1378 lines
35 KiB
C++
1378 lines
35 KiB
C++
/*************************************************************************/
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/* octree.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef OCTREE_H
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#define OCTREE_H
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#include "core/list.h"
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#include "core/map.h"
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#include "core/math/aabb.h"
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#include "core/math/vector3.h"
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#include "core/print_string.h"
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#include "core/variant.h"
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typedef uint32_t OctreeElementID;
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#define OCTREE_ELEMENT_INVALID_ID 0
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#define OCTREE_SIZE_LIMIT 1e15
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template <class T, bool use_pairs = false, class AL = DefaultAllocator>
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class Octree {
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public:
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typedef void *(*PairCallback)(void *, OctreeElementID, T *, int, OctreeElementID, T *, int);
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typedef void (*UnpairCallback)(void *, OctreeElementID, T *, int, OctreeElementID, T *, int, void *);
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private:
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enum {
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NEG = 0,
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POS = 1,
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};
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enum {
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OCTANT_NX_NY_NZ,
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OCTANT_PX_NY_NZ,
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OCTANT_NX_PY_NZ,
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OCTANT_PX_PY_NZ,
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OCTANT_NX_NY_PZ,
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OCTANT_PX_NY_PZ,
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OCTANT_NX_PY_PZ,
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OCTANT_PX_PY_PZ
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};
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struct PairKey {
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union {
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struct {
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OctreeElementID A;
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OctreeElementID B;
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};
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uint64_t key;
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};
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_FORCE_INLINE_ bool operator<(const PairKey &p_pair) const {
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return key < p_pair.key;
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}
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_FORCE_INLINE_ PairKey(OctreeElementID p_A, OctreeElementID p_B) {
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if (p_A < p_B) {
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A = p_A;
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B = p_B;
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} else {
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B = p_A;
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A = p_B;
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}
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}
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_FORCE_INLINE_ PairKey() {}
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};
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struct Element;
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struct Octant {
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// cached for FAST plane check
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AABB aabb;
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uint64_t last_pass;
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Octant *parent;
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Octant *children[8];
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int children_count; // cache for amount of childrens (fast check for removal)
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int parent_index; // cache for parent index (fast check for removal)
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List<Element *, AL> pairable_elements;
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List<Element *, AL> elements;
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Octant() {
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children_count = 0;
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parent_index = -1;
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last_pass = 0;
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parent = NULL;
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for (int i = 0; i < 8; i++)
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children[i] = NULL;
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}
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~Octant() {
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/*
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for (int i=0;i<8;i++)
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memdelete_notnull(children[i]);
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*/
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}
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};
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struct PairData;
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struct Element {
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Octree *octree;
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T *userdata;
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int subindex;
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bool pairable;
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uint32_t pairable_mask;
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uint32_t pairable_type;
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uint64_t last_pass;
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OctreeElementID _id;
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Octant *common_parent;
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AABB aabb;
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AABB container_aabb;
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List<PairData *, AL> pair_list;
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struct OctantOwner {
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Octant *octant;
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typename List<Element *, AL>::Element *E;
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}; // an element can be in max 8 octants
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List<OctantOwner, AL> octant_owners;
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Element() {
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last_pass = 0;
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_id = 0;
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pairable = false;
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subindex = 0;
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userdata = 0;
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octree = 0;
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pairable_mask = 0;
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pairable_type = 0;
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common_parent = NULL;
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}
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};
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struct PairData {
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int refcount;
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bool intersect;
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Element *A, *B;
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void *ud;
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typename List<PairData *, AL>::Element *eA, *eB;
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};
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typedef Map<OctreeElementID, Element, Comparator<OctreeElementID>, AL> ElementMap;
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typedef Map<PairKey, PairData, Comparator<PairKey>, AL> PairMap;
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ElementMap element_map;
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PairMap pair_map;
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PairCallback pair_callback;
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UnpairCallback unpair_callback;
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void *pair_callback_userdata;
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void *unpair_callback_userdata;
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OctreeElementID last_element_id;
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uint64_t pass;
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real_t unit_size;
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Octant *root;
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int octant_count;
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int pair_count;
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_FORCE_INLINE_ void _pair_check(PairData *p_pair) {
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bool intersect = p_pair->A->aabb.intersects_inclusive(p_pair->B->aabb);
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if (intersect != p_pair->intersect) {
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if (intersect) {
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if (pair_callback) {
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p_pair->ud = pair_callback(pair_callback_userdata, p_pair->A->_id, p_pair->A->userdata, p_pair->A->subindex, p_pair->B->_id, p_pair->B->userdata, p_pair->B->subindex);
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}
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pair_count++;
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} else {
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if (unpair_callback) {
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unpair_callback(pair_callback_userdata, p_pair->A->_id, p_pair->A->userdata, p_pair->A->subindex, p_pair->B->_id, p_pair->B->userdata, p_pair->B->subindex, p_pair->ud);
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}
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pair_count--;
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}
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p_pair->intersect = intersect;
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}
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}
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_FORCE_INLINE_ void _pair_reference(Element *p_A, Element *p_B) {
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if (p_A == p_B || (p_A->userdata == p_B->userdata && p_A->userdata))
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return;
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if (!(p_A->pairable_type & p_B->pairable_mask) &&
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!(p_B->pairable_type & p_A->pairable_mask))
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return; // none can pair with none
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PairKey key(p_A->_id, p_B->_id);
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typename PairMap::Element *E = pair_map.find(key);
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if (!E) {
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PairData pdata;
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pdata.refcount = 1;
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pdata.A = p_A;
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pdata.B = p_B;
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pdata.intersect = false;
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E = pair_map.insert(key, pdata);
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E->get().eA = p_A->pair_list.push_back(&E->get());
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E->get().eB = p_B->pair_list.push_back(&E->get());
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/*
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if (pair_callback)
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pair_callback(pair_callback_userdata,p_A->userdata,p_B->userdata);
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*/
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} else {
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E->get().refcount++;
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}
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}
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_FORCE_INLINE_ void _pair_unreference(Element *p_A, Element *p_B) {
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if (p_A == p_B)
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return;
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PairKey key(p_A->_id, p_B->_id);
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typename PairMap::Element *E = pair_map.find(key);
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if (!E) {
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return; // no pair
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}
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E->get().refcount--;
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if (E->get().refcount == 0) {
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// bye pair
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if (E->get().intersect) {
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if (unpair_callback) {
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unpair_callback(pair_callback_userdata, p_A->_id, p_A->userdata, p_A->subindex, p_B->_id, p_B->userdata, p_B->subindex, E->get().ud);
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}
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pair_count--;
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}
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if (p_A == E->get().B) {
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//may be reaching inverted
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SWAP(p_A, p_B);
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}
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p_A->pair_list.erase(E->get().eA);
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p_B->pair_list.erase(E->get().eB);
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pair_map.erase(E);
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}
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}
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_FORCE_INLINE_ void _element_check_pairs(Element *p_element) {
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typename List<PairData *, AL>::Element *E = p_element->pair_list.front();
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while (E) {
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_pair_check(E->get());
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E = E->next();
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}
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}
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_FORCE_INLINE_ void _optimize() {
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while (root && root->children_count < 2 && !root->elements.size() && !(use_pairs && root->pairable_elements.size())) {
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Octant *new_root = NULL;
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if (root->children_count == 1) {
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for (int i = 0; i < 8; i++) {
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if (root->children[i]) {
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new_root = root->children[i];
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root->children[i] = NULL;
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break;
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}
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}
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ERR_FAIL_COND(!new_root);
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new_root->parent = NULL;
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new_root->parent_index = -1;
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}
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memdelete_allocator<Octant, AL>(root);
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octant_count--;
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root = new_root;
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}
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}
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void _insert_element(Element *p_element, Octant *p_octant);
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void _ensure_valid_root(const AABB &p_aabb);
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bool _remove_element_from_octant(Element *p_element, Octant *p_octant, Octant *p_limit = NULL);
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void _remove_element(Element *p_element);
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void _pair_element(Element *p_element, Octant *p_octant);
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void _unpair_element(Element *p_element, Octant *p_octant);
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struct _CullConvexData {
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const Plane *planes;
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int plane_count;
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T **result_array;
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int *result_idx;
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int result_max;
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uint32_t mask;
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};
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void _cull_convex(Octant *p_octant, _CullConvexData *p_cull);
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void _cull_aabb(Octant *p_octant, const AABB &p_aabb, T **p_result_array, int *p_result_idx, int p_result_max, int *p_subindex_array, uint32_t p_mask);
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void _cull_segment(Octant *p_octant, const Vector3 &p_from, const Vector3 &p_to, T **p_result_array, int *p_result_idx, int p_result_max, int *p_subindex_array, uint32_t p_mask);
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void _cull_point(Octant *p_octant, const Vector3 &p_point, T **p_result_array, int *p_result_idx, int p_result_max, int *p_subindex_array, uint32_t p_mask);
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void _remove_tree(Octant *p_octant) {
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if (!p_octant)
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return;
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for (int i = 0; i < 8; i++) {
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if (p_octant->children[i])
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_remove_tree(p_octant->children[i]);
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}
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memdelete_allocator<Octant, AL>(p_octant);
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}
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public:
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OctreeElementID create(T *p_userdata, const AABB &p_aabb = AABB(), int p_subindex = 0, bool p_pairable = false, uint32_t p_pairable_type = 0, uint32_t pairable_mask = 1);
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void move(OctreeElementID p_id, const AABB &p_aabb);
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void set_pairable(OctreeElementID p_id, bool p_pairable = false, uint32_t p_pairable_type = 0, uint32_t pairable_mask = 1);
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void erase(OctreeElementID p_id);
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bool is_pairable(OctreeElementID p_id) const;
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T *get(OctreeElementID p_id) const;
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int get_subindex(OctreeElementID p_id) const;
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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_aabb(const AABB &p_aabb, T **p_result_array, int p_result_max, int *p_subindex_array = NULL, uint32_t p_mask = 0xFFFFFFFF);
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int cull_segment(const Vector3 &p_from, const Vector3 &p_to, T **p_result_array, int p_result_max, int *p_subindex_array = NULL, uint32_t p_mask = 0xFFFFFFFF);
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int cull_point(const Vector3 &p_point, T **p_result_array, int p_result_max, int *p_subindex_array = NULL, uint32_t p_mask = 0xFFFFFFFF);
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void set_pair_callback(PairCallback p_callback, void *p_userdata);
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void set_unpair_callback(UnpairCallback p_callback, void *p_userdata);
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int get_octant_count() const { return octant_count; }
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int get_pair_count() const { return pair_count; }
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Octree(real_t p_unit_size = 1.0);
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~Octree() { _remove_tree(root); }
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};
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/* PRIVATE FUNCTIONS */
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template <class T, bool use_pairs, class AL>
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T *Octree<T, use_pairs, AL>::get(OctreeElementID p_id) const {
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const typename ElementMap::Element *E = element_map.find(p_id);
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ERR_FAIL_COND_V(!E, NULL);
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return E->get().userdata;
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}
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template <class T, bool use_pairs, class AL>
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bool Octree<T, use_pairs, AL>::is_pairable(OctreeElementID p_id) const {
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const typename ElementMap::Element *E = element_map.find(p_id);
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ERR_FAIL_COND_V(!E, false);
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return E->get().pairable;
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}
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template <class T, bool use_pairs, class AL>
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int Octree<T, use_pairs, AL>::get_subindex(OctreeElementID p_id) const {
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const typename ElementMap::Element *E = element_map.find(p_id);
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ERR_FAIL_COND_V(!E, -1);
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return E->get().subindex;
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}
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#define OCTREE_DIVISOR 4
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template <class T, bool use_pairs, class AL>
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void Octree<T, use_pairs, AL>::_insert_element(Element *p_element, Octant *p_octant) {
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real_t element_size = p_element->aabb.get_longest_axis_size() * 1.01; // avoid precision issues
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if (p_octant->aabb.size.x / OCTREE_DIVISOR < element_size) {
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//if (p_octant->aabb.size.x*0.5 < element_size) {
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/* at smallest possible size for the element */
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typename Element::OctantOwner owner;
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owner.octant = p_octant;
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if (use_pairs && p_element->pairable) {
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p_octant->pairable_elements.push_back(p_element);
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owner.E = p_octant->pairable_elements.back();
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} else {
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p_octant->elements.push_back(p_element);
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owner.E = p_octant->elements.back();
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}
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p_element->octant_owners.push_back(owner);
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if (p_element->common_parent == NULL) {
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p_element->common_parent = p_octant;
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p_element->container_aabb = p_octant->aabb;
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} else {
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p_element->container_aabb.merge_with(p_octant->aabb);
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}
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if (use_pairs && p_octant->children_count > 0) {
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pass++; //elements below this only get ONE reference added
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for (int i = 0; i < 8; i++) {
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if (p_octant->children[i]) {
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_pair_element(p_element, p_octant->children[i]);
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}
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}
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}
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} else {
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/* not big enough, send it to subitems */
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int splits = 0;
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bool candidate = p_element->common_parent == NULL;
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for (int i = 0; i < 8; i++) {
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if (p_octant->children[i]) {
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/* element exists, go straight to it */
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if (p_octant->children[i]->aabb.intersects_inclusive(p_element->aabb)) {
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_insert_element(p_element, p_octant->children[i]);
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splits++;
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}
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} else {
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/* check against AABB where child should be */
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AABB aabb = p_octant->aabb;
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aabb.size *= 0.5;
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if (i & 1)
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aabb.position.x += aabb.size.x;
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if (i & 2)
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aabb.position.y += aabb.size.y;
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if (i & 4)
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aabb.position.z += aabb.size.z;
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if (aabb.intersects_inclusive(p_element->aabb)) {
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/* if actually intersects, create the child */
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Octant *child = memnew_allocator(Octant, AL);
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p_octant->children[i] = child;
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child->parent = p_octant;
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child->parent_index = i;
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child->aabb = aabb;
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p_octant->children_count++;
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_insert_element(p_element, child);
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octant_count++;
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splits++;
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}
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}
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}
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if (candidate && splits > 1) {
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p_element->common_parent = p_octant;
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}
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}
|
|
|
|
if (use_pairs) {
|
|
|
|
typename List<Element *, AL>::Element *E = p_octant->pairable_elements.front();
|
|
|
|
while (E) {
|
|
_pair_reference(p_element, E->get());
|
|
E = E->next();
|
|
}
|
|
|
|
if (p_element->pairable) {
|
|
// and always test non-pairable if element is pairable
|
|
E = p_octant->elements.front();
|
|
while (E) {
|
|
_pair_reference(p_element, E->get());
|
|
E = E->next();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::_ensure_valid_root(const AABB &p_aabb) {
|
|
|
|
if (!root) {
|
|
// octre is empty
|
|
|
|
AABB base(Vector3(), Vector3(1.0, 1.0, 1.0) * unit_size);
|
|
|
|
while (!base.encloses(p_aabb)) {
|
|
|
|
if (ABS(base.position.x + base.size.x) <= ABS(base.position.x)) {
|
|
/* grow towards positive */
|
|
base.size *= 2.0;
|
|
} else {
|
|
base.position -= base.size;
|
|
base.size *= 2.0;
|
|
}
|
|
}
|
|
|
|
root = memnew_allocator(Octant, AL);
|
|
|
|
root->parent = NULL;
|
|
root->parent_index = -1;
|
|
root->aabb = base;
|
|
|
|
octant_count++;
|
|
|
|
} else {
|
|
|
|
AABB base = root->aabb;
|
|
|
|
while (!base.encloses(p_aabb)) {
|
|
|
|
ERR_FAIL_COND_MSG(base.size.x > OCTREE_SIZE_LIMIT, "Octree upper size limit reached, does the AABB supplied contain NAN?");
|
|
|
|
Octant *gp = memnew_allocator(Octant, AL);
|
|
octant_count++;
|
|
root->parent = gp;
|
|
|
|
if (ABS(base.position.x + base.size.x) <= ABS(base.position.x)) {
|
|
/* grow towards positive */
|
|
base.size *= 2.0;
|
|
gp->aabb = base;
|
|
gp->children[0] = root;
|
|
root->parent_index = 0;
|
|
} else {
|
|
base.position -= base.size;
|
|
base.size *= 2.0;
|
|
gp->aabb = base;
|
|
gp->children[(1 << 0) | (1 << 1) | (1 << 2)] = root; // add at all-positive
|
|
root->parent_index = (1 << 0) | (1 << 1) | (1 << 2);
|
|
}
|
|
|
|
gp->children_count = 1;
|
|
root = gp;
|
|
}
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
bool Octree<T, use_pairs, AL>::_remove_element_from_octant(Element *p_element, Octant *p_octant, Octant *p_limit) {
|
|
|
|
bool octant_removed = false;
|
|
|
|
while (true) {
|
|
|
|
// check all exit conditions
|
|
|
|
if (p_octant == p_limit) // reached limit, nothing to erase, exit
|
|
return octant_removed;
|
|
|
|
bool unpaired = false;
|
|
|
|
if (use_pairs && p_octant->last_pass != pass) {
|
|
// check whether we should unpair stuff
|
|
// always test pairable
|
|
typename List<Element *, AL>::Element *E = p_octant->pairable_elements.front();
|
|
while (E) {
|
|
_pair_unreference(p_element, E->get());
|
|
E = E->next();
|
|
}
|
|
if (p_element->pairable) {
|
|
// and always test non-pairable if element is pairable
|
|
E = p_octant->elements.front();
|
|
while (E) {
|
|
_pair_unreference(p_element, E->get());
|
|
E = E->next();
|
|
}
|
|
}
|
|
p_octant->last_pass = pass;
|
|
unpaired = true;
|
|
}
|
|
|
|
bool removed = false;
|
|
|
|
Octant *parent = p_octant->parent;
|
|
|
|
if (p_octant->children_count == 0 && p_octant->elements.empty() && p_octant->pairable_elements.empty()) {
|
|
|
|
// erase octant
|
|
|
|
if (p_octant == root) { // won't have a parent, just erase
|
|
|
|
root = NULL;
|
|
} else {
|
|
ERR_FAIL_INDEX_V(p_octant->parent_index, 8, octant_removed);
|
|
|
|
parent->children[p_octant->parent_index] = NULL;
|
|
parent->children_count--;
|
|
}
|
|
|
|
memdelete_allocator<Octant, AL>(p_octant);
|
|
octant_count--;
|
|
removed = true;
|
|
octant_removed = true;
|
|
}
|
|
|
|
if (!removed && !unpaired)
|
|
return octant_removed; // no reason to keep going up anymore! was already visited and was not removed
|
|
|
|
p_octant = parent;
|
|
}
|
|
|
|
return octant_removed;
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::_unpair_element(Element *p_element, Octant *p_octant) {
|
|
|
|
// always test pairable
|
|
typename List<Element *, AL>::Element *E = p_octant->pairable_elements.front();
|
|
while (E) {
|
|
if (E->get()->last_pass != pass) { // only remove ONE reference
|
|
_pair_unreference(p_element, E->get());
|
|
E->get()->last_pass = pass;
|
|
}
|
|
E = E->next();
|
|
}
|
|
|
|
if (p_element->pairable) {
|
|
// and always test non-pairable if element is pairable
|
|
E = p_octant->elements.front();
|
|
while (E) {
|
|
if (E->get()->last_pass != pass) { // only remove ONE reference
|
|
_pair_unreference(p_element, E->get());
|
|
E->get()->last_pass = pass;
|
|
}
|
|
E = E->next();
|
|
}
|
|
}
|
|
|
|
p_octant->last_pass = pass;
|
|
|
|
if (p_octant->children_count == 0)
|
|
return; // small optimization for leafs
|
|
|
|
for (int i = 0; i < 8; i++) {
|
|
|
|
if (p_octant->children[i])
|
|
_unpair_element(p_element, p_octant->children[i]);
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::_pair_element(Element *p_element, Octant *p_octant) {
|
|
|
|
// always test pairable
|
|
|
|
typename List<Element *, AL>::Element *E = p_octant->pairable_elements.front();
|
|
|
|
while (E) {
|
|
|
|
if (E->get()->last_pass != pass) { // only get ONE reference
|
|
_pair_reference(p_element, E->get());
|
|
E->get()->last_pass = pass;
|
|
}
|
|
E = E->next();
|
|
}
|
|
|
|
if (p_element->pairable) {
|
|
// and always test non-pairable if element is pairable
|
|
E = p_octant->elements.front();
|
|
while (E) {
|
|
if (E->get()->last_pass != pass) { // only get ONE reference
|
|
_pair_reference(p_element, E->get());
|
|
E->get()->last_pass = pass;
|
|
}
|
|
E = E->next();
|
|
}
|
|
}
|
|
p_octant->last_pass = pass;
|
|
|
|
if (p_octant->children_count == 0)
|
|
return; // small optimization for leafs
|
|
|
|
for (int i = 0; i < 8; i++) {
|
|
|
|
if (p_octant->children[i])
|
|
_pair_element(p_element, p_octant->children[i]);
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::_remove_element(Element *p_element) {
|
|
|
|
pass++; // will do a new pass for this
|
|
|
|
typename List<typename Element::OctantOwner, AL>::Element *I = p_element->octant_owners.front();
|
|
|
|
/* FIRST remove going up normally */
|
|
for (; I; I = I->next()) {
|
|
|
|
Octant *o = I->get().octant;
|
|
|
|
if (!use_pairs) // small speedup
|
|
o->elements.erase(I->get().E);
|
|
|
|
_remove_element_from_octant(p_element, o);
|
|
}
|
|
|
|
/* THEN remove going down */
|
|
|
|
I = p_element->octant_owners.front();
|
|
|
|
if (use_pairs) {
|
|
|
|
for (; I; I = I->next()) {
|
|
|
|
Octant *o = I->get().octant;
|
|
|
|
// erase children pairs, they are erased ONCE even if repeated
|
|
pass++;
|
|
for (int i = 0; i < 8; i++) {
|
|
|
|
if (o->children[i])
|
|
_unpair_element(p_element, o->children[i]);
|
|
}
|
|
|
|
if (p_element->pairable)
|
|
o->pairable_elements.erase(I->get().E);
|
|
else
|
|
o->elements.erase(I->get().E);
|
|
}
|
|
}
|
|
|
|
p_element->octant_owners.clear();
|
|
|
|
if (use_pairs) {
|
|
|
|
int remaining = p_element->pair_list.size();
|
|
//p_element->pair_list.clear();
|
|
ERR_FAIL_COND(remaining);
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
OctreeElementID Octree<T, use_pairs, AL>::create(T *p_userdata, const AABB &p_aabb, int p_subindex, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask) {
|
|
|
|
// check for AABB validity
|
|
#ifdef DEBUG_ENABLED
|
|
ERR_FAIL_COND_V(p_aabb.position.x > 1e15 || p_aabb.position.x < -1e15, 0);
|
|
ERR_FAIL_COND_V(p_aabb.position.y > 1e15 || p_aabb.position.y < -1e15, 0);
|
|
ERR_FAIL_COND_V(p_aabb.position.z > 1e15 || p_aabb.position.z < -1e15, 0);
|
|
ERR_FAIL_COND_V(p_aabb.size.x > 1e15 || p_aabb.size.x < 0.0, 0);
|
|
ERR_FAIL_COND_V(p_aabb.size.y > 1e15 || p_aabb.size.y < 0.0, 0);
|
|
ERR_FAIL_COND_V(p_aabb.size.z > 1e15 || p_aabb.size.z < 0.0, 0);
|
|
ERR_FAIL_COND_V(Math::is_nan(p_aabb.size.x), 0);
|
|
ERR_FAIL_COND_V(Math::is_nan(p_aabb.size.y), 0);
|
|
ERR_FAIL_COND_V(Math::is_nan(p_aabb.size.z), 0);
|
|
|
|
#endif
|
|
typename ElementMap::Element *E = element_map.insert(last_element_id++,
|
|
Element());
|
|
Element &e = E->get();
|
|
|
|
e.aabb = p_aabb;
|
|
e.userdata = p_userdata;
|
|
e.subindex = p_subindex;
|
|
e.last_pass = 0;
|
|
e.octree = this;
|
|
e.pairable = p_pairable;
|
|
e.pairable_type = p_pairable_type;
|
|
e.pairable_mask = p_pairable_mask;
|
|
e._id = last_element_id - 1;
|
|
|
|
if (!e.aabb.has_no_surface()) {
|
|
_ensure_valid_root(p_aabb);
|
|
_insert_element(&e, root);
|
|
if (use_pairs)
|
|
_element_check_pairs(&e);
|
|
}
|
|
|
|
return last_element_id - 1;
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::move(OctreeElementID p_id, const AABB &p_aabb) {
|
|
|
|
#ifdef DEBUG_ENABLED
|
|
// check for AABB validity
|
|
ERR_FAIL_COND(p_aabb.position.x > 1e15 || p_aabb.position.x < -1e15);
|
|
ERR_FAIL_COND(p_aabb.position.y > 1e15 || p_aabb.position.y < -1e15);
|
|
ERR_FAIL_COND(p_aabb.position.z > 1e15 || p_aabb.position.z < -1e15);
|
|
ERR_FAIL_COND(p_aabb.size.x > 1e15 || p_aabb.size.x < 0.0);
|
|
ERR_FAIL_COND(p_aabb.size.y > 1e15 || p_aabb.size.y < 0.0);
|
|
ERR_FAIL_COND(p_aabb.size.z > 1e15 || p_aabb.size.z < 0.0);
|
|
ERR_FAIL_COND(Math::is_nan(p_aabb.size.x));
|
|
ERR_FAIL_COND(Math::is_nan(p_aabb.size.y));
|
|
ERR_FAIL_COND(Math::is_nan(p_aabb.size.z));
|
|
#endif
|
|
typename ElementMap::Element *E = element_map.find(p_id);
|
|
ERR_FAIL_COND(!E);
|
|
Element &e = E->get();
|
|
|
|
bool old_has_surf = !e.aabb.has_no_surface();
|
|
bool new_has_surf = !p_aabb.has_no_surface();
|
|
|
|
if (old_has_surf != new_has_surf) {
|
|
|
|
if (old_has_surf) {
|
|
_remove_element(&e); // removing
|
|
e.common_parent = NULL;
|
|
e.aabb = AABB();
|
|
_optimize();
|
|
} else {
|
|
_ensure_valid_root(p_aabb); // inserting
|
|
e.common_parent = NULL;
|
|
e.aabb = p_aabb;
|
|
_insert_element(&e, root);
|
|
if (use_pairs)
|
|
_element_check_pairs(&e);
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
if (!old_has_surf) // doing nothing
|
|
return;
|
|
|
|
// it still is enclosed in the same AABB it was assigned to
|
|
if (e.container_aabb.encloses(p_aabb)) {
|
|
|
|
e.aabb = p_aabb;
|
|
if (use_pairs)
|
|
_element_check_pairs(&e); // must check pairs anyway
|
|
|
|
return;
|
|
}
|
|
|
|
AABB combined = e.aabb;
|
|
combined.merge_with(p_aabb);
|
|
_ensure_valid_root(combined);
|
|
|
|
ERR_FAIL_COND(e.octant_owners.front() == NULL);
|
|
|
|
/* FIND COMMON PARENT */
|
|
|
|
List<typename Element::OctantOwner, AL> owners = e.octant_owners; // save the octant owners
|
|
Octant *common_parent = e.common_parent;
|
|
ERR_FAIL_COND(!common_parent);
|
|
|
|
//src is now the place towards where insertion is going to happen
|
|
pass++;
|
|
|
|
while (common_parent && !common_parent->aabb.encloses(p_aabb))
|
|
common_parent = common_parent->parent;
|
|
|
|
ERR_FAIL_COND(!common_parent);
|
|
|
|
//prepare for reinsert
|
|
e.octant_owners.clear();
|
|
e.common_parent = NULL;
|
|
e.aabb = p_aabb;
|
|
|
|
_insert_element(&e, common_parent); // reinsert from this point
|
|
|
|
pass++;
|
|
|
|
for (typename List<typename Element::OctantOwner, AL>::Element *F = owners.front(); F;) {
|
|
|
|
Octant *o = F->get().octant;
|
|
typename List<typename Element::OctantOwner, AL>::Element *N = F->next();
|
|
|
|
/*
|
|
if (!use_pairs)
|
|
o->elements.erase( F->get().E );
|
|
*/
|
|
|
|
if (use_pairs && e.pairable)
|
|
o->pairable_elements.erase(F->get().E);
|
|
else
|
|
o->elements.erase(F->get().E);
|
|
|
|
if (_remove_element_from_octant(&e, o, common_parent->parent)) {
|
|
|
|
owners.erase(F);
|
|
}
|
|
|
|
F = N;
|
|
}
|
|
|
|
if (use_pairs) {
|
|
//unpair child elements in anything that survived
|
|
for (typename List<typename Element::OctantOwner, AL>::Element *F = owners.front(); F; F = F->next()) {
|
|
|
|
Octant *o = F->get().octant;
|
|
|
|
// erase children pairs, unref ONCE
|
|
pass++;
|
|
for (int i = 0; i < 8; i++) {
|
|
|
|
if (o->children[i])
|
|
_unpair_element(&e, o->children[i]);
|
|
}
|
|
}
|
|
|
|
_element_check_pairs(&e);
|
|
}
|
|
|
|
_optimize();
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::set_pairable(OctreeElementID p_id, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask) {
|
|
|
|
typename ElementMap::Element *E = element_map.find(p_id);
|
|
ERR_FAIL_COND(!E);
|
|
|
|
Element &e = E->get();
|
|
|
|
if (p_pairable == e.pairable && e.pairable_type == p_pairable_type && e.pairable_mask == p_pairable_mask)
|
|
return; // no changes, return
|
|
|
|
if (!e.aabb.has_no_surface()) {
|
|
_remove_element(&e);
|
|
}
|
|
|
|
e.pairable = p_pairable;
|
|
e.pairable_type = p_pairable_type;
|
|
e.pairable_mask = p_pairable_mask;
|
|
e.common_parent = NULL;
|
|
|
|
if (!e.aabb.has_no_surface()) {
|
|
_ensure_valid_root(e.aabb);
|
|
_insert_element(&e, root);
|
|
if (use_pairs)
|
|
_element_check_pairs(&e);
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::erase(OctreeElementID p_id) {
|
|
|
|
typename ElementMap::Element *E = element_map.find(p_id);
|
|
ERR_FAIL_COND(!E);
|
|
|
|
Element &e = E->get();
|
|
|
|
if (!e.aabb.has_no_surface()) {
|
|
|
|
_remove_element(&e);
|
|
}
|
|
|
|
element_map.erase(p_id);
|
|
_optimize();
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::_cull_convex(Octant *p_octant, _CullConvexData *p_cull) {
|
|
|
|
if (*p_cull->result_idx == p_cull->result_max)
|
|
return; //pointless
|
|
|
|
if (!p_octant->elements.empty()) {
|
|
|
|
typename List<Element *, AL>::Element *I;
|
|
I = p_octant->elements.front();
|
|
|
|
for (; I; I = I->next()) {
|
|
|
|
Element *e = I->get();
|
|
|
|
if (e->last_pass == pass || (use_pairs && !(e->pairable_type & p_cull->mask)))
|
|
continue;
|
|
e->last_pass = pass;
|
|
|
|
if (e->aabb.intersects_convex_shape(p_cull->planes, p_cull->plane_count)) {
|
|
|
|
if (*p_cull->result_idx < p_cull->result_max) {
|
|
p_cull->result_array[*p_cull->result_idx] = e->userdata;
|
|
(*p_cull->result_idx)++;
|
|
} else {
|
|
|
|
return; // pointless to continue
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (use_pairs && !p_octant->pairable_elements.empty()) {
|
|
|
|
typename List<Element *, AL>::Element *I;
|
|
I = p_octant->pairable_elements.front();
|
|
|
|
for (; I; I = I->next()) {
|
|
|
|
Element *e = I->get();
|
|
|
|
if (e->last_pass == pass || (use_pairs && !(e->pairable_type & p_cull->mask)))
|
|
continue;
|
|
e->last_pass = pass;
|
|
|
|
if (e->aabb.intersects_convex_shape(p_cull->planes, p_cull->plane_count)) {
|
|
|
|
if (*p_cull->result_idx < p_cull->result_max) {
|
|
|
|
p_cull->result_array[*p_cull->result_idx] = e->userdata;
|
|
(*p_cull->result_idx)++;
|
|
} else {
|
|
|
|
return; // pointless to continue
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < 8; i++) {
|
|
|
|
if (p_octant->children[i] && p_octant->children[i]->aabb.intersects_convex_shape(p_cull->planes, p_cull->plane_count)) {
|
|
_cull_convex(p_octant->children[i], p_cull);
|
|
}
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::_cull_aabb(Octant *p_octant, const AABB &p_aabb, T **p_result_array, int *p_result_idx, int p_result_max, int *p_subindex_array, uint32_t p_mask) {
|
|
|
|
if (*p_result_idx == p_result_max)
|
|
return; //pointless
|
|
|
|
if (!p_octant->elements.empty()) {
|
|
|
|
typename List<Element *, AL>::Element *I;
|
|
I = p_octant->elements.front();
|
|
for (; I; I = I->next()) {
|
|
|
|
Element *e = I->get();
|
|
|
|
if (e->last_pass == pass || (use_pairs && !(e->pairable_type & p_mask)))
|
|
continue;
|
|
e->last_pass = pass;
|
|
|
|
if (p_aabb.intersects_inclusive(e->aabb)) {
|
|
|
|
if (*p_result_idx < p_result_max) {
|
|
|
|
p_result_array[*p_result_idx] = e->userdata;
|
|
if (p_subindex_array)
|
|
p_subindex_array[*p_result_idx] = e->subindex;
|
|
|
|
(*p_result_idx)++;
|
|
} else {
|
|
|
|
return; // pointless to continue
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (use_pairs && !p_octant->pairable_elements.empty()) {
|
|
|
|
typename List<Element *, AL>::Element *I;
|
|
I = p_octant->pairable_elements.front();
|
|
for (; I; I = I->next()) {
|
|
|
|
Element *e = I->get();
|
|
|
|
if (e->last_pass == pass || (use_pairs && !(e->pairable_type & p_mask)))
|
|
continue;
|
|
e->last_pass = pass;
|
|
|
|
if (p_aabb.intersects_inclusive(e->aabb)) {
|
|
|
|
if (*p_result_idx < p_result_max) {
|
|
|
|
p_result_array[*p_result_idx] = e->userdata;
|
|
if (p_subindex_array)
|
|
p_subindex_array[*p_result_idx] = e->subindex;
|
|
(*p_result_idx)++;
|
|
} else {
|
|
|
|
return; // pointless to continue
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < 8; i++) {
|
|
|
|
if (p_octant->children[i] && p_octant->children[i]->aabb.intersects_inclusive(p_aabb)) {
|
|
_cull_aabb(p_octant->children[i], p_aabb, p_result_array, p_result_idx, p_result_max, p_subindex_array, p_mask);
|
|
}
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::_cull_segment(Octant *p_octant, const Vector3 &p_from, const Vector3 &p_to, T **p_result_array, int *p_result_idx, int p_result_max, int *p_subindex_array, uint32_t p_mask) {
|
|
|
|
if (*p_result_idx == p_result_max)
|
|
return; //pointless
|
|
|
|
if (!p_octant->elements.empty()) {
|
|
|
|
typename List<Element *, AL>::Element *I;
|
|
I = p_octant->elements.front();
|
|
for (; I; I = I->next()) {
|
|
|
|
Element *e = I->get();
|
|
|
|
if (e->last_pass == pass || (use_pairs && !(e->pairable_type & p_mask)))
|
|
continue;
|
|
e->last_pass = pass;
|
|
|
|
if (e->aabb.intersects_segment(p_from, p_to)) {
|
|
|
|
if (*p_result_idx < p_result_max) {
|
|
|
|
p_result_array[*p_result_idx] = e->userdata;
|
|
if (p_subindex_array)
|
|
p_subindex_array[*p_result_idx] = e->subindex;
|
|
(*p_result_idx)++;
|
|
|
|
} else {
|
|
|
|
return; // pointless to continue
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (use_pairs && !p_octant->pairable_elements.empty()) {
|
|
|
|
typename List<Element *, AL>::Element *I;
|
|
I = p_octant->pairable_elements.front();
|
|
for (; I; I = I->next()) {
|
|
|
|
Element *e = I->get();
|
|
|
|
if (e->last_pass == pass || (use_pairs && !(e->pairable_type & p_mask)))
|
|
continue;
|
|
|
|
e->last_pass = pass;
|
|
|
|
if (e->aabb.intersects_segment(p_from, p_to)) {
|
|
|
|
if (*p_result_idx < p_result_max) {
|
|
|
|
p_result_array[*p_result_idx] = e->userdata;
|
|
if (p_subindex_array)
|
|
p_subindex_array[*p_result_idx] = e->subindex;
|
|
|
|
(*p_result_idx)++;
|
|
|
|
} else {
|
|
|
|
return; // pointless to continue
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < 8; i++) {
|
|
|
|
if (p_octant->children[i] && p_octant->children[i]->aabb.intersects_segment(p_from, p_to)) {
|
|
_cull_segment(p_octant->children[i], p_from, p_to, p_result_array, p_result_idx, p_result_max, p_subindex_array, p_mask);
|
|
}
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::_cull_point(Octant *p_octant, const Vector3 &p_point, T **p_result_array, int *p_result_idx, int p_result_max, int *p_subindex_array, uint32_t p_mask) {
|
|
|
|
if (*p_result_idx == p_result_max)
|
|
return; //pointless
|
|
|
|
if (!p_octant->elements.empty()) {
|
|
|
|
typename List<Element *, AL>::Element *I;
|
|
I = p_octant->elements.front();
|
|
for (; I; I = I->next()) {
|
|
|
|
Element *e = I->get();
|
|
|
|
if (e->last_pass == pass || (use_pairs && !(e->pairable_type & p_mask)))
|
|
continue;
|
|
e->last_pass = pass;
|
|
|
|
if (e->aabb.has_point(p_point)) {
|
|
|
|
if (*p_result_idx < p_result_max) {
|
|
|
|
p_result_array[*p_result_idx] = e->userdata;
|
|
if (p_subindex_array)
|
|
p_subindex_array[*p_result_idx] = e->subindex;
|
|
(*p_result_idx)++;
|
|
|
|
} else {
|
|
|
|
return; // pointless to continue
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (use_pairs && !p_octant->pairable_elements.empty()) {
|
|
|
|
typename List<Element *, AL>::Element *I;
|
|
I = p_octant->pairable_elements.front();
|
|
for (; I; I = I->next()) {
|
|
|
|
Element *e = I->get();
|
|
|
|
if (e->last_pass == pass || (use_pairs && !(e->pairable_type & p_mask)))
|
|
continue;
|
|
|
|
e->last_pass = pass;
|
|
|
|
if (e->aabb.has_point(p_point)) {
|
|
|
|
if (*p_result_idx < p_result_max) {
|
|
|
|
p_result_array[*p_result_idx] = e->userdata;
|
|
if (p_subindex_array)
|
|
p_subindex_array[*p_result_idx] = e->subindex;
|
|
|
|
(*p_result_idx)++;
|
|
|
|
} else {
|
|
|
|
return; // pointless to continue
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < 8; i++) {
|
|
|
|
//could be optimized..
|
|
if (p_octant->children[i] && p_octant->children[i]->aabb.has_point(p_point)) {
|
|
_cull_point(p_octant->children[i], p_point, p_result_array, p_result_idx, p_result_max, p_subindex_array, p_mask);
|
|
}
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
int Octree<T, use_pairs, AL>::cull_convex(const Vector<Plane> &p_convex, T **p_result_array, int p_result_max, uint32_t p_mask) {
|
|
|
|
if (!root)
|
|
return 0;
|
|
|
|
int result_count = 0;
|
|
pass++;
|
|
_CullConvexData cdata;
|
|
cdata.planes = &p_convex[0];
|
|
cdata.plane_count = p_convex.size();
|
|
cdata.result_array = p_result_array;
|
|
cdata.result_max = p_result_max;
|
|
cdata.result_idx = &result_count;
|
|
cdata.mask = p_mask;
|
|
|
|
_cull_convex(root, &cdata);
|
|
|
|
return result_count;
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
int Octree<T, use_pairs, AL>::cull_aabb(const AABB &p_aabb, T **p_result_array, int p_result_max, int *p_subindex_array, uint32_t p_mask) {
|
|
|
|
if (!root)
|
|
return 0;
|
|
|
|
int result_count = 0;
|
|
pass++;
|
|
_cull_aabb(root, p_aabb, p_result_array, &result_count, p_result_max, p_subindex_array, p_mask);
|
|
|
|
return result_count;
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
int Octree<T, use_pairs, AL>::cull_segment(const Vector3 &p_from, const Vector3 &p_to, T **p_result_array, int p_result_max, int *p_subindex_array, uint32_t p_mask) {
|
|
|
|
if (!root)
|
|
return 0;
|
|
|
|
int result_count = 0;
|
|
pass++;
|
|
_cull_segment(root, p_from, p_to, p_result_array, &result_count, p_result_max, p_subindex_array, p_mask);
|
|
|
|
return result_count;
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
int Octree<T, use_pairs, AL>::cull_point(const Vector3 &p_point, T **p_result_array, int p_result_max, int *p_subindex_array, uint32_t p_mask) {
|
|
|
|
if (!root)
|
|
return 0;
|
|
|
|
int result_count = 0;
|
|
pass++;
|
|
_cull_point(root, p_point, p_result_array, &result_count, p_result_max, p_subindex_array, p_mask);
|
|
|
|
return result_count;
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::set_pair_callback(PairCallback p_callback, void *p_userdata) {
|
|
|
|
pair_callback = p_callback;
|
|
pair_callback_userdata = p_userdata;
|
|
}
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::set_unpair_callback(UnpairCallback p_callback, void *p_userdata) {
|
|
|
|
unpair_callback = p_callback;
|
|
unpair_callback_userdata = p_userdata;
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
Octree<T, use_pairs, AL>::Octree(real_t p_unit_size) {
|
|
|
|
last_element_id = 1;
|
|
pass = 1;
|
|
unit_size = p_unit_size;
|
|
root = NULL;
|
|
|
|
octant_count = 0;
|
|
pair_count = 0;
|
|
|
|
pair_callback = NULL;
|
|
unpair_callback = NULL;
|
|
pair_callback_userdata = NULL;
|
|
unpair_callback_userdata = NULL;
|
|
}
|
|
|
|
#endif // OCTREE_H
|