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BVH - fix physics expecting plus one based IDs. 

Godot physics relies on ID zero being invalid, whereas BVH 0 is a valid ID.
This commit is contained in:
lawnjelly 2021-01-14 12:56:28 +00:00
parent a329de566c
commit 7b33050b3d
3 changed files with 21 additions and 20 deletions
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18
core/math/bvh_debug.inc
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@ -7,19 +7,19 @@ void _debug_recursive_print_tree(int p_tree_id) const {
String _debug_aabb_to_string(const BVH_ABB &aabb) const {
String sz = "(";
sz += itos(-aabb.neg_min.x);
sz += itos(aabb.min.x);
sz += " ~ ";
sz += itos(aabb.max.x);
sz += itos(-aabb.neg_max.x);
sz += ") (";
sz += itos(-aabb.neg_min.y);
sz += itos(aabb.min.y);
sz += " ~ ";
sz += itos(aabb.max.y);
sz += itos(-aabb.neg_max.y);
sz += ") (";
sz += itos(-aabb.neg_min.z);
sz += itos(aabb.min.z);
sz += " ~ ";
sz += itos(aabb.max.z);
sz += itos(-aabb.neg_max.z);
sz += ") ";
Vector3 size = aabb.calculate_size();
@ -41,14 +41,14 @@ void _debug_recursive_print_tree_node(uint32_t p_node_id, int depth = 0) const {
if (tnode.is_leaf()) {
sz += " L";
sz += itos(tnode.height) + " ";
const TLeaf *leaf = node_get_leaf(tnode);
const TLeaf &leaf = _node_get_leaf(tnode);
sz += "[";
for (int n = 0; n < leaf->num_items; n++) {
for (int n = 0; n < leaf.num_items; n++) {
if (n)
sz += ", ";
sz += "r";
sz += itos(leaf->get_item_ref_id(n));
sz += itos(leaf.get_item_ref_id(n));
}
sz += "] ";
} else {

7
core/math/bvh_public.inc
View File

@ -2,7 +2,7 @@ public:
BVHHandle item_add(T *p_userdata, const AABB &p_aabb, int32_t p_subindex, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask, bool p_invisible = false) {
#ifdef BVH_VERBOSE_TREE
VERBOSE_PRINT("\nitem_add BEFORE");
_recursive_print_tree();
_debug_recursive_print_tree(0);
VERBOSE_PRINT("\n");
#endif
@ -182,7 +182,7 @@ void item_remove(BVHHandle p_handle) {
//refit_all(_current_tree);
#ifdef BVH_VERBOSE_TREE
_recursive_print_tree(tree_id);
_debug_recursive_print_tree(_current_tree);
#endif
}
@ -281,6 +281,7 @@ void incremental_optimize() {
_logic_item_remove_and_reinsert(ref_id);
#ifdef BVH_VERBOSE
/*
// memory use
int mem_refs = _refs.estimate_memory_use();
int mem_nodes = _nodes.estimate_memory_use();
@ -292,7 +293,7 @@ void incremental_optimize() {
sz += "mem_leaves : " + itos(mem_leaves) + " ";
sz += ", num nodes : " + itos(_nodes.size());
print_line(sz);
*/
#endif
}

16
servers/physics/broad_phase_bvh.cpp
View File

@ -35,37 +35,37 @@
BroadPhaseSW::ID BroadPhaseBVH::create(CollisionObjectSW *p_object, int p_subindex) {
ID oid = bvh.create(p_object, AABB(), p_subindex, false, 1 << p_object->get_type(), 0);
return oid;
return oid + 1;
}
void BroadPhaseBVH::move(ID p_id, const AABB &p_aabb) {
bvh.move(p_id, p_aabb);
bvh.move(p_id - 1, p_aabb);
}
void BroadPhaseBVH::set_static(ID p_id, bool p_static) {
CollisionObjectSW *it = bvh.get(p_id);
bvh.set_pairable(p_id, !p_static, 1 << it->get_type(), p_static ? 0 : 0xFFFFF); //pair everything, don't care 1?
CollisionObjectSW *it = bvh.get(p_id - 1);
bvh.set_pairable(p_id - 1, !p_static, 1 << it->get_type(), p_static ? 0 : 0xFFFFF); //pair everything, don't care 1?
}
void BroadPhaseBVH::remove(ID p_id) {
bvh.erase(p_id);
bvh.erase(p_id - 1);
}
CollisionObjectSW *BroadPhaseBVH::get_object(ID p_id) const {
CollisionObjectSW *it = bvh.get(p_id);
CollisionObjectSW *it = bvh.get(p_id - 1);
ERR_FAIL_COND_V(!it, NULL);
return it;
}
bool BroadPhaseBVH::is_static(ID p_id) const {
return !bvh.is_pairable(p_id);
return !bvh.is_pairable(p_id - 1);
}
int BroadPhaseBVH::get_subindex(ID p_id) const {
return bvh.get_subindex(p_id);
return bvh.get_subindex(p_id - 1);
}
int BroadPhaseBVH::cull_point(const Vector3 &p_point, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices) {