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Jan 21, 2022
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BVH templated mask checks and generic NUM_TREES #55640

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94 changes: 44 additions & 50 deletions core/math/bvh.h
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Original file line number Diff line number Diff line change
Expand Up @@ -46,13 +46,18 @@
// Layer masks are implemented in the renderers as a later step, and light_cull_mask appears to be
// implemented in GLES3 but not GLES2. Layer masks are not yet implemented for directional lights.

// In the physics, the pairable_type is based on 1 << p_object->get_type() where:
// TYPE_AREA,
// TYPE_BODY
// and pairable_mask is either 0 if static, or set to all if non static

#include "bvh_tree.h"
#include "core/os/mutex.h"

#define BVHTREE_CLASS BVH_Tree<T, 2, MAX_ITEMS, USE_PAIRS, BOUNDS, POINT>
#define BVHTREE_CLASS BVH_Tree<T, NUM_TREES, 2, MAX_ITEMS, USER_PAIR_TEST_FUNCTION, USER_CULL_TEST_FUNCTION, USE_PAIRS, BOUNDS, POINT>
#define BVH_LOCKED_FUNCTION BVHLockedFunction(&_mutex, BVH_THREAD_SAFE &&_thread_safe);

template <class T, bool USE_PAIRS = false, int MAX_ITEMS = 32, class BOUNDS = AABB, class POINT = Vector3, bool BVH_THREAD_SAFE = true>
template <class T, int NUM_TREES = 1, bool USE_PAIRS = false, int MAX_ITEMS = 32, class USER_PAIR_TEST_FUNCTION = BVH_DummyPairTestFunction<T>, class USER_CULL_TEST_FUNCTION = BVH_DummyCullTestFunction<T>, class BOUNDS = AABB, class POINT = Vector3, bool BVH_THREAD_SAFE = true>
class BVH_Manager {
public:
// note we are using uint32_t instead of BVHHandle, losing type safety, but this
Expand Down Expand Up @@ -99,7 +104,7 @@ class BVH_Manager {
check_pair_callback_userdata = p_userdata;
}

BVHHandle create(T *p_userdata, bool p_active, const BOUNDS &p_aabb = BOUNDS(), int p_subindex = 0, bool p_pairable = false, uint32_t p_pairable_type = 0, uint32_t p_pairable_mask = 1) {
BVHHandle create(T *p_userdata, bool p_active = true, uint32_t p_tree_id = 0, uint32_t p_tree_collision_mask = 1, const BOUNDS &p_aabb = BOUNDS(), int p_subindex = 0) {
BVH_LOCKED_FUNCTION

// not sure if absolutely necessary to flush collisions here. It will cost performance to, instead
Expand All @@ -108,15 +113,7 @@ class BVH_Manager {
//_check_for_collisions();
}

#ifdef TOOLS_ENABLED
if (!USE_PAIRS) {
if (p_pairable) {
WARN_PRINT_ONCE("creating pairable item in BVH with USE_PAIRS set to false");
}
}
#endif

BVHHandle h = tree.item_add(p_userdata, p_active, p_aabb, p_subindex, p_pairable, p_pairable_type, p_pairable_mask);
BVHHandle h = tree.item_add(p_userdata, p_active, p_aabb, p_subindex, p_tree_id, p_tree_collision_mask);

if (USE_PAIRS) {
// for safety initialize the expanded AABB
Expand Down Expand Up @@ -173,16 +170,16 @@ class BVH_Manager {
return deactivate(h);
}

void set_pairable(uint32_t p_handle, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask, bool p_force_collision_check = true) {
void set_tree(uint32_t p_handle, uint32_t p_tree_id, uint32_t p_tree_collision_mask, bool p_force_collision_check = true) {
BVHHandle h;
h.set(p_handle);
set_pairable(h, p_pairable, p_pairable_type, p_pairable_mask, p_force_collision_check);
set_tree(h, p_tree_id, p_tree_collision_mask, p_force_collision_check);
}

bool is_pairable(uint32_t p_handle) const {
uint32_t get_tree_id(uint32_t p_handle) const {
BVHHandle h;
h.set(p_handle);
return item_is_pairable(h);
return item_get_tree_id(h);
}
int get_subindex(uint32_t p_handle) const {
BVHHandle h;
Expand All @@ -208,10 +205,7 @@ class BVH_Manager {
}

void recheck_pairs(BVHHandle p_handle) {
BVH_LOCKED_FUNCTION
if (USE_PAIRS) {
_recheck_pairs(p_handle);
}
force_collision_check(p_handle);
}

void erase(BVHHandle p_handle) {
Expand Down Expand Up @@ -312,10 +306,10 @@ class BVH_Manager {
}

// prefer calling this directly as type safe
void set_pairable(const BVHHandle &p_handle, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask, bool p_force_collision_check = true) {
void set_tree(const BVHHandle &p_handle, uint32_t p_tree_id, uint32_t p_tree_collision_mask, bool p_force_collision_check = true) {
BVH_LOCKED_FUNCTION
// Returns true if the pairing state has changed.
bool state_changed = tree.item_set_pairable(p_handle, p_pairable, p_pairable_type, p_pairable_mask);
bool state_changed = tree.item_set_tree(p_handle, p_tree_id, p_tree_collision_mask);

if (USE_PAIRS) {
// not sure if absolutely necessary to flush collisions here. It will cost performance to, instead
Expand Down Expand Up @@ -343,34 +337,33 @@ class BVH_Manager {
}

// cull tests
int cull_aabb(const BOUNDS &p_aabb, T **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF) {
int cull_aabb(const BOUNDS &p_aabb, T **p_result_array, int p_result_max, const T *p_tester, uint32_t p_tree_collision_mask = 0xFFFFFFFF, int *p_subindex_array = nullptr) {
BVH_LOCKED_FUNCTION
typename BVHTREE_CLASS::CullParams params;

params.result_count_overall = 0;
params.result_max = p_result_max;
params.result_array = p_result_array;
params.subindex_array = p_subindex_array;
params.mask = p_mask;
params.pairable_type = 0;
params.test_pairable_only = false;
params.tree_collision_mask = p_tree_collision_mask;
params.abb.from(p_aabb);
params.tester = p_tester;

tree.cull_aabb(params);

return params.result_count_overall;
}

int cull_segment(const POINT &p_from, const POINT &p_to, T **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF) {
int cull_segment(const POINT &p_from, const POINT &p_to, T **p_result_array, int p_result_max, const T *p_tester, uint32_t p_tree_collision_mask = 0xFFFFFFFF, int *p_subindex_array = nullptr) {
BVH_LOCKED_FUNCTION
typename BVHTREE_CLASS::CullParams params;

params.result_count_overall = 0;
params.result_max = p_result_max;
params.result_array = p_result_array;
params.subindex_array = p_subindex_array;
params.mask = p_mask;
params.pairable_type = 0;
params.tester = p_tester;
params.tree_collision_mask = p_tree_collision_mask;

params.segment.from = p_from;
params.segment.to = p_to;
Expand All @@ -380,24 +373,24 @@ class BVH_Manager {
return params.result_count_overall;
}

int cull_point(const POINT &p_point, T **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF) {
int cull_point(const POINT &p_point, T **p_result_array, int p_result_max, const T *p_tester, uint32_t p_tree_collision_mask = 0xFFFFFFFF, int *p_subindex_array = nullptr) {
BVH_LOCKED_FUNCTION
typename BVHTREE_CLASS::CullParams params;

params.result_count_overall = 0;
params.result_max = p_result_max;
params.result_array = p_result_array;
params.subindex_array = p_subindex_array;
params.mask = p_mask;
params.pairable_type = 0;
params.tester = p_tester;
params.tree_collision_mask = p_tree_collision_mask;

params.point = p_point;

tree.cull_point(params);
return params.result_count_overall;
}

int cull_convex(const Vector<Plane> &p_convex, T **p_result_array, int p_result_max, uint32_t p_mask = 0xFFFFFFFF) {
int cull_convex(const Vector<Plane> &p_convex, T **p_result_array, int p_result_max, const T *p_tester, uint32_t p_tree_collision_mask = 0xFFFFFFFF) {
BVH_LOCKED_FUNCTION
if (!p_convex.size()) {
return 0;
Expand All @@ -413,8 +406,8 @@ class BVH_Manager {
params.result_max = p_result_max;
params.result_array = p_result_array;
params.subindex_array = nullptr;
params.mask = p_mask;
params.pairable_type = 0;
params.tester = p_tester;
params.tree_collision_mask = p_tree_collision_mask;

params.hull.planes = &p_convex[0];
params.hull.num_planes = p_convex.size();
Expand Down Expand Up @@ -442,8 +435,6 @@ class BVH_Manager {
params.result_max = INT_MAX;
params.result_array = nullptr;
params.subindex_array = nullptr;
params.mask = 0xFFFFFFFF;
params.pairable_type = 0;

for (unsigned int n = 0; n < changed_items.size(); n++) {
const BVHHandle &h = changed_items[n];
Expand All @@ -453,17 +444,14 @@ class BVH_Manager {
BVHABB_CLASS abb;
abb.from(expanded_aabb);

tree.item_fill_cullparams(h, params);

// find all the existing paired aabbs that are no longer
// paired, and send callbacks
_find_leavers(h, abb, p_full_check);

uint32_t changed_item_ref_id = h.id();

// set up the test from this item.
// this includes whether to test the non pairable tree,
// and the item mask.
tree.item_fill_cullparams(h, params);

params.abb = abb;

params.result_count_overall = 0; // might not be needed
Expand Down Expand Up @@ -504,7 +492,7 @@ class BVH_Manager {

private:
// supplemental funcs
bool item_is_pairable(BVHHandle p_handle) const { return _get_extra(p_handle).pairable; }
uint32_t item_get_tree_id(BVHHandle p_handle) const { return _get_extra(p_handle).tree_id; }
T *item_get_userdata(BVHHandle p_handle) const { return _get_extra(p_handle).userdata; }
int item_get_subindex(BVHHandle p_handle) const { return _get_extra(p_handle).subindex; }

Expand Down Expand Up @@ -561,21 +549,22 @@ class BVH_Manager {

// do they overlap?
if (p_abb_from.intersects(abb_to)) {
// the full check for pairable / non pairable and mask changes is extra expense
// this need not be done in most cases (for speed) except in the case where set_pairable is called
// the full check for pairable / non pairable (i.e. tree_id and tree_masks) and mask changes is extra expense
// this need not be done in most cases (for speed) except in the case where set_tree is called
// where the masks etc of the objects in question may have changed
if (!p_full_check) {
return false;
}
const typename BVHTREE_CLASS::ItemExtra &exa = _get_extra(p_from);
const typename BVHTREE_CLASS::ItemExtra &exb = _get_extra(p_to);

// one of the two must be pairable to still pair
// if neither are pairable, we always unpair
if (exa.pairable || exb.pairable) {
// Checking tree_ids and tree_collision_masks
if (exa.are_item_trees_compatible(exb)) {
bool pair_allowed = USER_PAIR_TEST_FUNCTION::user_pair_check(exa.userdata, exb.userdata);

// the masks must still be compatible to pair
// i.e. if there is a hit between the two, then they should stay paired
if (tree._cull_pairing_mask_test_hit(exa.pairable_mask, exa.pairable_type, exb.pairable_mask, exb.pairable_type)) {
// i.e. if there is a hit between the two and they intersect, then they should stay paired
if (pair_allowed) {
return false;
}
}
Expand Down Expand Up @@ -613,6 +602,11 @@ class BVH_Manager {
const typename BVHTREE_CLASS::ItemExtra &exa = _get_extra(p_ha);
const typename BVHTREE_CLASS::ItemExtra &exb = _get_extra(p_hb);

// user collision callback
if (!USER_PAIR_TEST_FUNCTION::user_pair_check(exa.userdata, exb.userdata)) {
return;
}

// if the userdata is the same, no collisions should occur
if ((exa.userdata == exb.userdata) && exa.userdata) {
return;
Expand Down
12 changes: 12 additions & 0 deletions core/math/bvh_abb.h
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Original file line number Diff line number Diff line change
Expand Up @@ -212,6 +212,7 @@ struct BVH_ABB {
return true;
}

// Very hot in profiling, make sure optimized
bool intersects(const BVH_ABB &p_o) const {
if (_any_morethan(p_o.min, -neg_max)) {
return false;
Expand All @@ -222,6 +223,17 @@ struct BVH_ABB {
return true;
}

// for pre-swizzled tester (this object)
bool intersects_swizzled(const BVH_ABB &p_o) const {
if (_any_lessthan(min, p_o.min)) {
return false;
}
if (_any_lessthan(neg_max, p_o.neg_max)) {
return false;
}
return true;
}

bool is_other_within(const BVH_ABB &p_o) const {
if (_any_lessthan(p_o.neg_max, neg_max)) {
return false;
Expand Down
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