690e07b509
Complete rewrite of spatial partitioning using a bounding volume hierarchy rather than octree. Switchable in project settings between using octree or BVH for rendering and physics.
524 lines
13 KiB
C++
524 lines
13 KiB
C++
public:
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// cull parameters is a convenient way of passing a bunch
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// of arguments through the culling functions without
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// writing loads of code. Not all members are used for some cull checks
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struct CullParams {
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int result_count_overall; // both trees
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int result_count; // this tree only
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int result_max;
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T **result_array;
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int *subindex_array;
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uint32_t mask;
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// optional components for different tests
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Vector3 point;
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BVH_ABB abb;
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typename BVH_ABB::ConvexHull hull;
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typename BVH_ABB::Segment segment;
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// when collision testing, non pairable moving items
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// only need to be tested against the pairable tree.
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// collisions with other non pairable items are irrelevant.
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bool test_pairable_only;
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};
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private:
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void _cull_translate_hits(CullParams &p) {
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int num_hits = _cull_hits.size();
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int left = p.result_max - p.result_count_overall;
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if (num_hits > left)
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num_hits = left;
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int out_n = p.result_count_overall;
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for (int n = 0; n < num_hits; n++) {
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uint32_t ref_id = _cull_hits[n];
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const ItemExtra &ex = _extra[ref_id];
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p.result_array[out_n] = ex.userdata;
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if (p.subindex_array)
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p.subindex_array[out_n] = ex.subindex;
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out_n++;
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}
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p.result_count = num_hits;
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p.result_count_overall += num_hits;
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}
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public:
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int cull_convex(CullParams &r_params, bool p_translate_hits = true) {
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_cull_hits.clear();
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r_params.result_count = 0;
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for (int n = 0; n < NUM_TREES; n++) {
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if (_root_node_id[n] == BVHCommon::INVALID)
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continue;
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_cull_convex_iterative(_root_node_id[n], r_params);
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}
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if (p_translate_hits)
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_cull_translate_hits(r_params);
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return r_params.result_count;
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}
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int cull_segment(CullParams &r_params, bool p_translate_hits = true) {
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_cull_hits.clear();
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r_params.result_count = 0;
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for (int n = 0; n < NUM_TREES; n++) {
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if (_root_node_id[n] == BVHCommon::INVALID)
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continue;
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_cull_segment_iterative(_root_node_id[n], r_params);
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}
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if (p_translate_hits)
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_cull_translate_hits(r_params);
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return r_params.result_count;
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}
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int cull_point(CullParams &r_params, bool p_translate_hits = true) {
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_cull_hits.clear();
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r_params.result_count = 0;
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for (int n = 0; n < NUM_TREES; n++) {
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if (_root_node_id[n] == BVHCommon::INVALID)
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continue;
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_cull_point_iterative(_root_node_id[n], r_params);
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}
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if (p_translate_hits)
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_cull_translate_hits(r_params);
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return r_params.result_count;
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}
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int cull_aabb(CullParams &r_params, bool p_translate_hits = true) {
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_cull_hits.clear();
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r_params.result_count = 0;
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for (int n = 0; n < NUM_TREES; n++) {
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if (_root_node_id[n] == BVHCommon::INVALID)
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continue;
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if ((n == 0) && r_params.test_pairable_only)
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continue;
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_cull_aabb_iterative(_root_node_id[n], r_params);
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}
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if (p_translate_hits)
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_cull_translate_hits(r_params);
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return r_params.result_count;
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}
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bool _cull_hits_full(const CullParams &p) {
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// instead of checking every hit, we can do a lazy check for this condition.
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// it isn't a problem if we write too much _cull_hits because they only the
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// result_max amount will be translated and outputted. But we might as
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// well stop our cull checks after the maximum has been reached.
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return (int)_cull_hits.size() >= p.result_max;
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}
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void _cull_hit(uint32_t p_ref_id, CullParams &p) {
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// take into account masks etc
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// this would be more efficient to do before plane checks,
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// but done here for ease to get started
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if (USE_PAIRS) {
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const ItemExtra &ex = _extra[p_ref_id];
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if (!(p.mask & ex.pairable_type))
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return;
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}
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_cull_hits.push_back(p_ref_id);
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}
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bool _cull_segment_iterative(uint32_t p_node_id, CullParams &r_params) {
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// our function parameters to keep on a stack
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struct CullSegParams {
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uint32_t node_id;
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};
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// most of the iterative functionality is contained in this helper class
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BVH_IterativeInfo<CullSegParams> ii;
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// alloca must allocate the stack from this function, it cannot be allocated in the
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// helper class
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ii.stack = (CullSegParams *)alloca(ii.get_alloca_stacksize());
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// seed the stack
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ii.get_first()->node_id = p_node_id;
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CullSegParams csp;
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// while there are still more nodes on the stack
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while (ii.pop(csp)) {
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TNode &tnode = _nodes[csp.node_id];
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if (tnode.is_leaf()) {
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// lazy check for hits full up condition
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if (_cull_hits_full(r_params)) {
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return false;
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}
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TLeaf &leaf = _node_get_leaf(tnode);
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// test children individually
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for (int n = 0; n < leaf.num_items; n++) {
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const BVH_ABB &aabb = leaf.get_aabb(n);
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if (aabb.intersects_segment(r_params.segment)) {
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uint32_t child_id = leaf.get_item_ref_id(n);
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// register hit
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_cull_hit(child_id, r_params);
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}
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}
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} else {
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// test children individually
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for (int n = 0; n < tnode.num_children; n++) {
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uint32_t child_id = tnode.children[n];
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const BVH_ABB &child_abb = _nodes[child_id].aabb;
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if (child_abb.intersects_segment(r_params.segment)) {
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// add to the stack
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CullSegParams *child = ii.request();
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child->node_id = child_id;
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}
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}
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}
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} // while more nodes to pop
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// true indicates results are not full
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return true;
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}
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bool _cull_point_iterative(uint32_t p_node_id, CullParams &r_params) {
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// our function parameters to keep on a stack
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struct CullPointParams {
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uint32_t node_id;
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};
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// most of the iterative functionality is contained in this helper class
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BVH_IterativeInfo<CullPointParams> ii;
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// alloca must allocate the stack from this function, it cannot be allocated in the
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// helper class
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ii.stack = (CullPointParams *)alloca(ii.get_alloca_stacksize());
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// seed the stack
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ii.get_first()->node_id = p_node_id;
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CullPointParams cpp;
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// while there are still more nodes on the stack
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while (ii.pop(cpp)) {
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TNode &tnode = _nodes[cpp.node_id];
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// no hit with this node?
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if (!tnode.aabb.intersects_point(r_params.point))
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continue;
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if (tnode.is_leaf()) {
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// lazy check for hits full up condition
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if (_cull_hits_full(r_params)) {
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return false;
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}
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TLeaf &leaf = _node_get_leaf(tnode);
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// test children individually
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for (int n = 0; n < leaf.num_items; n++) {
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if (leaf.get_aabb(n).intersects_point(r_params.point)) {
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uint32_t child_id = leaf.get_item_ref_id(n);
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// register hit
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_cull_hit(child_id, r_params);
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}
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}
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} else {
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// test children individually
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for (int n = 0; n < tnode.num_children; n++) {
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uint32_t child_id = tnode.children[n];
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// add to the stack
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CullPointParams *child = ii.request();
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child->node_id = child_id;
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}
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}
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} // while more nodes to pop
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// true indicates results are not full
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return true;
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}
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bool _cull_aabb_iterative(uint32_t p_node_id, CullParams &r_params, bool p_fully_within = false) {
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// our function parameters to keep on a stack
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struct CullAABBParams {
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uint32_t node_id;
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bool fully_within;
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};
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// most of the iterative functionality is contained in this helper class
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BVH_IterativeInfo<CullAABBParams> ii;
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// alloca must allocate the stack from this function, it cannot be allocated in the
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// helper class
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ii.stack = (CullAABBParams *)alloca(ii.get_alloca_stacksize());
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// seed the stack
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ii.get_first()->node_id = p_node_id;
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ii.get_first()->fully_within = p_fully_within;
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CullAABBParams cap;
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// while there are still more nodes on the stack
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while (ii.pop(cap)) {
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TNode &tnode = _nodes[cap.node_id];
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if (tnode.is_leaf()) {
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// lazy check for hits full up condition
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if (_cull_hits_full(r_params)) {
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return false;
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}
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TLeaf &leaf = _node_get_leaf(tnode);
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// if fully within we can just add all items
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// as long as they pass mask checks
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if (cap.fully_within) {
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for (int n = 0; n < leaf.num_items; n++) {
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uint32_t child_id = leaf.get_item_ref_id(n);
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// register hit
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_cull_hit(child_id, r_params);
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}
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} else {
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for (int n = 0; n < leaf.num_items; n++) {
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const BVH_ABB &aabb = leaf.get_aabb(n);
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if (aabb.intersects(r_params.abb)) {
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uint32_t child_id = leaf.get_item_ref_id(n);
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// register hit
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_cull_hit(child_id, r_params);
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}
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}
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} // not fully within
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} else {
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if (!cap.fully_within) {
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// test children individually
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for (int n = 0; n < tnode.num_children; n++) {
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uint32_t child_id = tnode.children[n];
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const BVH_ABB &child_abb = _nodes[child_id].aabb;
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if (child_abb.intersects(r_params.abb)) {
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// is the node totally within the aabb?
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bool fully_within = r_params.abb.is_other_within(child_abb);
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// add to the stack
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CullAABBParams *child = ii.request();
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// should always return valid child
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child->node_id = child_id;
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child->fully_within = fully_within;
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}
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}
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} else {
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for (int n = 0; n < tnode.num_children; n++) {
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uint32_t child_id = tnode.children[n];
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// add to the stack
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CullAABBParams *child = ii.request();
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// should always return valid child
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child->node_id = child_id;
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child->fully_within = true;
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}
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}
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}
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} // while more nodes to pop
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// true indicates results are not full
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return true;
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}
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// returns full up with results
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bool _cull_convex_iterative(uint32_t p_node_id, CullParams &r_params, bool p_fully_within = false) {
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// our function parameters to keep on a stack
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struct CullConvexParams {
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uint32_t node_id;
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bool fully_within;
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};
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// most of the iterative functionality is contained in this helper class
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BVH_IterativeInfo<CullConvexParams> ii;
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// alloca must allocate the stack from this function, it cannot be allocated in the
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// helper class
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ii.stack = (CullConvexParams *)alloca(ii.get_alloca_stacksize());
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// seed the stack
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ii.get_first()->node_id = p_node_id;
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ii.get_first()->fully_within = p_fully_within;
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// preallocate these as a once off to be reused
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uint32_t max_planes = r_params.hull.num_planes;
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uint32_t *plane_ids = (uint32_t *)alloca(sizeof(uint32_t) * max_planes);
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CullConvexParams ccp;
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// while there are still more nodes on the stack
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while (ii.pop(ccp)) {
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const TNode &tnode = _nodes[ccp.node_id];
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if (!ccp.fully_within) {
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typename BVH_ABB::IntersectResult res = tnode.aabb.intersects_convex(r_params.hull);
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switch (res) {
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default: {
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continue; // miss, just move on to the next node in the stack
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} break;
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case BVH_ABB::IR_PARTIAL: {
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} break;
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case BVH_ABB::IR_FULL: {
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ccp.fully_within = true;
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} break;
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}
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} // if not fully within already
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if (tnode.is_leaf()) {
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// lazy check for hits full up condition
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if (_cull_hits_full(r_params)) {
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return false;
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}
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const TLeaf &leaf = _node_get_leaf(tnode);
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// if fully within, simply add all items to the result
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// (taking into account masks)
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if (ccp.fully_within) {
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for (int n = 0; n < leaf.num_items; n++) {
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uint32_t child_id = leaf.get_item_ref_id(n);
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// register hit
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_cull_hit(child_id, r_params);
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}
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} else {
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// we can either use a naive check of all the planes against the AABB,
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// or an optimized check, which finds in advance which of the planes can possibly
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// cut the AABB, and only tests those. This can be much faster.
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#define BVH_CONVEX_CULL_OPTIMIZED
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#ifdef BVH_CONVEX_CULL_OPTIMIZED
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// first find which planes cut the aabb
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uint32_t num_planes = tnode.aabb.find_cutting_planes(r_params.hull, plane_ids);
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BVH_ASSERT(num_planes <= max_planes);
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//#define BVH_CONVEX_CULL_OPTIMIZED_RIGOR_CHECK
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#ifdef BVH_CONVEX_CULL_OPTIMIZED_RIGOR_CHECK
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// rigorous check
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uint32_t results[MAX_ITEMS];
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uint32_t num_results = 0;
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#endif
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// test children individually
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for (int n = 0; n < leaf.num_items; n++) {
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//const Item &item = leaf.get_item(n);
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const BVH_ABB &aabb = leaf.get_aabb(n);
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if (aabb.intersects_convex_optimized(r_params.hull, plane_ids, num_planes)) {
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uint32_t child_id = leaf.get_item_ref_id(n);
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#ifdef BVH_CONVEX_CULL_OPTIMIZED_RIGOR_CHECK
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results[num_results++] = child_id;
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#endif
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// register hit
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_cull_hit(child_id, r_params);
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}
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}
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#ifdef BVH_CONVEX_CULL_OPTIMIZED_RIGOR_CHECK
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uint32_t test_count = 0;
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for (int n = 0; n < leaf.num_items; n++) {
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const BVH_ABB &aabb = leaf.get_aabb(n);
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if (aabb.intersects_convex_partial(r_params.hull)) {
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uint32_t child_id = leaf.get_item_ref_id(n);
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CRASH_COND(child_id != results[test_count++]);
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CRASH_COND(test_count > num_results);
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}
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}
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#endif
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#else
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// not BVH_CONVEX_CULL_OPTIMIZED
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// test children individually
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for (int n = 0; n < leaf.num_items; n++) {
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const BVH_ABB &aabb = leaf.get_aabb(n);
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if (aabb.intersects_convex_partial(r_params.hull)) {
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uint32_t child_id = leaf.get_item_ref_id(n);
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// full up with results? exit early, no point in further testing
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if (!_cull_hit(child_id, r_params))
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return false;
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}
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}
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#endif // BVH_CONVEX_CULL_OPTIMIZED
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} // if not fully within
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} else {
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for (int n = 0; n < tnode.num_children; n++) {
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uint32_t child_id = tnode.children[n];
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// add to the stack
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CullConvexParams *child = ii.request();
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// should always return valid child
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child->node_id = child_id;
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child->fully_within = ccp.fully_within;
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}
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}
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} // while more nodes to pop
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// true indicates results are not full
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return true;
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}
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