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BVH - prevent self collisions

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I had missed a special case check for userdata of two colliding objects being equal. In this case, collisions should not be reported. This is used in the physics to prevent self intersection in composite objects.
This commit is contained in:
lawnjelly 2021-04-04 09:08:27 +01:00
parent 34c23002ff
commit d67975c1cd
1 changed files with 16 additions and 6 deletions
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22
core/math/bvh.h
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@ -472,6 +472,14 @@ private:
void _unpair(BVHHandle p_from, BVHHandle p_to) { void _unpair(BVHHandle p_from, BVHHandle p_to) {
tree._handle_sort(p_from, p_to); 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;
}
typename BVHTREE_CLASS::ItemPairs &pairs_from = tree._pairs[p_from.id()]; typename BVHTREE_CLASS::ItemPairs &pairs_from = tree._pairs[p_from.id()];
typename BVHTREE_CLASS::ItemPairs &pairs_to = tree._pairs[p_to.id()]; typename BVHTREE_CLASS::ItemPairs &pairs_to = tree._pairs[p_to.id()];
@ -481,9 +489,6 @@ private:
// callback // callback
if (unpair_callback) { if (unpair_callback) {
typename BVHTREE_CLASS::ItemExtra &exa = tree._extra[p_from.id()];
typename BVHTREE_CLASS::ItemExtra &exb = tree._extra[p_to.id()];
unpair_callback(pair_callback_userdata, p_from, exa.userdata, exa.subindex, p_to, exb.userdata, exb.subindex, ud_from); unpair_callback(pair_callback_userdata, p_from, exa.userdata, exa.subindex, p_to, exb.userdata, exb.subindex, ud_from);
} }
} }
@ -544,6 +549,14 @@ private:
// only have to do this oneway, lower ID then higher ID // only have to do this oneway, lower ID then higher ID
tree._handle_sort(p_ha, p_hb); tree._handle_sort(p_ha, p_hb);
const typename BVHTREE_CLASS::ItemExtra &exa = _get_extra(p_ha);
const typename BVHTREE_CLASS::ItemExtra &exb = _get_extra(p_hb);
// if the userdata is the same, no collisions should occur
if ((exa.userdata == exb.userdata) && exa.userdata) {
return;
}
typename BVHTREE_CLASS::ItemPairs &p_from = tree._pairs[p_ha.id()]; typename BVHTREE_CLASS::ItemPairs &p_from = tree._pairs[p_ha.id()];
typename BVHTREE_CLASS::ItemPairs &p_to = tree._pairs[p_hb.id()]; typename BVHTREE_CLASS::ItemPairs &p_to = tree._pairs[p_hb.id()];
@ -561,9 +574,6 @@ private:
void *callback_userdata = nullptr; void *callback_userdata = nullptr;
if (pair_callback) { if (pair_callback) {
const typename BVHTREE_CLASS::ItemExtra &exa = _get_extra(p_ha);
const typename BVHTREE_CLASS::ItemExtra &exb = _get_extra(p_hb);
callback_userdata = pair_callback(pair_callback_userdata, p_ha, exa.userdata, exa.subindex, p_hb, exb.userdata, exb.subindex); callback_userdata = pair_callback(pair_callback_userdata, p_ha, exa.userdata, exa.subindex, p_hb, exb.userdata, exb.subindex);
} }