
@@ -1428,7 +1455,7 @@ void ArrayMesh::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("surface_set_name", "surf_idx", "name"), &ArrayMesh::surface_set_name);
 	ClassDB::bind_method(D_METHOD("surface_get_name", "surf_idx"), &ArrayMesh::surface_get_name);
 	ClassDB::bind_method(D_METHOD("create_trimesh_shape"), &ArrayMesh::create_trimesh_shape);
-	ClassDB::bind_method(D_METHOD("create_convex_shape"), &ArrayMesh::create_convex_shape);
+	ClassDB::bind_method(D_METHOD("create_convex_shape", "clean", "simplify"), &ArrayMesh::create_convex_shape, DEFVAL(true), DEFVAL(false));
 	ClassDB::bind_method(D_METHOD("create_outline", "margin"), &ArrayMesh::create_outline);
 	ClassDB::bind_method(D_METHOD("regen_normalmaps"), &ArrayMesh::regen_normalmaps);
 	ClassDB::set_method_flags(get_class_static(), _scs_create("regen_normalmaps"), METHOD_FLAGS_DEFAULT | METHOD_FLAG_EDITOR);

scene/resources/mesh.h

@@ -137,7 +137,7 @@ public:
 	void generate_debug_mesh_indices(Vector<Vector3> &r_points);
 
 	Ref<Shape> create_trimesh_shape() const;
-	Ref<Shape> create_convex_shape() const;
+	Ref<Shape> create_convex_shape(bool p_clean = true, bool p_simplify = false) const;
 
 	Ref<Mesh> create_outline(float p_margin) const;
 
@@ -147,11 +147,11 @@ public:
 	Size2 get_lightmap_size_hint() const;
 	void clear_cache() const;
 
-	typedef Vector<Vector<Face3>> (*ConvexDecompositionFunc)(const Vector<Face3> &);
+	typedef Vector<Vector<Face3>> (*ConvexDecompositionFunc)(const Vector<Face3> &p_faces, int p_max_convex_hulls);
 
 	static ConvexDecompositionFunc convex_composition_function;
 
-	Vector<Ref<Shape>> convex_decompose() const;
+	Vector<Ref<Shape>> convex_decompose(int p_max_convex_hulls = -1) const;
 
 	Mesh();
 };