Nixyri/godot
1
0
Fork 0
mirror of https://github.com/godotengine/godot.git synced 2024-11-10 06:03:09 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

Merge pull request #57630 from lawnjelly/bvh4_templated_checks

Browse Source 
[4.x] BVH - Sync BVH with 3.x
This commit is contained in:
Rémi Verschelde 2022-03-04 23:29:38 +01:00 committed by GitHub
commit 0d1e3893d9
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
20 changed files with 744 additions and 257 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

264
core/math/bvh.h
View File

@ -46,21 +46,35 @@
// Layer masks are implemented in the renderers as a later step, and light_cull_mask appears to be
// implemented in GLES3 but not GLES2. Layer masks are not yet implemented for directional lights.
// In the physics, the pairable_type is based on 1 << p_object->get_type() where:
// TYPE_AREA,
// TYPE_BODY
// and pairable_mask is either 0 if static, or set to all if non static
#include "bvh_tree.h"
#include "core/os/mutex.h"
#define BVHTREE_CLASS BVH_Tree<T, 2, MAX_ITEMS, USE_PAIRS, Bounds, Point>
#define BVHTREE_CLASS BVH_Tree<T, NUM_TREES, 2, MAX_ITEMS, USER_PAIR_TEST_FUNCTION, USER_CULL_TEST_FUNCTION, USE_PAIRS, BOUNDS, POINT>
#define BVH_LOCKED_FUNCTION BVHLockedFunction(&_mutex, BVH_THREAD_SAFE &&_thread_safe);
template <class T, bool USE_PAIRS = false, int MAX_ITEMS = 32, class Bounds = AABB, class Point = Vector3>
template <class T, int NUM_TREES = 1, bool USE_PAIRS = false, int MAX_ITEMS = 32, class USER_PAIR_TEST_FUNCTION = BVH_DummyPairTestFunction<T>, class USER_CULL_TEST_FUNCTION = BVH_DummyCullTestFunction<T>, class BOUNDS = AABB, class POINT = Vector3, bool BVH_THREAD_SAFE = true>
class BVH_Manager {
public:
// note we are using uint32_t instead of BVHHandle, losing type safety, but this
// is for compatibility with octree
typedef void *(*PairCallback)(void *, uint32_t, T *, int, uint32_t, T *, int);
typedef void (*UnpairCallback)(void *, uint32_t, T *, int, uint32_t, T *, int, void *);
typedef void *(*CheckPairCallback)(void *, uint32_t, T *, int, uint32_t, T *, int, void *);
// allow locally toggling thread safety if the template has been compiled with BVH_THREAD_SAFE
void params_set_thread_safe(bool p_enable) {
_thread_safe = p_enable;
}
// these 2 are crucial for fine tuning, and can be applied manually
// see the variable declarations for more info.
void params_set_node_expansion(real_t p_value) {
BVH_LOCKED_FUNCTION
if (p_value >= 0.0) {
tree._node_expansion = p_value;
tree._auto_node_expansion = false;
@ -70,43 +84,40 @@ public:
}
void params_set_pairing_expansion(real_t p_value) {
if (p_value >= 0.0) {
tree._pairing_expansion = p_value;
tree._auto_pairing_expansion = false;
} else {
tree._auto_pairing_expansion = true;
}
BVH_LOCKED_FUNCTION
tree.params_set_pairing_expansion(p_value);
}
void set_pair_callback(PairCallback p_callback, void *p_userdata) {
BVH_LOCKED_FUNCTION
pair_callback = p_callback;
pair_callback_userdata = p_userdata;
}
void set_unpair_callback(UnpairCallback p_callback, void *p_userdata) {
BVH_LOCKED_FUNCTION
unpair_callback = p_callback;
unpair_callback_userdata = p_userdata;
}
void set_check_pair_callback(CheckPairCallback p_callback, void *p_userdata) {
BVH_LOCKED_FUNCTION
check_pair_callback = p_callback;
check_pair_callback_userdata = p_userdata;
}
BVHHandle create(T *p_userdata, bool p_active = true, uint32_t p_tree_id = 0, uint32_t p_tree_collision_mask = 1, const BOUNDS &p_aabb = BOUNDS(), int p_subindex = 0) {
BVH_LOCKED_FUNCTION
BVHHandle create(T *p_userdata, bool p_active, const Bounds &p_aabb = Bounds(), int p_subindex = 0, bool p_pairable = false, uint32_t p_pairable_type = 0, uint32_t p_pairable_mask = 1) {
// not sure if absolutely necessary to flush collisions here. It will cost performance to, instead
// of waiting for update, so only uncomment this if there are bugs.
if (USE_PAIRS) {
//_check_for_collisions();
}
#ifdef TOOLS_ENABLED
if (!USE_PAIRS) {
if (p_pairable) {
WARN_PRINT_ONCE("creating pairable item in BVH with USE_PAIRS set to false");
}
}
#endif
BVHHandle h = tree.item_add(p_userdata, p_active, p_aabb, p_subindex, p_pairable, p_pairable_type, p_pairable_mask);
BVHHandle h = tree.item_add(p_userdata, p_active, p_aabb, p_subindex, p_tree_id, p_tree_collision_mask);
if (USE_PAIRS) {
// for safety initialize the expanded AABB
Bounds &expanded_aabb = tree._pairs[h.id()].expanded_aabb;
BOUNDS &expanded_aabb = tree._pairs[h.id()].expanded_aabb;
expanded_aabb = p_aabb;
expanded_aabb.grow_by(tree._pairing_expansion);
@ -123,12 +134,18 @@ public:
////////////////////////////////////////////////////
// wrapper versions that use uint32_t instead of handle
// for backward compatibility. Less type safe
void move(uint32_t p_handle, const Bounds &p_aabb) {
void move(uint32_t p_handle, const BOUNDS &p_aabb) {
BVHHandle h;
h.set(p_handle);
move(h, p_aabb);
}
void recheck_pairs(uint32_t p_handle) {
BVHHandle h;
h.set(p_handle);
recheck_pairs(h);
}
void erase(uint32_t p_handle) {
BVHHandle h;
h.set(p_handle);
@ -141,7 +158,7 @@ public:
force_collision_check(h);
}
bool activate(uint32_t p_handle, const Bounds &p_aabb, bool p_delay_collision_check = false) {
bool activate(uint32_t p_handle, const BOUNDS &p_aabb, bool p_delay_collision_check = false) {
BVHHandle h;
h.set(p_handle);
return activate(h, p_aabb, p_delay_collision_check);
@ -153,16 +170,16 @@ public:
return deactivate(h);
}
void set_pairable(uint32_t p_handle, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask, bool p_force_collision_check = true) {
void set_tree(uint32_t p_handle, uint32_t p_tree_id, uint32_t p_tree_collision_mask, bool p_force_collision_check = true) {
BVHHandle h;
h.set(p_handle);
set_pairable(h, p_pairable, p_pairable_type, p_pairable_mask, p_force_collision_check);
set_tree(h, p_tree_id, p_tree_collision_mask, p_force_collision_check);
}
bool is_pairable(uint32_t p_handle) const {
uint32_t get_tree_id(uint32_t p_handle) const {
BVHHandle h;
h.set(p_handle);
return item_is_pairable(h);
return item_get_tree_id(h);
}
int get_subindex(uint32_t p_handle) const {
BVHHandle h;
@ -178,7 +195,8 @@ public:
////////////////////////////////////////////////////
void move(BVHHandle p_handle, const Bounds &p_aabb) {
void move(BVHHandle p_handle, const BOUNDS &p_aabb) {
BVH_LOCKED_FUNCTION
if (tree.item_move(p_handle, p_aabb)) {
if (USE_PAIRS) {
_add_changed_item(p_handle, p_aabb);
@ -186,7 +204,12 @@ public:
}
}
void recheck_pairs(BVHHandle p_handle) {
force_collision_check(p_handle);
}
void erase(BVHHandle p_handle) {
BVH_LOCKED_FUNCTION
// call unpair and remove all references to the item
// before deleting from the tree
if (USE_PAIRS) {
@ -200,11 +223,12 @@ public:
// use in conjunction with activate if you have deferred the collision check, and
// set pairable has never been called.
// (deferred collision checks are a workaround for rendering server for historical reasons)
// (deferred collision checks are a workaround for visual server for historical reasons)
void force_collision_check(BVHHandle p_handle) {
BVH_LOCKED_FUNCTION
if (USE_PAIRS) {
// the aabb should already be up to date in the BVH
Bounds aabb;
BOUNDS aabb;
item_get_AABB(p_handle, aabb);
// add it as changed even if aabb not different
@ -218,7 +242,8 @@ public:
// these should be read as set_visible for render trees,
// but generically this makes items add or remove from the
// tree internally, to speed things up by ignoring inactive items
bool activate(BVHHandle p_handle, const Bounds &p_aabb, bool p_delay_collision_check = false) {
bool activate(BVHHandle p_handle, const BOUNDS &p_aabb, bool p_delay_collision_check = false) {
BVH_LOCKED_FUNCTION
// sending the aabb here prevents the need for the BVH to maintain
// a redundant copy of the aabb.
// returns success
@ -242,6 +267,7 @@ public:
}
bool deactivate(BVHHandle p_handle) {
BVH_LOCKED_FUNCTION
// returns success
if (tree.item_deactivate(p_handle)) {
// call unpair and remove all references to the item
@ -258,12 +284,14 @@ public:
return false;
}
bool get_active(BVHHandle p_handle) const {
bool get_active(BVHHandle p_handle) {
BVH_LOCKED_FUNCTION
return tree.item_get_active(p_handle);
}
// call e.g. once per frame (this does a trickle optimize)
void update() {
BVH_LOCKED_FUNCTION
tree.update();
_check_for_collisions();
#ifdef BVH_INTEGRITY_CHECKS
@ -273,24 +301,26 @@ public:
// this can be called more frequently than per frame if necessary
void update_collisions() {
BVH_LOCKED_FUNCTION
_check_for_collisions();
}
// prefer calling this directly as type safe
void set_pairable(const BVHHandle &p_handle, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask, bool p_force_collision_check = true) {
void set_tree(const BVHHandle &p_handle, uint32_t p_tree_id, uint32_t p_tree_collision_mask, bool p_force_collision_check = true) {
BVH_LOCKED_FUNCTION
// Returns true if the pairing state has changed.
bool state_changed = tree.item_set_pairable(p_handle, p_pairable, p_pairable_type, p_pairable_mask);
bool state_changed = tree.item_set_tree(p_handle, p_tree_id, p_tree_collision_mask);
if (USE_PAIRS) {
// not sure if absolutely necessary to flush collisions here. It will cost performance to, instead
// of waiting for update, so only uncomment this if there are bugs.
//_check_for_collisions();
if ((p_force_collision_check || state_changed) && get_active(p_handle)) {
if ((p_force_collision_check || state_changed) && tree.item_get_active(p_handle)) {
// when the pairable state changes, we need to force a collision check because newly pairable
// items may be in collision, and unpairable items might move out of collision.
// We cannot depend on waiting for the next update, because that may come much later.
Bounds aabb;
BOUNDS aabb;
item_get_AABB(p_handle, aabb);
// passing false disables the optimization which prevents collision checks if
@ -307,32 +337,33 @@ public:
}
// cull tests
int cull_aabb(const Bounds &p_aabb, T **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF) {
int cull_aabb(const BOUNDS &p_aabb, T **p_result_array, int p_result_max, const T *p_tester, uint32_t p_tree_collision_mask = 0xFFFFFFFF, int *p_subindex_array = nullptr) {
BVH_LOCKED_FUNCTION
typename BVHTREE_CLASS::CullParams params;
params.result_count_overall = 0;
params.result_max = p_result_max;
params.result_array = p_result_array;
params.subindex_array = p_subindex_array;
params.mask = p_mask;
params.pairable_type = 0;
params.test_pairable_only = false;
params.tree_collision_mask = p_tree_collision_mask;
params.abb.from(p_aabb);
params.tester = p_tester;
tree.cull_aabb(params);
return params.result_count_overall;
}
int cull_segment(const Point &p_from, const Point &p_to, T **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF) {
int cull_segment(const POINT &p_from, const POINT &p_to, T **p_result_array, int p_result_max, const T *p_tester, uint32_t p_tree_collision_mask = 0xFFFFFFFF, int *p_subindex_array = nullptr) {
BVH_LOCKED_FUNCTION
typename BVHTREE_CLASS::CullParams params;
params.result_count_overall = 0;
params.result_max = p_result_max;
params.result_array = p_result_array;
params.subindex_array = p_subindex_array;
params.mask = p_mask;
params.pairable_type = 0;
params.tester = p_tester;
params.tree_collision_mask = p_tree_collision_mask;
params.segment.from = p_from;
params.segment.to = p_to;
@ -342,15 +373,16 @@ public:
return params.result_count_overall;
}
int cull_point(const Point &p_point, T **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF) {
int cull_point(const POINT &p_point, T **p_result_array, int p_result_max, const T *p_tester, uint32_t p_tree_collision_mask = 0xFFFFFFFF, int *p_subindex_array = nullptr) {
BVH_LOCKED_FUNCTION
typename BVHTREE_CLASS::CullParams params;
params.result_count_overall = 0;
params.result_max = p_result_max;
params.result_array = p_result_array;
params.subindex_array = p_subindex_array;
params.mask = p_mask;
params.pairable_type = 0;
params.tester = p_tester;
params.tree_collision_mask = p_tree_collision_mask;
params.point = p_point;
@ -358,7 +390,8 @@ public:
return params.result_count_overall;
}
int cull_convex(const Vector<Plane> &p_convex, T **p_result_array, int p_result_max, uint32_t p_mask = 0xFFFFFFFF) {
int cull_convex(const Vector<Plane> &p_convex, T **p_result_array, int p_result_max, const T *p_tester, uint32_t p_tree_collision_mask = 0xFFFFFFFF) {
BVH_LOCKED_FUNCTION
if (!p_convex.size()) {
return 0;
}
@ -373,8 +406,8 @@ public:
params.result_max = p_result_max;
params.result_array = p_result_array;
params.subindex_array = nullptr;
params.mask = p_mask;
params.pairable_type = 0;
params.tester = p_tester;
params.tree_collision_mask = p_tree_collision_mask;
params.hull.planes = &p_convex[0];
params.hull.num_planes = p_convex.size();
@ -394,7 +427,7 @@ private:
return;
}
Bounds bb;
BOUNDS bb;
typename BVHTREE_CLASS::CullParams params;
@ -402,28 +435,23 @@ private:
params.result_max = INT_MAX;
params.result_array = nullptr;
params.subindex_array = nullptr;
params.mask = 0xFFFFFFFF;
params.pairable_type = 0;
for (unsigned int n = 0; n < changed_items.size(); n++) {
const BVHHandle &h = changed_items[n];
// use the expanded aabb for pairing
const Bounds &expanded_aabb = tree._pairs[h.id()].expanded_aabb;
const BOUNDS &expanded_aabb = tree._pairs[h.id()].expanded_aabb;
BVHABB_CLASS abb;
abb.from(expanded_aabb);
tree.item_fill_cullparams(h, params);
// find all the existing paired aabbs that are no longer
// paired, and send callbacks
_find_leavers(h, abb, p_full_check);
uint32_t changed_item_ref_id = h.id();
// set up the test from this item.
// this includes whether to test the non pairable tree,
// and the item mask.
tree.item_fill_cullparams(h, params);
params.abb = abb;
params.result_count_overall = 0; // might not be needed
@ -456,7 +484,7 @@ private:
}
public:
void item_get_AABB(BVHHandle p_handle, Bounds &r_aabb) {
void item_get_AABB(BVHHandle p_handle, BOUNDS &r_aabb) {
BVHABB_CLASS abb;
tree.item_get_ABB(p_handle, abb);
abb.to(r_aabb);
@ -464,7 +492,7 @@ public:
private:
// supplemental funcs
bool item_is_pairable(BVHHandle p_handle) const { return _get_extra(p_handle).pairable; }
uint32_t item_get_tree_id(BVHHandle p_handle) const { return _get_extra(p_handle).tree_id; }
T *item_get_userdata(BVHHandle p_handle) const { return _get_extra(p_handle).userdata; }
int item_get_subindex(BVHHandle p_handle) const { return _get_extra(p_handle).subindex; }
@ -485,12 +513,35 @@ private:
void *ud_from = pairs_from.remove_pair_to(p_to);
pairs_to.remove_pair_to(p_from);
#ifdef BVH_VERBOSE_PAIRING
print_line("_unpair " + itos(p_from.id()) + " from " + itos(p_to.id()));
#endif
// callback
if (unpair_callback) {
unpair_callback(pair_callback_userdata, p_from, exa.userdata, exa.subindex, p_to, exb.userdata, exb.subindex, ud_from);
}
}
void *_recheck_pair(BVHHandle p_from, BVHHandle p_to, void *p_pair_data) {
tree._handle_sort(p_from, p_to);
typename BVHTREE_CLASS::ItemExtra &exa = tree._extra[p_from.id()];
typename BVHTREE_CLASS::ItemExtra &exb = tree._extra[p_to.id()];
// if the userdata is the same, no collisions should occur
if ((exa.userdata == exb.userdata) && exa.userdata) {
return p_pair_data;
}
// callback
if (check_pair_callback) {
return check_pair_callback(check_pair_callback_userdata, p_from, exa.userdata, exa.subindex, p_to, exb.userdata, exb.subindex, p_pair_data);
}
return p_pair_data;
}
// returns true if unpair
bool _find_leavers_process_pair(typename BVHTREE_CLASS::ItemPairs &p_pairs_from, const BVHABB_CLASS &p_abb_from, BVHHandle p_from, BVHHandle p_to, bool p_full_check) {
BVHABB_CLASS abb_to;
@ -498,8 +549,8 @@ private:
// do they overlap?
if (p_abb_from.intersects(abb_to)) {
// the full check for pairable / non pairable and mask changes is extra expense
// this need not be done in most cases (for speed) except in the case where set_pairable is called
// the full check for pairable / non pairable (i.e. tree_id and tree_masks) and mask changes is extra expense
// this need not be done in most cases (for speed) except in the case where set_tree is called
// where the masks etc of the objects in question may have changed
if (!p_full_check) {
return false;
@ -507,12 +558,13 @@ private:
const typename BVHTREE_CLASS::ItemExtra &exa = _get_extra(p_from);
const typename BVHTREE_CLASS::ItemExtra &exb = _get_extra(p_to);
// one of the two must be pairable to still pair
// if neither are pairable, we always unpair
if (exa.pairable || exb.pairable) {
// Checking tree_ids and tree_collision_masks
if (exa.are_item_trees_compatible(exb)) {
bool pair_allowed = USER_PAIR_TEST_FUNCTION::user_pair_check(exa.userdata, exb.userdata);
// the masks must still be compatible to pair
// i.e. if there is a hit between the two, then they should stay paired
if (tree._cull_pairing_mask_test_hit(exa.pairable_mask, exa.pairable_type, exb.pairable_mask, exb.pairable_type)) {
// i.e. if there is a hit between the two and they intersect, then they should stay paired
if (pair_allowed) {
return false;
}
}
@ -550,6 +602,11 @@ private:
const typename BVHTREE_CLASS::ItemExtra &exa = _get_extra(p_ha);
const typename BVHTREE_CLASS::ItemExtra &exb = _get_extra(p_hb);
// user collision callback
if (!USER_PAIR_TEST_FUNCTION::user_pair_check(exa.userdata, exb.userdata)) {
return;
}
// if the userdata is the same, no collisions should occur
if ((exa.userdata == exb.userdata) && exa.userdata) {
return;
@ -573,6 +630,10 @@ private:
// callback
void *callback_userdata = nullptr;
#ifdef BVH_VERBOSE_PAIRING
print_line("_pair " + itos(p_ha.id()) + " to " + itos(p_hb.id()));
#endif
if (pair_callback) {
callback_userdata = pair_callback(pair_callback_userdata, p_ha, exa.userdata, exa.subindex, p_hb, exb.userdata, exb.subindex);
}
@ -594,6 +655,32 @@ private:
}
}
// Send pair callbacks again for all existing pairs for the given handle.
void _recheck_pairs(BVHHandle p_handle) {
typename BVHTREE_CLASS::ItemPairs &from = tree._pairs[p_handle.id()];
// checking pair for every partner.
for (unsigned int n = 0; n < from.extended_pairs.size(); n++) {
typename BVHTREE_CLASS::ItemPairs::Link &pair = from.extended_pairs[n];
BVHHandle h_to = pair.handle;
void *new_pair_data = _recheck_pair(p_handle, h_to, pair.userdata);
if (new_pair_data != pair.userdata) {
pair.userdata = new_pair_data;
// Update pair data for the second item.
typename BVHTREE_CLASS::ItemPairs &to = tree._pairs[h_to.id()];
for (unsigned int to_index = 0; to_index < to.extended_pairs.size(); to_index++) {
typename BVHTREE_CLASS::ItemPairs::Link &to_pair = to.extended_pairs[to_index];
if (to_pair.handle == p_handle) {
to_pair.userdata = new_pair_data;
break;
}
}
}
}
}
private:
const typename BVHTREE_CLASS::ItemExtra &_get_extra(BVHHandle p_handle) const {
return tree._extra[p_handle.id()];
@ -607,19 +694,24 @@ private:
_tick++;
}
void _add_changed_item(BVHHandle p_handle, const Bounds &aabb, bool p_check_aabb = true) {
void _add_changed_item(BVHHandle p_handle, const BOUNDS &aabb, bool p_check_aabb = true) {
// Note that non pairable items can pair with pairable,
// so all types must be added to the list
#ifdef BVH_EXPAND_LEAF_AABBS
// if using expanded AABB in the leaf, the redundancy check will already have been made
BOUNDS &expanded_aabb = tree._pairs[p_handle.id()].expanded_aabb;
item_get_AABB(p_handle, expanded_aabb);
#else
// aabb check with expanded aabb. This greatly decreases processing
// at the cost of slightly less accurate pairing checks
// Note this pairing AABB is separate from the AABB in the actual tree
Bounds &expanded_aabb = tree._pairs[p_handle.id()].expanded_aabb;
BOUNDS &expanded_aabb = tree._pairs[p_handle.id()].expanded_aabb;
// passing p_check_aabb false disables the optimization which prevents collision checks if
// the aabb hasn't changed. This is needed where set_pairable has been called, but the position
// has not changed.
if (p_check_aabb && expanded_aabb.encloses(aabb)) {
if (p_check_aabb && tree.expanded_aabb_encloses_not_shrink(expanded_aabb, aabb)) {
return;
}
@ -627,6 +719,7 @@ private:
// this tick, because it is vital that the AABB is kept up to date
expanded_aabb = aabb;
expanded_aabb.grow_by(tree._pairing_expansion);
#endif
// this code is to ensure that changed items only appear once on the updated list
// collision checking them multiple times is not needed, and repeats the same thing
@ -670,8 +763,10 @@ private:
PairCallback pair_callback;
UnpairCallback unpair_callback;
CheckPairCallback check_pair_callback;
void *pair_callback_userdata;
void *unpair_callback_userdata;
void *check_pair_callback_userdata;
BVHTREE_CLASS tree;
@ -680,6 +775,38 @@ private:
LocalVector<BVHHandle, uint32_t, true> changed_items;
uint32_t _tick;
class BVHLockedFunction {
public:
BVHLockedFunction(Mutex *p_mutex, bool p_thread_safe) {
// will be compiled out if not set in template
if (p_thread_safe) {
_mutex = p_mutex;
if (_mutex->try_lock() != OK) {
WARN_PRINT("Info : multithread BVH access detected (benign)");
_mutex->lock();
}
} else {
_mutex = nullptr;
}
}
~BVHLockedFunction() {
// will be compiled out if not set in template
if (_mutex) {
_mutex->unlock();
}
}
private:
Mutex *_mutex;
};
Mutex _mutex;
// local toggle for turning on and off thread safety in project settings
bool _thread_safe;
public:
BVH_Manager() {
_tick = 1; // start from 1 so items with 0 indicate never updated
@ -687,6 +814,7 @@ public:
unpair_callback = nullptr;
pair_callback_userdata = nullptr;
unpair_callback_userdata = nullptr;
_thread_safe = BVH_THREAD_SAFE;
}
};

64
core/math/bvh_abb.h
View File

@ -32,7 +32,7 @@
#define BVH_ABB_H
// special optimized version of axis aligned bounding box
template <class Bounds = AABB, class Point = Vector3>
template <class BOUNDS = AABB, class POINT = Vector3>
struct BVH_ABB {
struct ConvexHull {
// convex hulls (optional)
@ -43,8 +43,8 @@ struct BVH_ABB {
};
struct Segment {
Point from;
Point to;
POINT from;
POINT to;
};
enum IntersectResult {
@ -54,47 +54,47 @@ struct BVH_ABB {
};
// we store mins with a negative value in order to test them with SIMD
Point min;
Point neg_max;
POINT min;
POINT neg_max;
bool operator==(const BVH_ABB &o) const { return (min == o.min) && (neg_max == o.neg_max); }
bool operator!=(const BVH_ABB &o) const { return (*this == o) == false; }
void set(const Point &_min, const Point &_max) {
void set(const POINT &_min, const POINT &_max) {
min = _min;
neg_max = -_max;
}
// to and from standard AABB
void from(const Bounds &p_aabb) {
void from(const BOUNDS &p_aabb) {
min = p_aabb.position;
neg_max = -(p_aabb.position + p_aabb.size);
}
void to(Bounds &r_aabb) const {
void to(BOUNDS &r_aabb) const {
r_aabb.position = min;
r_aabb.size = calculate_size();
}
void merge(const BVH_ABB &p_o) {
for (int axis = 0; axis < Point::AXIS_COUNT; ++axis) {
for (int axis = 0; axis < POINT::AXIS_COUNT; ++axis) {
neg_max[axis] = MIN(neg_max[axis], p_o.neg_max[axis]);
min[axis] = MIN(min[axis], p_o.min[axis]);
}
}
Point calculate_size() const {
POINT calculate_size() const {
return -neg_max - min;
}
Point calculate_centre() const {
return Point((calculate_size() * 0.5) + min);
POINT calculate_centre() const {
return POINT((calculate_size() * 0.5) + min);
}
real_t get_proximity_to(const BVH_ABB &p_b) const {
const Point d = (min - neg_max) - (p_b.min - p_b.neg_max);
const POINT d = (min - neg_max) - (p_b.min - p_b.neg_max);
real_t proximity = 0.0;
for (int axis = 0; axis < Point::AXIS_COUNT; ++axis) {
for (int axis = 0; axis < POINT::AXIS_COUNT; ++axis) {
proximity += Math::abs(d[axis]);
}
return proximity;
@ -104,7 +104,7 @@ struct BVH_ABB {
return (get_proximity_to(p_a) < get_proximity_to(p_b) ? 0 : 1);
}
uint32_t find_cutting_planes(const BVH_ABB::ConvexHull &p_hull, uint32_t *p_plane_ids) const {
uint32_t find_cutting_planes(const typename BVH_ABB::ConvexHull &p_hull, uint32_t *p_plane_ids) const {
uint32_t count = 0;
for (int n = 0; n < p_hull.num_planes; n++) {
@ -162,7 +162,7 @@ struct BVH_ABB {
}
bool intersects_convex_partial(const ConvexHull &p_hull) const {
Bounds bb;
BOUNDS bb;
to(bb);
return bb.intersects_convex_shape(p_hull.planes, p_hull.num_planes, p_hull.points, p_hull.num_points);
}
@ -182,7 +182,7 @@ struct BVH_ABB {
bool is_within_convex(const ConvexHull &p_hull) const {
// use half extents routine
Bounds bb;
BOUNDS bb;
to(bb);
return bb.inside_convex_shape(p_hull.planes, p_hull.num_planes);
}
@ -197,12 +197,12 @@ struct BVH_ABB {
}
bool intersects_segment(const Segment &p_s) const {
Bounds bb;
BOUNDS bb;
to(bb);
return bb.intersects_segment(p_s.from, p_s.to);
}
bool intersects_point(const Point &p_pt) const {
bool intersects_point(const POINT &p_pt) const {
if (_any_lessthan(-p_pt, neg_max)) {
return false;
}
@ -212,6 +212,7 @@ struct BVH_ABB {
return true;
}
// Very hot in profiling, make sure optimized
bool intersects(const BVH_ABB &p_o) const {
if (_any_morethan(p_o.min, -neg_max)) {
return false;
@ -222,6 +223,17 @@ struct BVH_ABB {
return true;
}
// for pre-swizzled tester (this object)
bool intersects_swizzled(const BVH_ABB &p_o) const {
if (_any_lessthan(min, p_o.min)) {
return false;
}
if (_any_lessthan(neg_max, p_o.neg_max)) {
return false;
}
return true;
}
bool is_other_within(const BVH_ABB &p_o) const {
if (_any_lessthan(p_o.neg_max, neg_max)) {
return false;
@ -232,20 +244,20 @@ struct BVH_ABB {
return true;
}
void grow(const Point &p_change) {
void grow(const POINT &p_change) {
neg_max -= p_change;
min -= p_change;
}
void expand(real_t p_change) {
Point change;
POINT change;
change.set_all(p_change);
grow(change);
}
// Actually surface area metric.
float get_area() const {
Point d = calculate_size();
POINT d = calculate_size();
return 2.0f * (d.x * d.y + d.y * d.z + d.z * d.x);
}
@ -254,8 +266,8 @@ struct BVH_ABB {
min = neg_max;
}
bool _any_morethan(const Point &p_a, const Point &p_b) const {
for (int axis = 0; axis < Point::AXIS_COUNT; ++axis) {
bool _any_morethan(const POINT &p_a, const POINT &p_b) const {
for (int axis = 0; axis < POINT::AXIS_COUNT; ++axis) {
if (p_a[axis] > p_b[axis]) {
return true;
}
@ -263,8 +275,8 @@ struct BVH_ABB {
return false;
}
bool _any_lessthan(const Point &p_a, const Point &p_b) const {
for (int axis = 0; axis < Point::AXIS_COUNT; ++axis) {
bool _any_lessthan(const POINT &p_a, const POINT &p_b) const {
for (int axis = 0; axis < POINT::AXIS_COUNT; ++axis) {
if (p_a[axis] < p_b[axis]) {
return true;
}

95
core/math/bvh_cull.inc
View File

@ -9,20 +9,22 @@ struct CullParams {
T **result_array;
int *subindex_array;
// nobody truly understands how masks are intended to work.
uint32_t mask;
uint32_t pairable_type;
// We now process masks etc in a user template function,
// and these for simplicity assume even for cull tests there is a
// testing object (which has masks etc) for the user cull checks.
// This means for cull tests on their own, the client will usually
// want to create a dummy object, just in order to specify masks etc.
const T *tester;
// optional components for different tests
Point point;
POINT point;
BVHABB_CLASS abb;
typename BVHABB_CLASS::ConvexHull hull;
typename BVHABB_CLASS::Segment segment;
// when collision testing, non pairable moving items
// only need to be tested against the pairable tree.
// collisions with other non pairable items are irrelevant.
bool test_pairable_only;
// When collision testing, we can specify which tree ids
// to collide test against with the tree_collision_mask.
uint32_t tree_collision_mask;
};
private:
@ -58,11 +60,22 @@ int cull_convex(CullParams &r_params, bool p_translate_hits = true) {
_cull_hits.clear();
r_params.result_count = 0;
uint32_t tree_test_mask = 0;
for (int n = 0; n < NUM_TREES; n++) {
tree_test_mask <<= 1;
if (!tree_test_mask) {
tree_test_mask = 1;
}
if (_root_node_id[n] == BVHCommon::INVALID) {
continue;
}
if (!(r_params.tree_collision_mask & tree_test_mask)) {
continue;
}
_cull_convex_iterative(_root_node_id[n], r_params);
}
@ -77,11 +90,22 @@ int cull_segment(CullParams &r_params, bool p_translate_hits = true) {
_cull_hits.clear();
r_params.result_count = 0;
uint32_t tree_test_mask = 0;
for (int n = 0; n < NUM_TREES; n++) {
tree_test_mask <<= 1;
if (!tree_test_mask) {
tree_test_mask = 1;
}
if (_root_node_id[n] == BVHCommon::INVALID) {
continue;
}
if (!(r_params.tree_collision_mask & tree_test_mask)) {
continue;
}
_cull_segment_iterative(_root_node_id[n], r_params);
}
@ -96,11 +120,22 @@ int cull_point(CullParams &r_params, bool p_translate_hits = true) {
_cull_hits.clear();
r_params.result_count = 0;
uint32_t tree_test_mask = 0;
for (int n = 0; n < NUM_TREES; n++) {
tree_test_mask <<= 1;
if (!tree_test_mask) {
tree_test_mask = 1;
}
if (_root_node_id[n] == BVHCommon::INVALID) {
continue;
}
if (!(r_params.tree_collision_mask & tree_test_mask)) {
continue;
}
_cull_point_iterative(_root_node_id[n], r_params);
}
@ -115,12 +150,20 @@ int cull_aabb(CullParams &r_params, bool p_translate_hits = true) {
_cull_hits.clear();
r_params.result_count = 0;
uint32_t tree_test_mask = 0;
for (int n = 0; n < NUM_TREES; n++) {
tree_test_mask <<= 1;
if (!tree_test_mask) {
tree_test_mask = 1;
}
if (_root_node_id[n] == BVHCommon::INVALID) {
continue;
}
if ((n == 0) && r_params.test_pairable_only) {
// the tree collision mask determines which trees to collide test against
if (!(r_params.tree_collision_mask & tree_test_mask)) {
continue;
}
@ -142,22 +185,6 @@ bool _cull_hits_full(const CullParams &p) {
return (int)_cull_hits.size() >= p.result_max;
}
// write this logic once for use in all routines
// double check this as a possible source of bugs in future.
bool _cull_pairing_mask_test_hit(uint32_t p_maskA, uint32_t p_typeA, uint32_t p_maskB, uint32_t p_typeB) const {
// double check this as a possible source of bugs in future.
bool A_match_B = p_maskA & p_typeB;
if (!A_match_B) {
bool B_match_A = p_maskB & p_typeA;
if (!B_match_A) {
return false;
}
}
return true;
}
void _cull_hit(uint32_t p_ref_id, CullParams &p) {
// take into account masks etc
// this would be more efficient to do before plane checks,
@ -165,7 +192,8 @@ void _cull_hit(uint32_t p_ref_id, CullParams &p) {
if (USE_PAIRS) {
const ItemExtra &ex = _extra[p_ref_id];
if (!_cull_pairing_mask_test_hit(p.mask, p.pairable_type, ex.pairable_mask, ex.pairable_type)) {
// user supplied function (for e.g. pairable types and pairable masks in the render tree)
if (!USER_CULL_TEST_FUNCTION::user_cull_check(p.tester, ex.userdata)) {
return;
}
}
@ -294,6 +322,7 @@ bool _cull_point_iterative(uint32_t p_node_id, CullParams &r_params) {
return true;
}
// Note: This is a very hot loop profiling wise. Take care when changing this and profile.
bool _cull_aabb_iterative(uint32_t p_node_id, CullParams &r_params, bool p_fully_within = false) {
// our function parameters to keep on a stack
struct CullAABBParams {
@ -336,16 +365,26 @@ bool _cull_aabb_iterative(uint32_t p_node_id, CullParams &r_params, bool p_fully
_cull_hit(child_id, r_params);
}
} else {
for (int n = 0; n < leaf.num_items; n++) {
// This section is the hottest area in profiling, so
// is optimized highly
// get this into a local register and preconverted to correct type
int leaf_num_items = leaf.num_items;
BVHABB_CLASS swizzled_tester;
swizzled_tester.min = -r_params.abb.neg_max;
swizzled_tester.neg_max = -r_params.abb.min;
for (int n = 0; n < leaf_num_items; n++) {
const BVHABB_CLASS &aabb = leaf.get_aabb(n);
if (aabb.intersects(r_params.abb)) {
if (swizzled_tester.intersects_swizzled(aabb)) {
uint32_t child_id = leaf.get_item_ref_id(n);
// register hit
_cull_hit(child_id, r_params);
}
}
} // not fully within
} else {
if (!cap.fully_within) {

4
core/math/bvh_debug.inc
View File

@ -7,12 +7,12 @@ void _debug_recursive_print_tree(int p_tree_id) const {
}
String _debug_aabb_to_string(const BVHABB_CLASS &aabb) const {
Point size = aabb.calculate_size();
POINT size = aabb.calculate_size();
String sz;
float vol = 0.0;
for (int i = 0; i < Point::AXES_COUNT; ++i) {
for (int i = 0; i < POINT::AXIS_COUNT; ++i) {
sz += "(";
sz += itos(aabb.min[i]);
sz += " ~ ";

16
core/math/bvh_logic.inc
View File

@ -42,9 +42,9 @@ BVHABB_CLASS _logic_abb_merge(const BVHABB_CLASS &a, const BVHABB_CLASS &b) {
//--------------------------------------------------------------------------------------------------
/**
* @file q3DynamicAABBTree.h
* @author Randy Gaul
* @date 10/10/2014
* @file q3DynamicAABBTree.h
* @author Randy Gaul
* @date 10/10/2014
* Copyright (c) 2014 Randy Gaul http://www.randygaul.net
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
@ -75,11 +75,11 @@ int32_t _logic_balance(int32_t iA, uint32_t p_tree_id) {
return iA;
}
/* A
* / \
* B C
* / \ / \
* D E F G
/* A
* / \
* B C
* / \ / \
* D E F G
*/
CRASH_COND(A->num_children != 2);

6
core/math/bvh_misc.inc
View File

@ -1,11 +1,7 @@
int _handle_get_tree_id(BVHHandle p_handle) const {
if (USE_PAIRS) {
int tree = 0;
if (_extra[p_handle.id()].pairable) {
tree = 1;
}
return tree;
return _extra[p_handle.id()].tree_id;
}
return 0;
}

14
core/math/bvh_pair.inc
View File

@ -14,10 +14,10 @@ struct ItemPairs {
void clear() {
num_pairs = 0;
extended_pairs.reset();
expanded_aabb = Bounds();
expanded_aabb = BOUNDS();
}
Bounds expanded_aabb;
BOUNDS expanded_aabb;
// maybe we can just use the number in the vector TODO
int32_t num_pairs;
@ -59,4 +59,14 @@ struct ItemPairs {
return userdata;
}
// experiment : scale the pairing expansion by the number of pairs.
// when the number of pairs is high, the density is high and a lower collision margin is better.
// when there are few local pairs, a larger margin is more optimal.
real_t scale_expansion_margin(real_t p_margin) const {
real_t x = real_t(num_pairs) * (1.0 / 9.0);
x = MIN(x, 1.0);
x = 1.0 - x;
return p_margin * x;
}
};

146
core/math/bvh_public.inc
View File

@ -1,5 +1,5 @@
public:
BVHHandle item_add(T *p_userdata, bool p_active, const Bounds &p_aabb, int32_t p_subindex, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask, bool p_invisible = false) {
BVHHandle item_add(T *p_userdata, bool p_active, const BOUNDS &p_aabb, int32_t p_subindex, uint32_t p_tree_id, uint32_t p_tree_collision_mask, bool p_invisible = false) {
#ifdef BVH_VERBOSE_TREE
VERBOSE_PRINT("\nitem_add BEFORE");
_debug_recursive_print_tree(0);
@ -9,6 +9,13 @@ BVHHandle item_add(T *p_userdata, bool p_active, const Bounds &p_aabb, int32_t p
BVHABB_CLASS abb;
abb.from(p_aabb);
// NOTE that we do not expand the AABB for the first create even if
// leaf expansion is switched on. This is for two reasons:
// (1) We don't know if this object will move in future, in which case a non-expanded
// bound would be better...
// (2) We don't yet know how many objects will be paired, which is used to modify
// the expansion margin.
// handle to be filled with the new item ref
BVHHandle handle;
@ -40,29 +47,17 @@ BVHHandle item_add(T *p_userdata, bool p_active, const Bounds &p_aabb, int32_t p
extra->active_ref_id = _active_refs.size();
_active_refs.push_back(ref_id);
if (USE_PAIRS) {
extra->pairable_mask = p_pairable_mask;
extra->pairable_type = p_pairable_type;
extra->pairable = p_pairable;
} else {
// just for safety, in case this gets queried etc
extra->pairable = 0;
p_pairable = false;
}
extra->tree_id = p_tree_id;
extra->tree_collision_mask = p_tree_collision_mask;
// assign to handle to return
handle.set_id(ref_id);
uint32_t tree_id = 0;
if (p_pairable) {
tree_id = 1;
}
create_root_node(tree_id);
create_root_node(p_tree_id);
// we must choose where to add to tree
if (p_active) {
ref->tnode_id = _logic_choose_item_add_node(_root_node_id[tree_id], abb);
ref->tnode_id = _logic_choose_item_add_node(_root_node_id[p_tree_id], abb);
bool refit = _node_add_item(ref->tnode_id, ref_id, abb);
@ -70,7 +65,7 @@ BVHHandle item_add(T *p_userdata, bool p_active, const Bounds &p_aabb, int32_t p
// only need to refit from the parent
const TNode &add_node = _nodes[ref->tnode_id];
if (add_node.parent_id != BVHCommon::INVALID) {
refit_upward_and_balance(add_node.parent_id, tree_id);
refit_upward_and_balance(add_node.parent_id, p_tree_id);
}
}
} else {
@ -103,7 +98,7 @@ void _debug_print_refs() {
}
// returns false if noop
bool item_move(BVHHandle p_handle, const Bounds &p_aabb) {
bool item_move(BVHHandle p_handle, const BOUNDS &p_aabb) {
uint32_t ref_id = p_handle.id();
// get the reference
@ -115,10 +110,19 @@ bool item_move(BVHHandle p_handle, const Bounds &p_aabb) {
BVHABB_CLASS abb;
abb.from(p_aabb);
#ifdef BVH_EXPAND_LEAF_AABBS
if (USE_PAIRS) {
// scale the pairing expansion by the number of pairs.
abb.expand(_pairs[ref_id].scale_expansion_margin(_pairing_expansion));
} else {
abb.expand(_pairing_expansion);
}
#endif
BVH_ASSERT(ref.tnode_id != BVHCommon::INVALID);
TNode &tnode = _nodes[ref.tnode_id];
// does it fit within the current aabb?
// does it fit within the current leaf aabb?
if (tnode.aabb.is_other_within(abb)) {
// do nothing .. fast path .. not moved enough to need refit
@ -129,9 +133,24 @@ bool item_move(BVHHandle p_handle, const Bounds &p_aabb) {
BVHABB_CLASS &leaf_abb = leaf.get_aabb(ref.item_id);
// no change?
#ifdef BVH_EXPAND_LEAF_AABBS
BOUNDS leaf_aabb;
leaf_abb.to(leaf_aabb);
// This test should pass in a lot of cases, and by returning false we can avoid
// collision pairing checks later, which greatly reduces processing.
if (expanded_aabb_encloses_not_shrink(leaf_aabb, p_aabb)) {
return false;
}
#else
if (leaf_abb == abb) {
return false;
}
#endif
#ifdef BVH_VERBOSE_MOVES
print_line("item_move " + itos(p_handle.id()) + "(within tnode aabb) : " + _debug_aabb_to_string(abb));
#endif
leaf_abb = abb;
_integrity_check_all();
@ -139,6 +158,10 @@ bool item_move(BVHHandle p_handle, const Bounds &p_aabb) {
return true;
}
#ifdef BVH_VERBOSE_MOVES
print_line("item_move " + itos(p_handle.id()) + "(outside tnode aabb) : " + _debug_aabb_to_string(abb));
#endif
uint32_t tree_id = _handle_get_tree_id(p_handle);
// remove and reinsert
@ -206,7 +229,7 @@ void item_remove(BVHHandle p_handle) {
}
// returns success
bool item_activate(BVHHandle p_handle, const Bounds &p_aabb) {
bool item_activate(BVHHandle p_handle, const BOUNDS &p_aabb) {
uint32_t ref_id = p_handle.id();
ItemRef &ref = _refs[ref_id];
if (ref.is_active()) {
@ -260,12 +283,14 @@ void item_fill_cullparams(BVHHandle p_handle, CullParams &r_params) const {
uint32_t ref_id = p_handle.id();
const ItemExtra &extra = _extra[ref_id];
// testing from a non pairable item, we only want to test pairable items
r_params.test_pairable_only = extra.pairable == 0;
// which trees does this item want to collide detect against?
r_params.tree_collision_mask = extra.tree_collision_mask;
// we take into account the mask of the item testing from
r_params.mask = extra.pairable_mask;
r_params.pairable_type = extra.pairable_type;
// The testing user defined object is passed to the user defined cull check function
// for masks etc. This is usually a dummy object of type T with masks set.
// However, if not using the cull_check callback (i.e. returning true), you can pass
// a nullptr instead of dummy object, as it will not be used.
r_params.tester = extra.userdata;
}
bool item_is_pairable(const BVHHandle &p_handle) {
@ -285,7 +310,7 @@ void item_get_ABB(const BVHHandle &p_handle, BVHABB_CLASS &r_abb) {
r_abb = leaf.get_aabb(ref.item_id);
}
bool item_set_pairable(const BVHHandle &p_handle, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask) {
bool item_set_tree(const BVHHandle &p_handle, uint32_t p_tree_id, uint32_t p_tree_collision_mask) {
// change tree?
uint32_t ref_id = p_handle.id();
@ -293,13 +318,15 @@ bool item_set_pairable(const BVHHandle &p_handle, bool p_pairable, uint32_t p_pa
ItemRef &ref = _refs[ref_id];
bool active = ref.is_active();
bool pairable_changed = (ex.pairable != 0) != p_pairable;
bool state_changed = pairable_changed || (ex.pairable_type != p_pairable_type) || (ex.pairable_mask != p_pairable_mask);
bool tree_changed = ex.tree_id != p_tree_id;
bool mask_changed = ex.tree_collision_mask != p_tree_collision_mask;
bool state_changed = tree_changed | mask_changed;
ex.pairable_type = p_pairable_type;
ex.pairable_mask = p_pairable_mask;
// Keep an eye on this for bugs of not noticing changes to objects,
// especially when changing client user masks that will not be detected as a change
// in the BVH. You may need to force a collision check in this case with recheck_pairs().
if (active && pairable_changed) {
if (active && (tree_changed | mask_changed)) {
// record abb
TNode &tnode = _nodes[ref.tnode_id];
TLeaf &leaf = _node_get_leaf(tnode);
@ -313,7 +340,8 @@ bool item_set_pairable(const BVHHandle &p_handle, bool p_pairable, uint32_t p_pa
// we must set the pairable AFTER getting the current tree
// because the pairable status determines which tree
ex.pairable = p_pairable;
ex.tree_id = p_tree_id;
ex.tree_collision_mask = p_tree_collision_mask;
// add to new tree
tree_id = _handle_get_tree_id(p_handle);
@ -333,7 +361,8 @@ bool item_set_pairable(const BVHHandle &p_handle, bool p_pairable, uint32_t p_pa
}
} else {
// always keep this up to date
ex.pairable = p_pairable;
ex.tree_id = p_tree_id;
ex.tree_collision_mask = p_tree_collision_mask;
}
return state_changed;
@ -403,7 +432,7 @@ void update() {
// if there are no nodes, do nothing, but if there are...
if (bound_valid) {
Bounds bb;
BOUNDS bb;
world_bound.to(bb);
real_t size = bb.get_longest_axis_size();
@ -421,3 +450,50 @@ void update() {
}
#endif
}
void params_set_pairing_expansion(real_t p_value) {
if (p_value < 0.0) {
#ifdef BVH_ALLOW_AUTO_EXPANSION
_auto_pairing_expansion = true;
#endif
return;
}
#ifdef BVH_ALLOW_AUTO_EXPANSION
_auto_pairing_expansion = false;
#endif
_pairing_expansion = p_value;
// calculate shrinking threshold
const real_t fudge_factor = 1.1;
_aabb_shrinkage_threshold = _pairing_expansion * POINT::AXIS_COUNT * 2.0 * fudge_factor;
}
// This routine is not just an enclose check, it also checks for special case of shrinkage
bool expanded_aabb_encloses_not_shrink(const BOUNDS &p_expanded_aabb, const BOUNDS &p_aabb) const {
if (!p_expanded_aabb.encloses(p_aabb)) {
return false;
}
// Check for special case of shrinkage. If the aabb has shrunk
// significantly we want to create a new expanded bound, because
// the previous expanded bound will have diverged significantly.
const POINT &exp_size = p_expanded_aabb.size;
const POINT &new_size = p_aabb.size;
real_t exp_l = 0.0;
real_t new_l = 0.0;
for (int i = 0; i < POINT::AXIS_COUNT; ++i) {
exp_l += exp_size[i];
new_l += new_size[i];
}
// is difference above some metric
real_t diff = exp_l - new_l;
if (diff < _aabb_shrinkage_threshold) {
return true;
}
return false;
}

18
core/math/bvh_split.inc
View File

@ -25,16 +25,16 @@ void _split_leaf_sort_groups_simple(int &num_a, int &num_b, uint16_t *group_a, u
return;
}
Point centre = full_bound.calculate_centre();
Point size = full_bound.calculate_size();
POINT centre = full_bound.calculate_centre();
POINT size = full_bound.calculate_size();
int order[Point::AXIS_COUNT];
int order[POINT::AXIS_COUNT];
order[0] = size.min_axis_index();
order[Point::AXIS_COUNT - 1] = size.max_axis_index();
order[POINT::AXIS_COUNT - 1] = size.max_axis_index();
static_assert(Point::AXIS_COUNT <= 3);
if (Point::AXIS_COUNT == 3) {
static_assert(POINT::AXIS_COUNT <= 3, "BVH POINT::AXIS_COUNT has unexpected size");
if (POINT::AXIS_COUNT == 3) {
order[1] = 3 - (order[0] + order[2]);
}
@ -58,7 +58,7 @@ void _split_leaf_sort_groups_simple(int &num_a, int &num_b, uint16_t *group_a, u
// detect when split on longest axis failed
int min_threshold = MAX_ITEMS / 4;
int min_group_size[Point::AXIS_COUNT];
int min_group_size[POINT::AXIS_COUNT];
min_group_size[0] = MIN(num_a, num_b);
if (min_group_size[0] < min_threshold) {
// slow but sure .. first move everything back into a
@ -68,7 +68,7 @@ void _split_leaf_sort_groups_simple(int &num_a, int &num_b, uint16_t *group_a, u
num_b = 0;
// now calculate the best split
for (int axis = 1; axis < Point::AXIS_COUNT; axis++) {
for (int axis = 1; axis < POINT::AXIS_COUNT; axis++) {
split_axis = order[axis];
int count = 0;
@ -86,7 +86,7 @@ void _split_leaf_sort_groups_simple(int &num_a, int &num_b, uint16_t *group_a, u
// best axis
int best_axis = 0;
int best_min = min_group_size[0];
for (int axis = 1; axis < Point::AXIS_COUNT; axis++) {
for (int axis = 1; axis < POINT::AXIS_COUNT; axis++) {
if (min_group_size[axis] > best_min) {
best_min = min_group_size[axis];
best_axis = axis;

69
core/math/bvh_structs.inc
View File

@ -14,25 +14,38 @@ struct ItemRef {
// extra info kept in separate parallel list to the references,
// as this is less used as keeps cache better
struct ItemExtra {
uint32_t last_updated_tick;
uint32_t pairable;
uint32_t pairable_mask;
uint32_t pairable_type;
// Before doing user defined pairing checks (especially in the find_leavers function),
// we may want to check that two items have compatible tree ids and tree masks,
// as if they are incompatible they should not pair / collide.
bool are_item_trees_compatible(const ItemExtra &p_other) const {
uint32_t other_type = 1 << p_other.tree_id;
if (tree_collision_mask & other_type) {
return true;
}
uint32_t our_type = 1 << tree_id;
if (p_other.tree_collision_mask & our_type) {
return true;
}
return false;
}
// There can be multiple user defined trees
uint32_t tree_id;
// Defines which trees this item should collision check against.
// 1 << tree_id, and normally items would collide against there own
// tree (but not always).
uint32_t tree_collision_mask;
uint32_t last_updated_tick;
int32_t subindex;
T *userdata;
// the active reference is a separate list of which references
// are active so that we can slowly iterate through it over many frames for
// slow optimize.
uint32_t active_ref_id;
T *userdata;
};
// this is an item OR a child node depending on whether a leaf node
struct Item {
BVHABB_CLASS aabb;
uint32_t item_ref_id;
};
// tree leaf
@ -133,13 +146,13 @@ struct TNode {
// instead of using linked list we maintain
// item references (for quick lookup)
PooledList<ItemRef, true> _refs;
PooledList<ItemExtra, true> _extra;
PooledList<ItemRef, uint32_t, true> _refs;
PooledList<ItemExtra, uint32_t, true> _extra;
PooledList<ItemPairs> _pairs;
// these 2 are not in sync .. nodes != leaves!
PooledList<TNode, true> _nodes;
PooledList<TLeaf, true> _leaves;
PooledList<TNode, uint32_t, true> _nodes;
PooledList<TLeaf, uint32_t, true> _leaves;
// we can maintain an un-ordered list of which references are active,
// in order to do a slow incremental optimize of the tree over each frame.
@ -152,15 +165,11 @@ uint32_t _current_active_ref = 0;
// for pairing collision detection
LocalVector<uint32_t, uint32_t, true> _cull_hits;
// we now have multiple root nodes, allowing us to store
// more than 1 tree. This can be more efficient, while sharing the same
// common lists
enum { NUM_TREES = 2,
};
// Tree 0 - Non pairable
// Tree 1 - Pairable
// This is more efficient because in physics we only need check non pairable against the pairable tree.
// We can now have a user definable number of trees.
// This allows using e.g. a non-pairable and pairable tree,
// which can be more efficient for example, if we only need check non pairable against the pairable tree.
// It also may be more efficient in terms of separating static from dynamic objects, by reducing housekeeping.
// However this is a trade off, as there is a cost of traversing two trees.
uint32_t _root_node_id[NUM_TREES];
// these values may need tweaking according to the project
@ -177,4 +186,14 @@ bool _auto_node_expansion = true;
// larger values gives more 'sticky' pairing, and is less likely to exhibit tunneling
// we can either use auto mode, where the expansion is based on the root node size, or specify manually
real_t _pairing_expansion = 0.1;
#ifdef BVH_ALLOW_AUTO_EXPANSION
bool _auto_pairing_expansion = true;
#endif
// when using an expanded bound, we must detect the condition where a new AABB
// is significantly smaller than the expanded bound, as this is a special case where we
// should override the optimization and create a new expanded bound.
// This threshold is derived from the _pairing_expansion, and should be recalculated
// if _pairing_expansion is changed.
real_t _aabb_shrinkage_threshold = 0.0;

50
core/math/bvh_tree.h
View File

@ -48,12 +48,17 @@
#include "core/templates/pooled_list.h"
#include <limits.h>
#define BVHABB_CLASS BVH_ABB<Bounds, Point>
#define BVHABB_CLASS BVH_ABB<BOUNDS, POINT>
// not sure if this is better yet so making optional
#define BVH_EXPAND_LEAF_AABBS
// never do these checks in release
#if defined(TOOLS_ENABLED) && defined(DEBUG_ENABLED)
//#define BVH_VERBOSE
//#define BVH_VERBOSE_TREE
//#define BVH_VERBOSE_PAIRING
//#define BVH_VERBOSE_MOVES
//#define BVH_VERBOSE_FRAME
//#define BVH_CHECKS
@ -148,7 +153,25 @@ public:
}
};
template <class T, int MAX_CHILDREN, int MAX_ITEMS, bool USE_PAIRS = false, class Bounds = AABB, class Point = Vector3>
template <class T>
class BVH_DummyPairTestFunction {
public:
static bool user_collision_check(T *p_a, T *p_b) {
// return false if no collision, decided by masks etc
return true;
}
};
template <class T>
class BVH_DummyCullTestFunction {
public:
static bool user_cull_check(T *p_a, T *p_b) {
// return false if no collision
return true;
}
};
template <class T, int NUM_TREES, int MAX_CHILDREN, int MAX_ITEMS, class USER_PAIR_TEST_FUNCTION = BVH_DummyPairTestFunction<T>, class USER_CULL_TEST_FUNCTION = BVH_DummyCullTestFunction<T>, bool USE_PAIRS = false, class BOUNDS = AABB, class POINT = Vector3>
class BVH_Tree {
friend class BVH;
@ -165,6 +188,11 @@ public:
// (as these ids are stored as negative numbers in the node)
uint32_t dummy_leaf_id;
_leaves.request(dummy_leaf_id);
// In many cases you may want to change this default in the client code,
// or expose this value to the user.
// This default may make sense for a typically scaled 3d game, but maybe not for 2d on a pixel scale.
params_set_pairing_expansion(0.1);
}
private:
@ -234,7 +262,7 @@ private:
change_root_node(sibling_id, p_tree_id);
// delete the old root node as no longer needed
_nodes.free(p_parent_id);
node_free_node_and_leaf(p_parent_id);
}
return;
@ -247,7 +275,19 @@ private:
}
// put the node on the free list to recycle
_nodes.free(p_parent_id);
node_free_node_and_leaf(p_parent_id);
}
// A node can either be a node, or a node AND a leaf combo.
// Both must be deleted to prevent a leak.
void node_free_node_and_leaf(uint32_t p_node_id) {
TNode &node = _nodes[p_node_id];
if (node.is_leaf()) {
int leaf_id = node.get_leaf_id();
_leaves.free(leaf_id);
}
_nodes.free(p_node_id);
}
void change_root_node(uint32_t p_new_root_id, uint32_t p_tree_id) {
@ -339,7 +379,7 @@ private:
refit_upward(parent_id);
// put the node on the free list to recycle
_nodes.free(owner_node_id);
node_free_node_and_leaf(owner_node_id);
}
// else if no parent, it is the root node. Do not delete

149
core/templates/pooled_list.h
View File

@ -28,16 +28,13 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef POOLED_LIST_H
#define POOLED_LIST_H
#include "core/templates/local_vector.h"
#pragma once
// Simple template to provide a pool with O(1) allocate and free.
// The freelist could alternatively be a linked list placed within the unused elements
// to use less memory, however a separate freelist is probably more cache friendly.
//
// NOTE: Take great care when using this with non POD types. The construction and destruction
// NOTE : Take great care when using this with non POD types. The construction and destruction
// is done in the LocalVector, NOT as part of the pool. So requesting a new item does not guarantee
// a constructor is run, and free does not guarantee a destructor.
// You should generally handle clearing
@ -45,33 +42,60 @@
// This is by design for fastest use in the BVH. If you want a more general pool
// that does call constructors / destructors on request / free, this should probably be
// a separate template.
template <class T, bool force_trivial = false>
// The zero_on_first_request feature is optional and is useful for e.g. pools of handles,
// which may use a ref count which we want to be initialized to zero the first time a handle is created,
// but left alone on subsequent allocations (as will typically be incremented).
// Note that there is no function to compact the pool - this would
// invalidate any existing pool IDs held externally.
// Compaction can be done but would rely on a more complex method
// of preferentially giving out lower IDs in the freelist first.
#include "core/templates/local_vector.h"
template <class T, class U = uint32_t, bool force_trivial = false, bool zero_on_first_request = false>
class PooledList {
LocalVector<T, uint32_t, force_trivial> list;
LocalVector<uint32_t, uint32_t, true> freelist;
LocalVector<T, U, force_trivial> list;
LocalVector<U, U, true> freelist;
// not all list members are necessarily used
int _used_size;
U _used_size;
public:
PooledList() {
_used_size = 0;
}
int estimate_memory_use() const {
return (list.size() * sizeof(T)) + (freelist.size() * sizeof(uint32_t));
// Use with care, in most cases you should make sure to
// free all elements first (i.e. _used_size would be zero),
// although it could also be used without this as an optimization
// in some cases.
void clear() {
list.clear();
freelist.clear();
_used_size = 0;
}
const T &operator[](uint32_t p_index) const {
uint64_t estimate_memory_use() const {
return ((uint64_t)list.size() * sizeof(T)) + ((uint64_t)freelist.size() * sizeof(U));
}
const T &operator[](U p_index) const {
return list[p_index];
}
T &operator[](uint32_t p_index) {
T &operator[](U p_index) {
return list[p_index];
}
int size() const { return _used_size; }
// To be explicit in a pool there is a distinction
// between the number of elements that are currently
// in use, and the number of elements that have been reserved.
// Using size() would be vague.
U used_size() const { return _used_size; }
U reserved_size() const { return list.size(); }
T *request(uint32_t &r_id) {
T *request(U &r_id) {
_used_size++;
if (freelist.size()) {
@ -79,19 +103,106 @@ public:
int new_size = freelist.size() - 1;
r_id = freelist[new_size];
freelist.resize(new_size);
return &list[r_id];
}
r_id = list.size();
list.resize(r_id + 1);
static_assert((!zero_on_first_request) || (__is_pod(T)), "zero_on_first_request requires trivial type");
if (zero_on_first_request && __is_pod(T)) {
list[r_id] = {};
}
return &list[r_id];
}
void free(const uint32_t &p_id) {
void free(const U &p_id) {
// should not be on free list already
CRASH_COND(p_id >= list.size());
ERR_FAIL_UNSIGNED_INDEX(p_id, list.size());
freelist.push_back(p_id);
ERR_FAIL_COND_MSG(!_used_size, "_used_size has become out of sync, have you double freed an item?");
_used_size--;
}
};
#endif // POOLED_LIST_H
// a pooled list which automatically keeps a list of the active members
template <class T, class U = uint32_t, bool force_trivial = false, bool zero_on_first_request = false>
class TrackedPooledList {
public:
U pool_used_size() const { return _pool.used_size(); }
U pool_reserved_size() const { return _pool.reserved_size(); }
U active_size() const { return _active_list.size(); }
// use with care, see the earlier notes in the PooledList clear()
void clear() {
_pool.clear();
_active_list.clear();
_active_map.clear();
}
U get_active_id(U p_index) const {
return _active_list[p_index];
}
const T &get_active(U p_index) const {
return _pool[get_active_id(p_index)];
}
T &get_active(U p_index) {
return _pool[get_active_id(p_index)];
}
const T &operator[](U p_index) const {
return _pool[p_index];
}
T &operator[](U p_index) {
return _pool[p_index];
}
T *request(U &r_id) {
T *item = _pool.request(r_id);
// add to the active list
U active_list_id = _active_list.size();
_active_list.push_back(r_id);
// expand the active map (this should be in sync with the pool list
if (_pool.used_size() > _active_map.size()) {
_active_map.resize(_pool.used_size());
}
// store in the active map
_active_map[r_id] = active_list_id;
return item;
}
void free(const U &p_id) {
_pool.free(p_id);
// remove from the active list.
U list_id = _active_map[p_id];
// zero the _active map to detect bugs (only in debug?)
_active_map[p_id] = -1;
_active_list.remove_unordered(list_id);
// keep the replacement in sync with the correct list Id
if (list_id < _active_list.size()) {
// which pool id has been replaced in the active list
U replacement_id = _active_list[list_id];
// keep that replacements map up to date with the new position
_active_map[replacement_id] = list_id;
}
}
const LocalVector<U, U> &get_active_list() const { return _active_list; }
private:
PooledList<T, U, force_trivial, zero_on_first_request> _pool;
LocalVector<U, U> _active_map;
LocalVector<U, U> _active_list;
};

16
servers/physics_2d/godot_broad_phase_2d_bvh.cpp
View File

@ -32,7 +32,9 @@
#include "godot_collision_object_2d.h"
GodotBroadPhase2D::ID GodotBroadPhase2DBVH::create(GodotCollisionObject2D *p_object, int p_subindex, const Rect2 &p_aabb, bool p_static) {
ID oid = bvh.create(p_object, true, p_aabb, p_subindex, !p_static, 1 << p_object->get_type(), p_static ? 0 : 0xFFFFF); // Pair everything, don't care?
uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
uint32_t tree_collision_mask = p_static ? 0 : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
ID oid = bvh.create(p_object, true, tree_id, tree_collision_mask, p_aabb, p_subindex); // Pair everything, don't care?
return oid + 1;
}
@ -41,8 +43,9 @@ void GodotBroadPhase2DBVH::move(ID p_id, const Rect2 &p_aabb) {
}
void GodotBroadPhase2DBVH::set_static(ID p_id, bool p_static) {
GodotCollisionObject2D *it = bvh.get(p_id - 1);
bvh.set_pairable(p_id - 1, !p_static, 1 << it->get_type(), p_static ? 0 : 0xFFFFF, false); // Pair everything, don't care?
uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
uint32_t tree_collision_mask = p_static ? 0 : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
bvh.set_tree(p_id - 1, tree_id, tree_collision_mask, false);
}
void GodotBroadPhase2DBVH::remove(ID p_id) {
@ -56,7 +59,8 @@ GodotCollisionObject2D *GodotBroadPhase2DBVH::get_object(ID p_id) const {
}
bool GodotBroadPhase2DBVH::is_static(ID p_id) const {
return !bvh.is_pairable(p_id - 1);
uint32_t tree_id = bvh.get_tree_id(p_id - 1);
return tree_id == 0;
}
int GodotBroadPhase2DBVH::get_subindex(ID p_id) const {
@ -64,11 +68,11 @@ int GodotBroadPhase2DBVH::get_subindex(ID p_id) const {
}
int GodotBroadPhase2DBVH::cull_segment(const Vector2 &p_from, const Vector2 &p_to, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices) {
return bvh.cull_segment(p_from, p_to, p_results, p_max_results, p_result_indices);
return bvh.cull_segment(p_from, p_to, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
}
int GodotBroadPhase2DBVH::cull_aabb(const Rect2 &p_aabb, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices) {
return bvh.cull_aabb(p_aabb, p_results, p_max_results, p_result_indices);
return bvh.cull_aabb(p_aabb, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
}
void *GodotBroadPhase2DBVH::_pair_callback(void *self, uint32_t p_A, GodotCollisionObject2D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject2D *p_object_B, int subindex_B) {

29
servers/physics_2d/godot_broad_phase_2d_bvh.h
View File

@ -38,7 +38,34 @@
#include "core/math/vector2.h"
class GodotBroadPhase2DBVH : public GodotBroadPhase2D {
BVH_Manager<GodotCollisionObject2D, true, 128, Rect2, Vector2> bvh;
template <class T>
class UserPairTestFunction {
public:
static bool user_pair_check(const T *p_a, const T *p_b) {
// return false if no collision, decided by masks etc
return p_a->interacts_with(p_b);
}
};
template <class T>
class UserCullTestFunction {
public:
static bool user_cull_check(const T *p_a, const T *p_b) {
return true;
}
};
enum Tree {
TREE_STATIC = 0,
TREE_DYNAMIC = 1,
};
enum TreeFlag {
TREE_FLAG_STATIC = 1 << TREE_STATIC,
TREE_FLAG_DYNAMIC = 1 << TREE_DYNAMIC,
};
BVH_Manager<GodotCollisionObject2D, 2, true, 128, UserPairTestFunction<GodotCollisionObject2D>, UserCullTestFunction<GodotCollisionObject2D>, Rect2, Vector2> bvh;
static void *_pair_callback(void *, uint32_t, GodotCollisionObject2D *, int, uint32_t, GodotCollisionObject2D *, int);
static void _unpair_callback(void *, uint32_t, GodotCollisionObject2D *, int, uint32_t, GodotCollisionObject2D *, int, void *);

2
servers/physics_2d/godot_collision_object_2d.h
View File

@ -180,7 +180,7 @@ public:
return p_other->collision_layer & collision_mask;
}
_FORCE_INLINE_ bool interacts_with(GodotCollisionObject2D *p_other) const {
_FORCE_INLINE_ bool interacts_with(const GodotCollisionObject2D *p_other) const {
return collision_layer & p_other->collision_mask || p_other->collision_layer & collision_mask;
}

5
servers/physics_2d/godot_space_2d.cpp
View File

@ -995,11 +995,8 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
return collided;
}
// Assumes a valid collision pair, this should have been checked beforehand in the BVH or octree.
void *GodotSpace2D::_broadphase_pair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_self) {
if (!A->interacts_with(B)) {
return nullptr;
}
GodotCollisionObject2D::Type type_A = A->get_type();
GodotCollisionObject2D::Type type_B = B->get_type();
if (type_A > type_B) {

18
servers/physics_3d/godot_broad_phase_3d_bvh.cpp
View File

@ -33,7 +33,9 @@
#include "godot_collision_object_3d.h"
GodotBroadPhase3DBVH::ID GodotBroadPhase3DBVH::create(GodotCollisionObject3D *p_object, int p_subindex, const AABB &p_aabb, bool p_static) {
ID oid = bvh.create(p_object, true, p_aabb, p_subindex, !p_static, 1 << p_object->get_type(), p_static ? 0 : 0xFFFFF); // Pair everything, don't care?
uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
uint32_t tree_collision_mask = p_static ? 0 : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
ID oid = bvh.create(p_object, true, tree_id, tree_collision_mask, p_aabb, p_subindex); // Pair everything, don't care?
return oid + 1;
}
@ -42,8 +44,9 @@ void GodotBroadPhase3DBVH::move(ID p_id, const AABB &p_aabb) {
}
void GodotBroadPhase3DBVH::set_static(ID p_id, bool p_static) {
GodotCollisionObject3D *it = bvh.get(p_id - 1);
bvh.set_pairable(p_id - 1, !p_static, 1 << it->get_type(), p_static ? 0 : 0xFFFFF, false); // Pair everything, don't care?
uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
uint32_t tree_collision_mask = p_static ? 0 : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
bvh.set_tree(p_id - 1, tree_id, tree_collision_mask, false);
}
void GodotBroadPhase3DBVH::remove(ID p_id) {
@ -57,7 +60,8 @@ GodotCollisionObject3D *GodotBroadPhase3DBVH::get_object(ID p_id) const {
}
bool GodotBroadPhase3DBVH::is_static(ID p_id) const {
return !bvh.is_pairable(p_id - 1);
uint32_t tree_id = bvh.get_tree_id(p_id - 1);
return tree_id == 0;
}
int GodotBroadPhase3DBVH::get_subindex(ID p_id) const {
@ -65,15 +69,15 @@ int GodotBroadPhase3DBVH::get_subindex(ID p_id) const {
}
int GodotBroadPhase3DBVH::cull_point(const Vector3 &p_point, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) {
return bvh.cull_point(p_point, p_results, p_max_results, p_result_indices);
return bvh.cull_point(p_point, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
}
int GodotBroadPhase3DBVH::cull_segment(const Vector3 &p_from, const Vector3 &p_to, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) {
return bvh.cull_segment(p_from, p_to, p_results, p_max_results, p_result_indices);
return bvh.cull_segment(p_from, p_to, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
}
int GodotBroadPhase3DBVH::cull_aabb(const AABB &p_aabb, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) {
return bvh.cull_aabb(p_aabb, p_results, p_max_results, p_result_indices);
return bvh.cull_aabb(p_aabb, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
}
void *GodotBroadPhase3DBVH::_pair_callback(void *self, uint32_t p_A, GodotCollisionObject3D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject3D *p_object_B, int subindex_B) {

29
servers/physics_3d/godot_broad_phase_3d_bvh.h
View File

@ -36,7 +36,34 @@
#include "core/math/bvh.h"
class GodotBroadPhase3DBVH : public GodotBroadPhase3D {
BVH_Manager<GodotCollisionObject3D, true, 128> bvh;
template <class T>
class UserPairTestFunction {
public:
static bool user_pair_check(const T *p_a, const T *p_b) {
// return false if no collision, decided by masks etc
return p_a->interacts_with(p_b);
}
};
template <class T>
class UserCullTestFunction {
public:
static bool user_cull_check(const T *p_a, const T *p_b) {
return true;
}
};
enum Tree {
TREE_STATIC = 0,
TREE_DYNAMIC = 1,
};
enum TreeFlag {
TREE_FLAG_STATIC = 1 << TREE_STATIC,
TREE_FLAG_DYNAMIC = 1 << TREE_DYNAMIC,
};
BVH_Manager<GodotCollisionObject3D, 2, true, 128, UserPairTestFunction<GodotCollisionObject3D>, UserCullTestFunction<GodotCollisionObject3D>> bvh;
static void *_pair_callback(void *, uint32_t, GodotCollisionObject3D *, int, uint32_t, GodotCollisionObject3D *, int);
static void _unpair_callback(void *, uint32_t, GodotCollisionObject3D *, int, uint32_t, GodotCollisionObject3D *, int, void *);

2
servers/physics_3d/godot_collision_object_3d.h
View File

@ -169,7 +169,7 @@ public:
return p_other->collision_layer & collision_mask;
}
_FORCE_INLINE_ bool interacts_with(GodotCollisionObject3D *p_other) const {
_FORCE_INLINE_ bool interacts_with(const GodotCollisionObject3D *p_other) const {
return collision_layer & p_other->collision_mask || p_other->collision_layer & collision_mask;
}

5
servers/physics_3d/godot_space_3d.cpp
View File

@ -1007,11 +1007,8 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::
return collided;
}
// Assumes a valid collision pair, this should have been checked beforehand in the BVH or octree.
void *GodotSpace3D::_broadphase_pair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_self) {
if (!A->interacts_with(B)) {
return nullptr;
}
GodotCollisionObject3D::Type type_A = A->get_type();
GodotCollisionObject3D::Type type_B = B->get_type();
if (type_A > type_B) {