BVH - Sync BVH with 3.x
Templated mask checks and generic NUM_TREES Fix leaking leaves
This commit is contained in:
lawnjelly
parent
8495be9cec
commit
f8eaab5b47
20 changed files with 744 additions and 257 deletions
264
core/math/bvh.h
264
core/math/bvh.h
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@ -46,21 +46,35 @@
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// Layer masks are implemented in the renderers as a later step, and light_cull_mask appears to be
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// implemented in GLES3 but not GLES2. Layer masks are not yet implemented for directional lights.
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// In the physics, the pairable_type is based on 1 << p_object->get_type() where:
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// TYPE_AREA,
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// TYPE_BODY
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// and pairable_mask is either 0 if static, or set to all if non static
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#include "bvh_tree.h"
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#include "core/os/mutex.h"
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#define BVHTREE_CLASS BVH_Tree<T, 2, MAX_ITEMS, USE_PAIRS, Bounds, Point>
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#define BVHTREE_CLASS BVH_Tree<T, NUM_TREES, 2, MAX_ITEMS, USER_PAIR_TEST_FUNCTION, USER_CULL_TEST_FUNCTION, USE_PAIRS, BOUNDS, POINT>
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#define BVH_LOCKED_FUNCTION BVHLockedFunction(&_mutex, BVH_THREAD_SAFE &&_thread_safe);
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template <class T, bool USE_PAIRS = false, int MAX_ITEMS = 32, class Bounds = AABB, class Point = Vector3>
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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>
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class BVH_Manager {
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public:
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// note we are using uint32_t instead of BVHHandle, losing type safety, but this
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// is for compatibility with octree
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typedef void *(*PairCallback)(void *, uint32_t, T *, int, uint32_t, T *, int);
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typedef void (*UnpairCallback)(void *, uint32_t, T *, int, uint32_t, T *, int, void *);
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typedef void *(*CheckPairCallback)(void *, uint32_t, T *, int, uint32_t, T *, int, void *);
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// allow locally toggling thread safety if the template has been compiled with BVH_THREAD_SAFE
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void params_set_thread_safe(bool p_enable) {
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_thread_safe = p_enable;
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}
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// these 2 are crucial for fine tuning, and can be applied manually
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// see the variable declarations for more info.
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void params_set_node_expansion(real_t p_value) {
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BVH_LOCKED_FUNCTION
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if (p_value >= 0.0) {
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tree._node_expansion = p_value;
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tree._auto_node_expansion = false;
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@ -70,43 +84,40 @@ public:
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}
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void params_set_pairing_expansion(real_t p_value) {
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if (p_value >= 0.0) {
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tree._pairing_expansion = p_value;
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tree._auto_pairing_expansion = false;
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} else {
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tree._auto_pairing_expansion = true;
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}
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BVH_LOCKED_FUNCTION
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tree.params_set_pairing_expansion(p_value);
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}
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void set_pair_callback(PairCallback p_callback, void *p_userdata) {
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BVH_LOCKED_FUNCTION
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pair_callback = p_callback;
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pair_callback_userdata = p_userdata;
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}
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void set_unpair_callback(UnpairCallback p_callback, void *p_userdata) {
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BVH_LOCKED_FUNCTION
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unpair_callback = p_callback;
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unpair_callback_userdata = p_userdata;
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}
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void set_check_pair_callback(CheckPairCallback p_callback, void *p_userdata) {
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BVH_LOCKED_FUNCTION
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check_pair_callback = p_callback;
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check_pair_callback_userdata = p_userdata;
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}
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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) {
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BVH_LOCKED_FUNCTION
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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) {
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// not sure if absolutely necessary to flush collisions here. It will cost performance to, instead
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// of waiting for update, so only uncomment this if there are bugs.
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if (USE_PAIRS) {
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//_check_for_collisions();
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}
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#ifdef TOOLS_ENABLED
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if (!USE_PAIRS) {
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if (p_pairable) {
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WARN_PRINT_ONCE("creating pairable item in BVH with USE_PAIRS set to false");
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}
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}
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#endif
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BVHHandle h = tree.item_add(p_userdata, p_active, p_aabb, p_subindex, p_pairable, p_pairable_type, p_pairable_mask);
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BVHHandle h = tree.item_add(p_userdata, p_active, p_aabb, p_subindex, p_tree_id, p_tree_collision_mask);
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if (USE_PAIRS) {
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// for safety initialize the expanded AABB
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Bounds &expanded_aabb = tree._pairs[h.id()].expanded_aabb;
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BOUNDS &expanded_aabb = tree._pairs[h.id()].expanded_aabb;
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expanded_aabb = p_aabb;
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expanded_aabb.grow_by(tree._pairing_expansion);
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@ -123,12 +134,18 @@ public:
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////////////////////////////////////////////////////
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// wrapper versions that use uint32_t instead of handle
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// for backward compatibility. Less type safe
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void move(uint32_t p_handle, const Bounds &p_aabb) {
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void move(uint32_t p_handle, const BOUNDS &p_aabb) {
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BVHHandle h;
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h.set(p_handle);
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move(h, p_aabb);
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}
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void recheck_pairs(uint32_t p_handle) {
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BVHHandle h;
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h.set(p_handle);
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recheck_pairs(h);
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}
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void erase(uint32_t p_handle) {
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BVHHandle h;
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h.set(p_handle);
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@ -141,7 +158,7 @@ public:
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force_collision_check(h);
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}
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bool activate(uint32_t p_handle, const Bounds &p_aabb, bool p_delay_collision_check = false) {
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bool activate(uint32_t p_handle, const BOUNDS &p_aabb, bool p_delay_collision_check = false) {
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BVHHandle h;
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h.set(p_handle);
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return activate(h, p_aabb, p_delay_collision_check);
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@ -153,16 +170,16 @@ public:
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return deactivate(h);
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}
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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) {
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void set_tree(uint32_t p_handle, uint32_t p_tree_id, uint32_t p_tree_collision_mask, bool p_force_collision_check = true) {
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BVHHandle h;
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h.set(p_handle);
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set_pairable(h, p_pairable, p_pairable_type, p_pairable_mask, p_force_collision_check);
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set_tree(h, p_tree_id, p_tree_collision_mask, p_force_collision_check);
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}
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bool is_pairable(uint32_t p_handle) const {
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uint32_t get_tree_id(uint32_t p_handle) const {
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BVHHandle h;
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h.set(p_handle);
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return item_is_pairable(h);
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return item_get_tree_id(h);
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}
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int get_subindex(uint32_t p_handle) const {
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BVHHandle h;
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@ -178,7 +195,8 @@ public:
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////////////////////////////////////////////////////
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void move(BVHHandle p_handle, const Bounds &p_aabb) {
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void move(BVHHandle p_handle, const BOUNDS &p_aabb) {
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BVH_LOCKED_FUNCTION
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if (tree.item_move(p_handle, p_aabb)) {
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if (USE_PAIRS) {
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_add_changed_item(p_handle, p_aabb);
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@ -186,7 +204,12 @@ public:
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}
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}
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void recheck_pairs(BVHHandle p_handle) {
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force_collision_check(p_handle);
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}
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void erase(BVHHandle p_handle) {
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BVH_LOCKED_FUNCTION
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// call unpair and remove all references to the item
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// before deleting from the tree
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if (USE_PAIRS) {
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@ -200,11 +223,12 @@ public:
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// use in conjunction with activate if you have deferred the collision check, and
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// set pairable has never been called.
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// (deferred collision checks are a workaround for rendering server for historical reasons)
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// (deferred collision checks are a workaround for visual server for historical reasons)
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void force_collision_check(BVHHandle p_handle) {
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BVH_LOCKED_FUNCTION
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if (USE_PAIRS) {
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// the aabb should already be up to date in the BVH
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Bounds aabb;
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BOUNDS aabb;
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item_get_AABB(p_handle, aabb);
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// add it as changed even if aabb not different
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@ -218,7 +242,8 @@ public:
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// these should be read as set_visible for render trees,
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// but generically this makes items add or remove from the
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// tree internally, to speed things up by ignoring inactive items
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bool activate(BVHHandle p_handle, const Bounds &p_aabb, bool p_delay_collision_check = false) {
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bool activate(BVHHandle p_handle, const BOUNDS &p_aabb, bool p_delay_collision_check = false) {
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BVH_LOCKED_FUNCTION
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// sending the aabb here prevents the need for the BVH to maintain
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// a redundant copy of the aabb.
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// returns success
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@ -242,6 +267,7 @@ public:
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}
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bool deactivate(BVHHandle p_handle) {
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BVH_LOCKED_FUNCTION
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// returns success
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if (tree.item_deactivate(p_handle)) {
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// call unpair and remove all references to the item
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@ -258,12 +284,14 @@ public:
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return false;
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}
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bool get_active(BVHHandle p_handle) const {
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bool get_active(BVHHandle p_handle) {
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BVH_LOCKED_FUNCTION
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return tree.item_get_active(p_handle);
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}
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// call e.g. once per frame (this does a trickle optimize)
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void update() {
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BVH_LOCKED_FUNCTION
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tree.update();
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_check_for_collisions();
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#ifdef BVH_INTEGRITY_CHECKS
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@ -273,24 +301,26 @@ public:
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// this can be called more frequently than per frame if necessary
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void update_collisions() {
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BVH_LOCKED_FUNCTION
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_check_for_collisions();
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}
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// prefer calling this directly as type safe
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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) {
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void set_tree(const BVHHandle &p_handle, uint32_t p_tree_id, uint32_t p_tree_collision_mask, bool p_force_collision_check = true) {
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BVH_LOCKED_FUNCTION
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// Returns true if the pairing state has changed.
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bool state_changed = tree.item_set_pairable(p_handle, p_pairable, p_pairable_type, p_pairable_mask);
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bool state_changed = tree.item_set_tree(p_handle, p_tree_id, p_tree_collision_mask);
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if (USE_PAIRS) {
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// not sure if absolutely necessary to flush collisions here. It will cost performance to, instead
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// of waiting for update, so only uncomment this if there are bugs.
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//_check_for_collisions();
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if ((p_force_collision_check || state_changed) && get_active(p_handle)) {
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if ((p_force_collision_check || state_changed) && tree.item_get_active(p_handle)) {
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// when the pairable state changes, we need to force a collision check because newly pairable
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// items may be in collision, and unpairable items might move out of collision.
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// We cannot depend on waiting for the next update, because that may come much later.
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Bounds aabb;
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BOUNDS aabb;
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item_get_AABB(p_handle, aabb);
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// passing false disables the optimization which prevents collision checks if
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@ -307,32 +337,33 @@ public:
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}
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// cull tests
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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) {
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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) {
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BVH_LOCKED_FUNCTION
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typename BVHTREE_CLASS::CullParams params;
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params.result_count_overall = 0;
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params.result_max = p_result_max;
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params.result_array = p_result_array;
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params.subindex_array = p_subindex_array;
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params.mask = p_mask;
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params.pairable_type = 0;
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params.test_pairable_only = false;
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params.tree_collision_mask = p_tree_collision_mask;
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params.abb.from(p_aabb);
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params.tester = p_tester;
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tree.cull_aabb(params);
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return params.result_count_overall;
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}
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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) {
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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) {
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BVH_LOCKED_FUNCTION
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typename BVHTREE_CLASS::CullParams params;
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params.result_count_overall = 0;
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params.result_max = p_result_max;
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params.result_array = p_result_array;
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params.subindex_array = p_subindex_array;
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params.mask = p_mask;
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params.pairable_type = 0;
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params.tester = p_tester;
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params.tree_collision_mask = p_tree_collision_mask;
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params.segment.from = p_from;
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params.segment.to = p_to;
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@ -342,15 +373,16 @@ public:
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return params.result_count_overall;
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}
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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) {
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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) {
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BVH_LOCKED_FUNCTION
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typename BVHTREE_CLASS::CullParams params;
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params.result_count_overall = 0;
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params.result_max = p_result_max;
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params.result_array = p_result_array;
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params.subindex_array = p_subindex_array;
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params.mask = p_mask;
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params.pairable_type = 0;
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params.tester = p_tester;
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params.tree_collision_mask = p_tree_collision_mask;
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params.point = p_point;
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@ -358,7 +390,8 @@ public:
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return params.result_count_overall;
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}
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int cull_convex(const Vector<Plane> &p_convex, T **p_result_array, int p_result_max, uint32_t p_mask = 0xFFFFFFFF) {
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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) {
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BVH_LOCKED_FUNCTION
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if (!p_convex.size()) {
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return 0;
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}
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@ -373,8 +406,8 @@ public:
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params.result_max = p_result_max;
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params.result_array = p_result_array;
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params.subindex_array = nullptr;
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params.mask = p_mask;
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params.pairable_type = 0;
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params.tester = p_tester;
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params.tree_collision_mask = p_tree_collision_mask;
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params.hull.planes = &p_convex[0];
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params.hull.num_planes = p_convex.size();
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@ -394,7 +427,7 @@ private:
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return;
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}
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Bounds bb;
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BOUNDS bb;
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typename BVHTREE_CLASS::CullParams params;
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@ -402,28 +435,23 @@ private:
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params.result_max = INT_MAX;
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params.result_array = nullptr;
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params.subindex_array = nullptr;
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params.mask = 0xFFFFFFFF;
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params.pairable_type = 0;
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for (unsigned int n = 0; n < changed_items.size(); n++) {
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const BVHHandle &h = changed_items[n];
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// use the expanded aabb for pairing
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const Bounds &expanded_aabb = tree._pairs[h.id()].expanded_aabb;
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const BOUNDS &expanded_aabb = tree._pairs[h.id()].expanded_aabb;
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BVHABB_CLASS abb;
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abb.from(expanded_aabb);
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tree.item_fill_cullparams(h, params);
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// find all the existing paired aabbs that are no longer
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// paired, and send callbacks
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_find_leavers(h, abb, p_full_check);
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uint32_t changed_item_ref_id = h.id();
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// set up the test from this item.
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// this includes whether to test the non pairable tree,
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// and the item mask.
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tree.item_fill_cullparams(h, params);
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params.abb = abb;
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params.result_count_overall = 0; // might not be needed
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@ -456,7 +484,7 @@ private:
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}
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public:
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void item_get_AABB(BVHHandle p_handle, Bounds &r_aabb) {
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void item_get_AABB(BVHHandle p_handle, BOUNDS &r_aabb) {
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BVHABB_CLASS abb;
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tree.item_get_ABB(p_handle, abb);
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abb.to(r_aabb);
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@ -464,7 +492,7 @@ public:
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private:
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// supplemental funcs
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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;
|
||||
}
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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) {
|
||||
|
|
|
|||
|
|
@ -6,12 +6,12 @@ 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 += " ~ ";
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -14,10 +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;
|
||||
}
|
||||
};
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
};
|
||||
|
|
|
|||
|
|
@ -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) {
|
||||
|
|
|
|||
|
|
@ -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 *);
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -996,11 +996,8 @@ 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) {
|
||||
|
|
|
|||
|
|
@ -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) {
|
||||
|
|
|
|||
|
|
@ -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 *);
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1008,11 +1008,8 @@ 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) {
|
||||
|
|
|
|||
Loading…
Reference in a new issue