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BVH - Sync BVH with 3.x

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Templated mask checks and generic NUM_TREES
Fix leaking leaves
This commit is contained in:
lawnjelly 2022-02-04 16:46:10 +00:00
parent 8495be9cec
commit f8eaab5b47
20 changed files with 744 additions and 257 deletions
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18
servers/physics_3d/godot_broad_phase_3d_bvh.cpp
View file

@ -33,7 +33,9 @@
#include "godot_collision_object_3d.h"
GodotBroadPhase3DBVH::ID GodotBroadPhase3DBVH::create(GodotCollisionObject3D *p_object, int p_subindex, const AABB &p_aabb, bool p_static) {
ID oid = bvh.create(p_object, true, p_aabb, p_subindex, !p_static, 1 << p_object->get_type(), p_static ? 0 : 0xFFFFF); // Pair everything, don't care?
uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
uint32_t tree_collision_mask = p_static ? 0 : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
ID oid = bvh.create(p_object, true, tree_id, tree_collision_mask, p_aabb, p_subindex); // Pair everything, don't care?
return oid + 1;
}
@ -42,8 +44,9 @@ void GodotBroadPhase3DBVH::move(ID p_id, const AABB &p_aabb) {
}
void GodotBroadPhase3DBVH::set_static(ID p_id, bool p_static) {
GodotCollisionObject3D *it = bvh.get(p_id - 1);
bvh.set_pairable(p_id - 1, !p_static, 1 << it->get_type(), p_static ? 0 : 0xFFFFF, false); // Pair everything, don't care?
uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
uint32_t tree_collision_mask = p_static ? 0 : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
bvh.set_tree(p_id - 1, tree_id, tree_collision_mask, false);
}
void GodotBroadPhase3DBVH::remove(ID p_id) {
@ -57,7 +60,8 @@ GodotCollisionObject3D *GodotBroadPhase3DBVH::get_object(ID p_id) const {
}
bool GodotBroadPhase3DBVH::is_static(ID p_id) const {
return !bvh.is_pairable(p_id - 1);
uint32_t tree_id = bvh.get_tree_id(p_id - 1);
return tree_id == 0;
}
int GodotBroadPhase3DBVH::get_subindex(ID p_id) const {
@ -65,15 +69,15 @@ int GodotBroadPhase3DBVH::get_subindex(ID p_id) const {
}
int GodotBroadPhase3DBVH::cull_point(const Vector3 &p_point, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) {
return bvh.cull_point(p_point, p_results, p_max_results, p_result_indices);
return bvh.cull_point(p_point, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
}
int GodotBroadPhase3DBVH::cull_segment(const Vector3 &p_from, const Vector3 &p_to, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) {
return bvh.cull_segment(p_from, p_to, p_results, p_max_results, p_result_indices);
return bvh.cull_segment(p_from, p_to, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
}
int GodotBroadPhase3DBVH::cull_aabb(const AABB &p_aabb, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) {
return bvh.cull_aabb(p_aabb, p_results, p_max_results, p_result_indices);
return bvh.cull_aabb(p_aabb, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
}
void *GodotBroadPhase3DBVH::_pair_callback(void *self, uint32_t p_A, GodotCollisionObject3D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject3D *p_object_B, int subindex_B) {

29
servers/physics_3d/godot_broad_phase_3d_bvh.h
View file

@ -36,7 +36,34 @@
#include "core/math/bvh.h"
class GodotBroadPhase3DBVH : public GodotBroadPhase3D {
BVH_Manager<GodotCollisionObject3D, true, 128> bvh;
template <class T>
class UserPairTestFunction {
public:
static bool user_pair_check(const T *p_a, const T *p_b) {
// return false if no collision, decided by masks etc
return p_a->interacts_with(p_b);
}
};
template <class T>
class UserCullTestFunction {
public:
static bool user_cull_check(const T *p_a, const T *p_b) {
return true;
}
};
enum Tree {
TREE_STATIC = 0,
TREE_DYNAMIC = 1,
};
enum TreeFlag {
TREE_FLAG_STATIC = 1 << TREE_STATIC,
TREE_FLAG_DYNAMIC = 1 << TREE_DYNAMIC,
};
BVH_Manager<GodotCollisionObject3D, 2, true, 128, UserPairTestFunction<GodotCollisionObject3D>, UserCullTestFunction<GodotCollisionObject3D>> bvh;
static void *_pair_callback(void *, uint32_t, GodotCollisionObject3D *, int, uint32_t, GodotCollisionObject3D *, int);
static void _unpair_callback(void *, uint32_t, GodotCollisionObject3D *, int, uint32_t, GodotCollisionObject3D *, int, void *);

2
servers/physics_3d/godot_collision_object_3d.h
View file

@ -169,7 +169,7 @@ public:
return p_other->collision_layer & collision_mask;
}
_FORCE_INLINE_ bool interacts_with(GodotCollisionObject3D *p_other) const {
_FORCE_INLINE_ bool interacts_with(const GodotCollisionObject3D *p_other) const {
return collision_layer & p_other->collision_mask || p_other->collision_layer & collision_mask;
}

5
servers/physics_3d/godot_space_3d.cpp
View file

@ -1008,11 +1008,8 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::
return collided;
}
// Assumes a valid collision pair, this should have been checked beforehand in the BVH or octree.
void *GodotSpace3D::_broadphase_pair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_self) {
if (!A->interacts_with(B)) {
return nullptr;
}
GodotCollisionObject3D::Type type_A = A->get_type();
GodotCollisionObject3D::Type type_B = B->get_type();
if (type_A > type_B) {