dc14636e68
Refactors the BVH to make it more generic and customizable. Instead of hard coding the system of pairable_mask and pairable_type into the BVH, this information is no longer stored internally, and instead the BVH uses callbacks both for determining whether pairs of objects can pair with each other, and for filtering cull / intersection tests. In addition, instead of hard coding the number of trees, the BVH now supports up to 32 trees, and each object can supply a tree collision mask to determine which trees it can collide against. This enables the BVH to scale to either the two or 3 trees needed in physics, and the single tree used without pairing in Godot 4 render tree.
141 lines
6.2 KiB
C++
141 lines
6.2 KiB
C++
/*************************************************************************/
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/* broad_phase_bvh.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) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 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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#include "broad_phase_bvh.h"
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#include "collision_object_sw.h"
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#include "core/project_settings.h"
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BroadPhaseSW::ID BroadPhaseBVH::create(CollisionObjectSW *p_object, int p_subindex, const AABB &p_aabb, bool p_static) {
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uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
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uint32_t tree_collision_mask = p_static ? 0 : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
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ID oid = bvh.create(p_object, true, tree_id, tree_collision_mask, p_aabb, p_subindex); // Pair everything, don't care?
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return oid + 1;
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}
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void BroadPhaseBVH::move(ID p_id, const AABB &p_aabb) {
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bvh.move(p_id - 1, p_aabb);
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}
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void BroadPhaseBVH::recheck_pairs(ID p_id) {
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bvh.recheck_pairs(p_id - 1);
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}
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void BroadPhaseBVH::set_static(ID p_id, bool p_static) {
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uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
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uint32_t tree_collision_mask = p_static ? 0 : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
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bvh.set_tree(p_id - 1, tree_id, tree_collision_mask, false);
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}
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void BroadPhaseBVH::remove(ID p_id) {
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bvh.erase(p_id - 1);
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}
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CollisionObjectSW *BroadPhaseBVH::get_object(ID p_id) const {
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CollisionObjectSW *it = bvh.get(p_id - 1);
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ERR_FAIL_COND_V(!it, nullptr);
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return it;
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}
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bool BroadPhaseBVH::is_static(ID p_id) const {
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uint32_t tree_id = bvh.get_tree_id(p_id - 1);
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return tree_id == 0;
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}
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int BroadPhaseBVH::get_subindex(ID p_id) const {
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return bvh.get_subindex(p_id - 1);
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}
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int BroadPhaseBVH::cull_point(const Vector3 &p_point, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices) {
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return bvh.cull_point(p_point, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
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}
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int BroadPhaseBVH::cull_segment(const Vector3 &p_from, const Vector3 &p_to, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices) {
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return bvh.cull_segment(p_from, p_to, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
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}
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int BroadPhaseBVH::cull_aabb(const AABB &p_aabb, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices) {
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return bvh.cull_aabb(p_aabb, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
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}
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void *BroadPhaseBVH::_pair_callback(void *p_self, uint32_t p_id_A, CollisionObjectSW *p_object_A, int p_subindex_A, uint32_t p_id_B, CollisionObjectSW *p_object_B, int p_subindex_B) {
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BroadPhaseBVH *bpo = (BroadPhaseBVH *)(p_self);
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if (!bpo->pair_callback) {
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return nullptr;
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}
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return bpo->pair_callback(p_object_A, p_subindex_A, p_object_B, p_subindex_B, nullptr, bpo->pair_userdata);
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}
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void BroadPhaseBVH::_unpair_callback(void *p_self, uint32_t p_id_A, CollisionObjectSW *p_object_A, int p_subindex_A, uint32_t p_id_B, CollisionObjectSW *p_object_B, int p_subindex_B, void *p_pair_data) {
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BroadPhaseBVH *bpo = (BroadPhaseBVH *)(p_self);
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if (!bpo->unpair_callback) {
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return;
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}
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bpo->unpair_callback(p_object_A, p_subindex_A, p_object_B, p_subindex_B, p_pair_data, bpo->unpair_userdata);
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}
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void *BroadPhaseBVH::_check_pair_callback(void *p_self, uint32_t p_id_A, CollisionObjectSW *p_object_A, int p_subindex_A, uint32_t p_id_B, CollisionObjectSW *p_object_B, int p_subindex_B, void *p_pair_data) {
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BroadPhaseBVH *bpo = (BroadPhaseBVH *)(p_self);
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if (!bpo->pair_callback) {
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return nullptr;
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}
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return bpo->pair_callback(p_object_A, p_subindex_A, p_object_B, p_subindex_B, p_pair_data, bpo->pair_userdata);
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}
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void BroadPhaseBVH::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) {
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pair_callback = p_pair_callback;
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pair_userdata = p_userdata;
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}
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void BroadPhaseBVH::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) {
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unpair_callback = p_unpair_callback;
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unpair_userdata = p_userdata;
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}
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void BroadPhaseBVH::update() {
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bvh.update();
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}
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BroadPhaseSW *BroadPhaseBVH::_create() {
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return memnew(BroadPhaseBVH);
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}
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BroadPhaseBVH::BroadPhaseBVH() {
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bvh.params_set_thread_safe(GLOBAL_GET("rendering/threads/thread_safe_bvh"));
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bvh.params_set_pairing_expansion(GLOBAL_GET("physics/3d/godot_physics/bvh_collision_margin"));
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bvh.set_pair_callback(_pair_callback, this);
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bvh.set_unpair_callback(_unpair_callback, this);
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bvh.set_check_pair_callback(_check_pair_callback, this);
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pair_callback = nullptr;
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pair_userdata = nullptr;
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unpair_userdata = nullptr;
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}
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