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Optimize area detection and intersect_shape queries with concave shapes

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Whenever contact points are not needed, collision checks with concave
shapes (triangle mesh and heightmap) stop at the first colliding
triangle.
This commit is contained in:
PouleyKetchoupp 2021-05-07 19:16:04 -07:00
parent 90a35dac48
commit cc43c2ea16
8 changed files with 66 additions and 41 deletions
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10
servers/physics_2d/collision_solver_2d_sw.cpp
View file

@ -149,20 +149,20 @@ struct _ConcaveCollisionInfo2D {
Vector2 *sep_axis;
};
void CollisionSolver2DSW::concave_callback(void *p_userdata, Shape2DSW *p_convex) {
bool CollisionSolver2DSW::concave_callback(void *p_userdata, Shape2DSW *p_convex) {
_ConcaveCollisionInfo2D &cinfo = *(_ConcaveCollisionInfo2D *)(p_userdata);
cinfo.aabb_tests++;
if (!cinfo.result_callback && cinfo.collided) {
return; //already collided and no contacts requested, don't test anymore
}
bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, cinfo.motion_A, p_convex, *cinfo.transform_B, cinfo.motion_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result, cinfo.sep_axis, cinfo.margin_A, cinfo.margin_B);
if (!collided) {
return;
return false;
}
cinfo.collided = true;
cinfo.collisions++;
// Stop at first collision if contacts are not needed.
return !cinfo.result_callback;
}
bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {

2
servers/physics_2d/collision_solver_2d_sw.h
View file

@ -39,7 +39,7 @@ public:
private:
static bool solve_static_world_margin(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
static void concave_callback(void *p_userdata, Shape2DSW *p_convex);
static bool concave_callback(void *p_userdata, Shape2DSW *p_convex);
static bool solve_concave(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
static bool solve_separation_ray(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin = 0);

6
servers/physics_2d/shape_2d_sw.cpp
View file

@ -921,7 +921,7 @@ Variant ConcavePolygonShape2DSW::get_data() const {
return rsegments;
}
void ConcavePolygonShape2DSW::cull(const Rect2 &p_local_aabb, Callback p_callback, void *p_userdata) const {
void ConcavePolygonShape2DSW::cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const {
uint32_t *stack = (uint32_t *)alloca(sizeof(int) * bvh_depth);
enum {
@ -969,7 +969,9 @@ void ConcavePolygonShape2DSW::cull(const Rect2 &p_local_aabb, Callback p_callbac
SegmentShape2DSW ss(a, b, (b - a).orthogonal().normalized());
p_callback(p_userdata, &ss);
if (p_callback(p_userdata, &ss)) {
return;
}
stack[level] = (VISIT_DONE_BIT << VISITED_BIT_SHIFT) | node;
} else {

8
servers/physics_2d/shape_2d_sw.h
View file

@ -465,9 +465,11 @@ public:
class ConcaveShape2DSW : public Shape2DSW {
public:
virtual bool is_concave() const override { return true; }
typedef void (*Callback)(void *p_userdata, Shape2DSW *p_convex);
virtual void cull(const Rect2 &p_local_aabb, Callback p_callback, void *p_userdata) const = 0;
// Returns true to stop the query.
typedef bool (*QueryCallback)(void *p_userdata, Shape2DSW *p_convex);
virtual void cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const = 0;
};
class ConcavePolygonShape2DSW : public ConcaveShape2DSW {
@ -525,7 +527,7 @@ public:
virtual void set_data(const Variant &p_data) override;
virtual Variant get_data() const override;
virtual void cull(const Rect2 &p_local_aabb, Callback p_callback, void *p_userdata) const override;
virtual void cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const override;
DEFAULT_PROJECT_RANGE_CAST
};