1426cd3b3a
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see". Backported from #70885.
653 lines
18 KiB
C++
653 lines
18 KiB
C++
/**************************************************************************/
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/* broad_phase_2d_hash_grid.cpp */
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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) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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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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#include "broad_phase_2d_hash_grid.h"
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#include "collision_object_2d_sw.h"
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#include "core/project_settings.h"
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#define LARGE_ELEMENT_FI 1.01239812
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void BroadPhase2DHashGrid::_pair_attempt(Element *p_elem, Element *p_with) {
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if (p_elem->owner == p_with->owner) {
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return;
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}
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if (!_test_collision_mask(p_elem->collision_mask, p_elem->collision_layer, p_with->collision_mask, p_with->collision_layer)) {
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return;
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}
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Map<Element *, PairData *>::Element *E = p_elem->paired.find(p_with);
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ERR_FAIL_COND(p_elem->_static && p_with->_static);
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if (!E) {
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PairData *pd = memnew(PairData);
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p_elem->paired[p_with] = pd;
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p_with->paired[p_elem] = pd;
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} else {
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E->get()->rc++;
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}
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}
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void BroadPhase2DHashGrid::_unpair_attempt(Element *p_elem, Element *p_with) {
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if (p_elem->owner == p_with->owner) {
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return;
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}
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if (!_test_collision_mask(p_elem->collision_mask, p_elem->collision_layer, p_with->collision_mask, p_with->collision_layer)) {
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return;
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}
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Map<Element *, PairData *>::Element *E = p_elem->paired.find(p_with);
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ERR_FAIL_COND(!E); //this should really be paired..
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E->get()->rc--;
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if (E->get()->rc == 0) {
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if (E->get()->colliding) {
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//uncollide
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if (unpair_callback) {
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unpair_callback(p_elem->owner, p_elem->subindex, p_with->owner, p_with->subindex, E->get()->ud, unpair_userdata);
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}
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}
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memdelete(E->get());
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p_elem->paired.erase(E);
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p_with->paired.erase(p_elem);
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}
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}
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void BroadPhase2DHashGrid::_check_motion(Element *p_elem) {
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for (Map<Element *, PairData *>::Element *E = p_elem->paired.front(); E; E = E->next()) {
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bool physical_collision = p_elem->aabb.intersects(E->key()->aabb);
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bool logical_collision = p_elem->owner->test_collision_mask(E->key()->owner);
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if (physical_collision && logical_collision) {
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if (!E->get()->colliding && pair_callback) {
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E->get()->ud = pair_callback(p_elem->owner, p_elem->subindex, E->key()->owner, E->key()->subindex, nullptr, pair_userdata);
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}
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E->get()->colliding = true;
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} else { // No collision
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if (E->get()->colliding && unpair_callback) {
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unpair_callback(p_elem->owner, p_elem->subindex, E->key()->owner, E->key()->subindex, E->get()->ud, unpair_userdata);
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E->get()->ud = nullptr;
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}
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E->get()->colliding = false;
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}
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}
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}
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void BroadPhase2DHashGrid::_enter_grid(Element *p_elem, const Rect2 &p_rect, bool p_static, bool p_force_enter) {
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Vector2 sz = (p_rect.size / cell_size * LARGE_ELEMENT_FI); //use magic number to avoid floating point issues
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if (sz.width * sz.height > large_object_min_surface) {
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//large object, do not use grid, must check against all elements
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for (Map<ID, Element>::Element *E = element_map.front(); E; E = E->next()) {
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if (E->key() == p_elem->self) {
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continue; // do not pair against itself
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}
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if (E->get()._static && p_static) {
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continue;
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}
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_pair_attempt(p_elem, &E->get());
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}
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large_elements[p_elem].inc();
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return;
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}
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Point2i from = (p_rect.position / cell_size).floor();
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Point2i to = ((p_rect.position + p_rect.size) / cell_size).floor();
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for (int i = from.x; i <= to.x; i++) {
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for (int j = from.y; j <= to.y; j++) {
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PosKey pk;
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pk.x = i;
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pk.y = j;
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uint32_t idx = pk.hash() % hash_table_size;
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PosBin *pb = hash_table[idx];
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while (pb) {
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if (pb->key == pk) {
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break;
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}
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pb = pb->next;
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}
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bool entered = p_force_enter;
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if (!pb) {
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//does not exist, create!
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pb = memnew(PosBin);
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pb->key = pk;
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pb->next = hash_table[idx];
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hash_table[idx] = pb;
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}
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if (p_static) {
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if (pb->static_object_set[p_elem].inc() == 1) {
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entered = true;
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}
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} else {
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if (pb->object_set[p_elem].inc() == 1) {
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entered = true;
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}
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}
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if (entered) {
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for (Map<Element *, RC>::Element *E = pb->object_set.front(); E; E = E->next()) {
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_pair_attempt(p_elem, E->key());
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}
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if (!p_static) {
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for (Map<Element *, RC>::Element *E = pb->static_object_set.front(); E; E = E->next()) {
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_pair_attempt(p_elem, E->key());
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}
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}
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}
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}
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}
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//pair separatedly with large elements
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for (Map<Element *, RC>::Element *E = large_elements.front(); E; E = E->next()) {
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if (E->key() == p_elem) {
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continue; // do not pair against itself
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}
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if (E->key()->_static && p_static) {
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continue;
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}
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_pair_attempt(E->key(), p_elem);
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}
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}
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void BroadPhase2DHashGrid::_exit_grid(Element *p_elem, const Rect2 &p_rect, bool p_static, bool p_force_exit) {
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Vector2 sz = (p_rect.size / cell_size * LARGE_ELEMENT_FI);
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if (sz.width * sz.height > large_object_min_surface) {
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//unpair all elements, instead of checking all, just check what is already paired, so we at least save from checking static vs static
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Map<Element *, PairData *>::Element *E = p_elem->paired.front();
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while (E) {
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Map<Element *, PairData *>::Element *next = E->next();
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_unpair_attempt(p_elem, E->key());
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E = next;
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}
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if (large_elements[p_elem].dec() == 0) {
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large_elements.erase(p_elem);
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}
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return;
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}
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Point2i from = (p_rect.position / cell_size).floor();
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Point2i to = ((p_rect.position + p_rect.size) / cell_size).floor();
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for (int i = from.x; i <= to.x; i++) {
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for (int j = from.y; j <= to.y; j++) {
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PosKey pk;
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pk.x = i;
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pk.y = j;
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uint32_t idx = pk.hash() % hash_table_size;
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PosBin *pb = hash_table[idx];
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while (pb) {
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if (pb->key == pk) {
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break;
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}
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pb = pb->next;
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}
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ERR_CONTINUE(!pb); //should exist!!
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bool exited = p_force_exit;
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if (p_static) {
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if (pb->static_object_set[p_elem].dec() == 0) {
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pb->static_object_set.erase(p_elem);
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exited = true;
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}
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} else {
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if (pb->object_set[p_elem].dec() == 0) {
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pb->object_set.erase(p_elem);
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exited = true;
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}
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}
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if (exited) {
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for (Map<Element *, RC>::Element *E = pb->object_set.front(); E; E = E->next()) {
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_unpair_attempt(p_elem, E->key());
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}
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if (!p_static) {
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for (Map<Element *, RC>::Element *E = pb->static_object_set.front(); E; E = E->next()) {
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_unpair_attempt(p_elem, E->key());
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}
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}
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}
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if (pb->object_set.empty() && pb->static_object_set.empty()) {
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if (hash_table[idx] == pb) {
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hash_table[idx] = pb->next;
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} else {
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PosBin *px = hash_table[idx];
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while (px) {
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if (px->next == pb) {
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px->next = pb->next;
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break;
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}
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px = px->next;
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}
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ERR_CONTINUE(!px);
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}
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memdelete(pb);
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}
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}
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}
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for (Map<Element *, RC>::Element *E = large_elements.front(); E; E = E->next()) {
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if (E->key() == p_elem) {
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continue; // do not pair against itself
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}
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if (E->key()->_static && p_static) {
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continue;
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}
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//unpair from large elements
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_unpair_attempt(p_elem, E->key());
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}
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}
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BroadPhase2DHashGrid::ID BroadPhase2DHashGrid::create(CollisionObject2DSW *p_object, int p_subindex, const Rect2 &p_aabb, bool p_static) {
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current++;
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Element e;
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e.owner = p_object;
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e._static = false;
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e.collision_mask = p_object->get_collision_mask();
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e.collision_layer = p_object->get_collision_layer();
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e.subindex = p_subindex;
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e.self = current;
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e.pass = 0;
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element_map[current] = e;
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return current;
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}
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void BroadPhase2DHashGrid::move(ID p_id, const Rect2 &p_aabb) {
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Map<ID, Element>::Element *E = element_map.find(p_id);
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ERR_FAIL_COND(!E);
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Element &e = E->get();
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bool layer_changed = e.collision_mask != e.owner->get_collision_mask() || e.collision_layer != e.owner->get_collision_layer();
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if (p_aabb != e.aabb || layer_changed) {
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uint32_t old_mask = e.collision_mask;
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uint32_t old_layer = e.collision_layer;
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if (p_aabb != Rect2()) {
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e.collision_mask = e.owner->get_collision_mask();
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e.collision_layer = e.owner->get_collision_layer();
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_enter_grid(&e, p_aabb, e._static, layer_changed);
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}
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if (e.aabb != Rect2()) {
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// Need _exit_grid to remove from cells based on the old layer values.
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e.collision_mask = old_mask;
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e.collision_layer = old_layer;
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_exit_grid(&e, e.aabb, e._static, layer_changed);
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e.collision_mask = e.owner->get_collision_mask();
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e.collision_layer = e.owner->get_collision_layer();
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}
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e.aabb = p_aabb;
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}
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_check_motion(&e);
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}
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void BroadPhase2DHashGrid::recheck_pairs(ID p_id) {
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Map<ID, Element>::Element *E = element_map.find(p_id);
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ERR_FAIL_COND(!E);
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Element &e = E->get();
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move(p_id, e.aabb);
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}
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void BroadPhase2DHashGrid::set_static(ID p_id, bool p_static) {
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Map<ID, Element>::Element *E = element_map.find(p_id);
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ERR_FAIL_COND(!E);
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Element &e = E->get();
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if (e._static == p_static) {
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return;
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}
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if (e.aabb != Rect2()) {
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_exit_grid(&e, e.aabb, e._static, false);
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}
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e._static = p_static;
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if (e.aabb != Rect2()) {
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_enter_grid(&e, e.aabb, e._static, false);
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_check_motion(&e);
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}
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}
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void BroadPhase2DHashGrid::remove(ID p_id) {
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Map<ID, Element>::Element *E = element_map.find(p_id);
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ERR_FAIL_COND(!E);
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Element &e = E->get();
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if (e.aabb != Rect2()) {
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_exit_grid(&e, e.aabb, e._static, false);
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}
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element_map.erase(p_id);
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}
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CollisionObject2DSW *BroadPhase2DHashGrid::get_object(ID p_id) const {
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const Map<ID, Element>::Element *E = element_map.find(p_id);
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ERR_FAIL_COND_V(!E, nullptr);
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return E->get().owner;
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}
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bool BroadPhase2DHashGrid::is_static(ID p_id) const {
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const Map<ID, Element>::Element *E = element_map.find(p_id);
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ERR_FAIL_COND_V(!E, false);
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return E->get()._static;
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}
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int BroadPhase2DHashGrid::get_subindex(ID p_id) const {
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const Map<ID, Element>::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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template <bool use_aabb, bool use_segment>
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void BroadPhase2DHashGrid::_cull(const Point2i p_cell, const Rect2 &p_aabb, const Point2 &p_from, const Point2 &p_to, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices, int &index) {
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PosKey pk;
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pk.x = p_cell.x;
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pk.y = p_cell.y;
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uint32_t idx = pk.hash() % hash_table_size;
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PosBin *pb = hash_table[idx];
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while (pb) {
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if (pb->key == pk) {
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break;
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}
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pb = pb->next;
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}
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if (!pb) {
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return;
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}
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for (Map<Element *, RC>::Element *E = pb->object_set.front(); E; E = E->next()) {
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if (index >= p_max_results) {
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break;
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}
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if (E->key()->pass == pass) {
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continue;
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}
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E->key()->pass = pass;
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if (use_aabb && !p_aabb.intersects(E->key()->aabb)) {
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continue;
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}
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if (use_segment && !E->key()->aabb.intersects_segment(p_from, p_to)) {
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continue;
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}
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p_results[index] = E->key()->owner;
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p_result_indices[index] = E->key()->subindex;
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index++;
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}
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for (Map<Element *, RC>::Element *E = pb->static_object_set.front(); E; E = E->next()) {
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if (index >= p_max_results) {
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break;
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}
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if (E->key()->pass == pass) {
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continue;
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}
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if (use_aabb && !p_aabb.intersects(E->key()->aabb)) {
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continue;
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}
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if (use_segment && !E->key()->aabb.intersects_segment(p_from, p_to)) {
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continue;
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}
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E->key()->pass = pass;
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p_results[index] = E->key()->owner;
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p_result_indices[index] = E->key()->subindex;
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index++;
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}
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}
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int BroadPhase2DHashGrid::cull_segment(const Vector2 &p_from, const Vector2 &p_to, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices) {
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pass++;
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Vector2 dir = (p_to - p_from);
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if (dir == Vector2()) {
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return 0;
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}
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//avoid divisions by zero
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dir.normalize();
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if (dir.x == 0.0) {
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dir.x = 0.000001;
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}
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if (dir.y == 0.0) {
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dir.y = 0.000001;
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}
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Vector2 delta = dir.abs();
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delta.x = cell_size / delta.x;
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delta.y = cell_size / delta.y;
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Point2i pos = (p_from / cell_size).floor();
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Point2i end = (p_to / cell_size).floor();
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Point2i step = Vector2(SGN(dir.x), SGN(dir.y));
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Vector2 max;
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if (dir.x < 0) {
|
|
max.x = (Math::floor((double)pos.x) * cell_size - p_from.x) / dir.x;
|
|
} else {
|
|
max.x = (Math::floor((double)pos.x + 1) * cell_size - p_from.x) / dir.x;
|
|
}
|
|
|
|
if (dir.y < 0) {
|
|
max.y = (Math::floor((double)pos.y) * cell_size - p_from.y) / dir.y;
|
|
} else {
|
|
max.y = (Math::floor((double)pos.y + 1) * cell_size - p_from.y) / dir.y;
|
|
}
|
|
|
|
int cullcount = 0;
|
|
_cull<false, true>(pos, Rect2(), p_from, p_to, p_results, p_max_results, p_result_indices, cullcount);
|
|
|
|
bool reached_x = false;
|
|
bool reached_y = false;
|
|
|
|
while (true) {
|
|
if (max.x < max.y) {
|
|
max.x += delta.x;
|
|
pos.x += step.x;
|
|
} else {
|
|
max.y += delta.y;
|
|
pos.y += step.y;
|
|
}
|
|
|
|
if (step.x > 0) {
|
|
if (pos.x >= end.x) {
|
|
reached_x = true;
|
|
}
|
|
} else if (pos.x <= end.x) {
|
|
reached_x = true;
|
|
}
|
|
|
|
if (step.y > 0) {
|
|
if (pos.y >= end.y) {
|
|
reached_y = true;
|
|
}
|
|
} else if (pos.y <= end.y) {
|
|
reached_y = true;
|
|
}
|
|
|
|
_cull<false, true>(pos, Rect2(), p_from, p_to, p_results, p_max_results, p_result_indices, cullcount);
|
|
|
|
if (reached_x && reached_y) {
|
|
break;
|
|
}
|
|
}
|
|
|
|
for (Map<Element *, RC>::Element *E = large_elements.front(); E; E = E->next()) {
|
|
if (cullcount >= p_max_results) {
|
|
break;
|
|
}
|
|
if (E->key()->pass == pass) {
|
|
continue;
|
|
}
|
|
|
|
E->key()->pass = pass;
|
|
|
|
/*
|
|
if (use_aabb && !p_aabb.intersects(E->key()->aabb))
|
|
continue;
|
|
*/
|
|
|
|
if (!E->key()->aabb.intersects_segment(p_from, p_to)) {
|
|
continue;
|
|
}
|
|
|
|
p_results[cullcount] = E->key()->owner;
|
|
p_result_indices[cullcount] = E->key()->subindex;
|
|
cullcount++;
|
|
}
|
|
|
|
return cullcount;
|
|
}
|
|
|
|
int BroadPhase2DHashGrid::cull_aabb(const Rect2 &p_aabb, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices) {
|
|
pass++;
|
|
|
|
Point2i from = (p_aabb.position / cell_size).floor();
|
|
Point2i to = ((p_aabb.position + p_aabb.size) / cell_size).floor();
|
|
int cullcount = 0;
|
|
|
|
for (int i = from.x; i <= to.x; i++) {
|
|
for (int j = from.y; j <= to.y; j++) {
|
|
_cull<true, false>(Point2i(i, j), p_aabb, Point2(), Point2(), p_results, p_max_results, p_result_indices, cullcount);
|
|
}
|
|
}
|
|
|
|
for (Map<Element *, RC>::Element *E = large_elements.front(); E; E = E->next()) {
|
|
if (cullcount >= p_max_results) {
|
|
break;
|
|
}
|
|
if (E->key()->pass == pass) {
|
|
continue;
|
|
}
|
|
|
|
E->key()->pass = pass;
|
|
|
|
if (!p_aabb.intersects(E->key()->aabb)) {
|
|
continue;
|
|
}
|
|
|
|
/*
|
|
if (!E->key()->aabb.intersects_segment(p_from,p_to))
|
|
continue;
|
|
*/
|
|
|
|
p_results[cullcount] = E->key()->owner;
|
|
p_result_indices[cullcount] = E->key()->subindex;
|
|
cullcount++;
|
|
}
|
|
return cullcount;
|
|
}
|
|
|
|
void BroadPhase2DHashGrid::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) {
|
|
pair_callback = p_pair_callback;
|
|
pair_userdata = p_userdata;
|
|
}
|
|
void BroadPhase2DHashGrid::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) {
|
|
unpair_callback = p_unpair_callback;
|
|
unpair_userdata = p_userdata;
|
|
}
|
|
|
|
void BroadPhase2DHashGrid::update() {
|
|
}
|
|
|
|
BroadPhase2DSW *BroadPhase2DHashGrid::_create() {
|
|
return memnew(BroadPhase2DHashGrid);
|
|
}
|
|
|
|
BroadPhase2DHashGrid::BroadPhase2DHashGrid() {
|
|
hash_table_size = GLOBAL_GET("physics/2d/bp_hash_table_size");
|
|
ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/bp_hash_table_size", PropertyInfo(Variant::INT, "physics/2d/bp_hash_table_size", PROPERTY_HINT_RANGE, "0,8192,1,or_greater"));
|
|
hash_table_size = Math::larger_prime(hash_table_size);
|
|
hash_table = memnew_arr(PosBin *, hash_table_size);
|
|
|
|
cell_size = GLOBAL_GET("physics/2d/cell_size");
|
|
ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/cell_size", PropertyInfo(Variant::INT, "physics/2d/cell_size", PROPERTY_HINT_RANGE, "0,512,1,or_greater"));
|
|
|
|
large_object_min_surface = GLOBAL_GET("physics/2d/large_object_surface_threshold_in_cells");
|
|
ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/large_object_surface_threshold_in_cells", PropertyInfo(Variant::INT, "physics/2d/large_object_surface_threshold_in_cells", PROPERTY_HINT_RANGE, "0,1024,1,or_greater"));
|
|
|
|
for (uint32_t i = 0; i < hash_table_size; i++) {
|
|
hash_table[i] = nullptr;
|
|
}
|
|
pass = 1;
|
|
|
|
current = 0;
|
|
}
|
|
|
|
BroadPhase2DHashGrid::~BroadPhase2DHashGrid() {
|
|
for (uint32_t i = 0; i < hash_table_size; i++) {
|
|
while (hash_table[i]) {
|
|
PosBin *pb = hash_table[i];
|
|
hash_table[i] = pb->next;
|
|
memdelete(pb);
|
|
}
|
|
}
|
|
|
|
memdelete_arr(hash_table);
|
|
}
|