From 690e07b5096a227df023f1d43bca716ebacb4507 Mon Sep 17 00:00:00 2001 From: lawnjelly Date: Wed, 21 Oct 2020 13:13:20 +0100 Subject: [PATCH] Dynamic BVH for rendering and godot physics Complete rewrite of spatial partitioning using a bounding volume hierarchy rather than octree. Switchable in project settings between using octree or BVH for rendering and physics. --- core/local_vector.h | 13 + core/math/bvh.h | 510 ++++++++++++++++++++++++ core/math/bvh_abb.h | 252 ++++++++++++ core/math/bvh_cull.inc | 524 +++++++++++++++++++++++++ core/math/bvh_debug.inc | 68 ++++ core/math/bvh_integrity.inc | 42 ++ core/math/bvh_logic.inc | 221 +++++++++++ core/math/bvh_misc.inc | 54 +++ core/math/bvh_pair.inc | 64 +++ core/math/bvh_public.inc | 338 ++++++++++++++++ core/math/bvh_refit.inc | 142 +++++++ core/math/bvh_split.inc | 293 ++++++++++++++ core/math/bvh_structs.inc | 174 ++++++++ core/math/bvh_tree.h | 414 +++++++++++++++++++ core/math/octree_definition.inc | 1 + core/pooled_list.h | 95 +++++ doc/classes/ProjectSettings.xml | 6 + scene/resources/world.cpp | 4 + servers/physics/broad_phase_bvh.cpp | 130 ++++++ servers/physics/broad_phase_bvh.h | 73 ++++ servers/physics/physics_server_sw.cpp | 12 +- servers/visual/visual_server_scene.cpp | 170 ++++++-- servers/visual/visual_server_scene.h | 85 +++- 23 files changed, 3647 insertions(+), 38 deletions(-) create mode 100644 core/math/bvh.h create mode 100644 core/math/bvh_abb.h create mode 100644 core/math/bvh_cull.inc create mode 100644 core/math/bvh_debug.inc create mode 100644 core/math/bvh_integrity.inc create mode 100644 core/math/bvh_logic.inc create mode 100644 core/math/bvh_misc.inc create mode 100644 core/math/bvh_pair.inc create mode 100644 core/math/bvh_public.inc create mode 100644 core/math/bvh_refit.inc create mode 100644 core/math/bvh_split.inc create mode 100644 core/math/bvh_structs.inc create mode 100644 core/math/bvh_tree.h create mode 100644 core/pooled_list.h create mode 100644 servers/physics/broad_phase_bvh.cpp create mode 100644 servers/physics/broad_phase_bvh.h diff --git a/core/local_vector.h b/core/local_vector.h index 62ba4f19690..65582dd1457 100644 --- a/core/local_vector.h +++ b/core/local_vector.h @@ -82,6 +82,19 @@ public: } } + // Removes the item copying the last value into the position of the one to + // remove. It's generally faster than `remove`. + void remove_unordered(U p_index) { + ERR_FAIL_INDEX(p_index, count); + count--; + if (count > p_index) { + data[p_index] = data[count]; + } + if (!__has_trivial_destructor(T) && !force_trivial) { + data[count].~T(); + } + } + void erase(const T &p_val) { int64_t idx = find(p_val); if (idx >= 0) { diff --git a/core/math/bvh.h b/core/math/bvh.h new file mode 100644 index 00000000000..f5f6f0b27b4 --- /dev/null +++ b/core/math/bvh.h @@ -0,0 +1,510 @@ +/*************************************************************************/ +/* bvh.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#ifndef BVH_H +#define BVH_H + +// BVH +// This class provides a wrapper around BVH tree, which contains most of the functionality +// for a dynamic BVH with templated leaf size. +// However BVH also adds facilities for pairing, to maintain compatibility with Godot 3.2. +// Pairing is a collision pairing system, on top of the basic BVH. + +#include "bvh_tree.h" + +#define BVHTREE_CLASS BVH_Tree + +template +class BVH_Manager { + +public: + // note we are using uint32_t instead of BVHHandle, losing type safety, but this + // is for compatibility with octree + typedef void *(*PairCallback)(void *, uint32_t, T *, int, uint32_t, T *, int); + typedef void (*UnpairCallback)(void *, uint32_t, T *, int, uint32_t, T *, int, void *); + + // these 2 are crucial for fine tuning, and can be applied manually + // see the variable declarations for more info. + void params_set_node_expansion(real_t p_value) { + if (p_value >= 0.0) { + tree._node_expansion = p_value; + tree._auto_node_expansion = false; + } else { + tree._auto_node_expansion = true; + } + } + + void params_set_pairing_expansion(real_t p_value) { + if (p_value >= 0.0) { + tree._pairing_expansion = p_value; + tree._auto_pairing_expansion = false; + } else { + tree._auto_pairing_expansion = true; + } + } + + void set_pair_callback(PairCallback p_callback, void *p_userdata) { + pair_callback = p_callback; + pair_callback_userdata = p_userdata; + } + void set_unpair_callback(UnpairCallback p_callback, void *p_userdata) { + unpair_callback = p_callback; + unpair_callback_userdata = p_userdata; + } + + BVHHandle create(T *p_userdata, const AABB &p_aabb = AABB(), int p_subindex = 0, bool p_pairable = false, uint32_t p_pairable_type = 0, uint32_t p_pairable_mask = 1) { + +#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_aabb, p_subindex, p_pairable, p_pairable_type, p_pairable_mask); + + if (USE_PAIRS) { + _add_changed_item(h, p_aabb); + } + + return h; + } + + //////////////////////////////////////////////////// + // wrapper versions that use uint32_t instead of handle + // for backward compatibility. Less type safe + void move(uint32_t p_handle, const AABB &p_aabb) { + BVHHandle h; + h.set(p_handle); + move(h, p_aabb); + } + + void erase(uint32_t p_handle) { + BVHHandle h; + h.set(p_handle); + erase(h); + } + + void set_pairable(uint32_t p_handle, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask) { + BVHHandle h; + h.set(p_handle); + set_pairable(h, p_pairable, p_pairable_type, p_pairable_mask); + } + + bool is_pairable(uint32_t p_handle) const { + BVHHandle h; + h.set(p_handle); + return item_is_pairable(h); + } + int get_subindex(uint32_t p_handle) const { + BVHHandle h; + h.set(p_handle); + return item_get_subindex(h); + } + + T *get(uint32_t p_handle) const { + BVHHandle h; + h.set(p_handle); + return item_get_userdata(h); + } + + //////////////////////////////////////////////////// + + void move(BVHHandle p_handle, const AABB &p_aabb) { + + if (tree.item_move(p_handle, p_aabb)) { + if (USE_PAIRS) { + _add_changed_item(p_handle, p_aabb); + } + } + } + + void erase(BVHHandle p_handle) { + // call unpair and remove all references to the item + // before deleting from the tree + if (USE_PAIRS) { + _remove_changed_item(p_handle); + } + + tree.item_remove(p_handle); + } + + // call e.g. once per frame (this does a trickle optimize) + void update() { + tree.update(); + _check_for_collisions(); +#ifdef BVH_INTEGRITY_CHECKS + tree.integrity_check_all(); +#endif + } + + // 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) { + // unpair callback if already paired? NYI + tree.item_set_pairable(p_handle, p_pairable, p_pairable_type, p_pairable_mask); + } + + // cull tests + int cull_aabb(const AABB &p_aabb, T **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF) { + 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.test_pairable_only = false; + params.abb.from(p_aabb); + + tree.cull_aabb(params); + + return params.result_count_overall; + } + + int cull_segment(const Vector3 &p_from, const Vector3 &p_to, T **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF) { + 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.segment.from = p_from; + params.segment.to = p_to; + + tree.cull_segment(params); + + return params.result_count_overall; + } + + int cull_point(const Vector3 &p_point, T **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF) { + 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.point = p_point; + + tree.cull_point(params); + return params.result_count_overall; + } + + int cull_convex(const Vector &p_convex, T **p_result_array, int p_result_max, uint32_t p_mask = 0xFFFFFFFF) { + if (!p_convex.size()) + return 0; + + Vector convex_points = Geometry::compute_convex_mesh_points(&p_convex[0], p_convex.size()); + if (convex_points.size() == 0) + return 0; + + 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 = nullptr; + params.mask = p_mask; + + params.hull.planes = &p_convex[0]; + params.hull.num_planes = p_convex.size(); + params.hull.points = &convex_points[0]; + params.hull.num_points = convex_points.size(); + + tree.cull_convex(params); + + return params.result_count_overall; + } + +private: + // do this after moving etc. + void _check_for_collisions() { + AABB bb; + + typename BVHTREE_CLASS::CullParams params; + + params.result_count_overall = 0; + params.result_max = INT_MAX; + params.result_array = nullptr; + params.subindex_array = nullptr; + params.mask = 0xFFFFFFFF; + + for (unsigned int n = 0; n < changed_items.size(); n++) { + const BVHHandle &h = changed_items[n]; + + // use the expanded aabb for pairing + const AABB &expanded_aabb = tree._pairs[h.id()].expanded_aabb; + BVH_ABB abb; + abb.from(expanded_aabb); + + // find all the existing paired aabbs that are no longer + // paired, and send callbacks + _find_leavers(h, abb); + + 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 + tree.cull_aabb(params, false); + + for (unsigned int i = 0; i < tree._cull_hits.size(); i++) { + uint32_t ref_id = tree._cull_hits[i]; + + // don't collide against ourself + if (ref_id == changed_item_ref_id) + continue; + +#ifdef BVH_CHECKS + // if neither are pairable, they should ignore each other + // THIS SHOULD NEVER HAPPEN .. now we only test the pairable tree + // if the changed item is not pairable + CRASH_COND(params.test_pairable_only && !tree._extra[ref_id].pairable); +#endif + + // checkmasks is already done in the cull routine. + BVHHandle h_collidee; + h_collidee.set_id(ref_id); + + // find NEW enterers, and send callbacks for them only + _collide(h, h_collidee); + } + } + _reset(); + } + +public: + void item_get_AABB(BVHHandle p_handle, AABB &r_aabb) { + BVH_ABB abb; + tree.item_get_ABB(p_handle, abb); + abb.to(r_aabb); + } + +private: + // supplemental funcs + bool item_is_pairable(BVHHandle p_handle) const { return _get_extra(p_handle).pairable; } + 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; } + + void _unpair(BVHHandle p_from, BVHHandle p_to) { + tree._handle_sort(p_from, p_to); + + typename BVHTREE_CLASS::ItemPairs &pairs_from = tree._pairs[p_from.id()]; + typename BVHTREE_CLASS::ItemPairs &pairs_to = tree._pairs[p_to.id()]; + + void *ud_from = pairs_from.remove_pair_to(p_to); + pairs_to.remove_pair_to(p_from); + + // callback + if (unpair_callback) { + + typename BVHTREE_CLASS::ItemExtra &exa = tree._extra[p_from.id()]; + typename BVHTREE_CLASS::ItemExtra &exb = tree._extra[p_to.id()]; + + unpair_callback(pair_callback_userdata, p_from, exa.userdata, exa.subindex, p_to, exb.userdata, exb.subindex, ud_from); + } + } + + // returns true if unpair + bool _find_leavers_process_pair(typename BVHTREE_CLASS::ItemPairs &p_pairs_from, const BVH_ABB &p_abb_from, BVHHandle p_from, BVHHandle p_to) { + BVH_ABB abb_to; + tree.item_get_ABB(p_to, abb_to); + + // do they overlap? + if (p_abb_from.intersects(abb_to)) + return false; + + _unpair(p_from, p_to); + return true; + } + + // find all the existing paired aabbs that are no longer + // paired, and send callbacks + void _find_leavers(BVHHandle p_handle, const BVH_ABB &expanded_abb_from) { + typename BVHTREE_CLASS::ItemPairs &p_from = tree._pairs[p_handle.id()]; + + // opportunity to de-extend pairs, before removing leavers + p_from.update(); + + BVH_ABB abb_from = expanded_abb_from; + + // remove from pairing list for every partner + for (unsigned int n = 0; n < p_from.extended_pairs.size(); n++) { + BVHHandle h_to = p_from.extended_pairs[n].handle; + if (_find_leavers_process_pair(p_from, abb_from, p_handle, h_to)) { + // we need to keep the counter n up to date if we deleted a pair + // as the number of items in p_from.extended_pairs will have decreased by 1 + // and we don't want to miss an item + n--; + } + } + } + + // find NEW enterers, and send callbacks for them only + // handle a and b + void _collide(BVHHandle p_ha, BVHHandle p_hb) { + // only have to do this oneway, lower ID then higher ID + tree._handle_sort(p_ha, p_hb); + + typename BVHTREE_CLASS::ItemPairs &p_from = tree._pairs[p_ha.id()]; + typename BVHTREE_CLASS::ItemPairs &p_to = tree._pairs[p_hb.id()]; + + // does this pair exist already? + // or only check the one with lower number of pairs for greater speed + if (p_from.num_pairs <= p_to.num_pairs) { + if (p_from.contains_pair_to(p_hb)) + return; + } else { + if (p_to.contains_pair_to(p_ha)) + return; + } + + // callback + void *callback_userdata = nullptr; + + if (pair_callback) { + const typename BVHTREE_CLASS::ItemExtra &exa = _get_extra(p_ha); + const typename BVHTREE_CLASS::ItemExtra &exb = _get_extra(p_hb); + + callback_userdata = pair_callback(pair_callback_userdata, p_ha, exa.userdata, exa.subindex, p_hb, exb.userdata, exb.subindex); + } + + // new pair! .. only really need to store the userdata on the lower handle, but both have storage so... + p_from.add_pair_to(p_hb, callback_userdata); + p_to.add_pair_to(p_ha, callback_userdata); + } + + // if we remove an item, we need to immediately remove the pairs, to prevent reading the pair after deletion + void _remove_pairs_containing(BVHHandle p_handle) { + + typename BVHTREE_CLASS::ItemPairs &p_from = tree._pairs[p_handle.id()]; + + // remove from pairing list for every partner. + // can't easily use a for loop here, because removing changes the size of the list + while (p_from.extended_pairs.size()) { + BVHHandle h_to = p_from.extended_pairs[0].handle; + _unpair(p_handle, h_to); + } + } + +private: + const typename BVHTREE_CLASS::ItemExtra &_get_extra(BVHHandle p_handle) const { + return tree._extra[p_handle.id()]; + } + const typename BVHTREE_CLASS::ItemRef &_get_ref(BVHHandle p_handle) const { + return tree._refs[p_handle.id()]; + } + + void _reset() { + changed_items.clear(); + _tick++; + } + + void _add_changed_item(BVHHandle p_handle, const AABB &aabb) { + + // only if uses pairing + // no .. non pairable items seem to be able to pair with pairable + + // aabb check with expanded aabb. This greatly decreases processing + // at the cost of slightly less accurate pairing checks + AABB &expanded_aabb = tree._pairs[p_handle.id()].expanded_aabb; + if (expanded_aabb.encloses(aabb)) + return; + + uint32_t &last_updated_tick = tree._extra[p_handle.id()].last_updated_tick; + + if (last_updated_tick == _tick) + return; // already on changed list + + // mark as on list + last_updated_tick = _tick; + + // opportunity to de-extend pairs (before collision detection, which will delete then recreate pairs) + + // new expanded aabb + expanded_aabb = aabb; + expanded_aabb.grow_by(tree._pairing_expansion); + + changed_items.push_back(p_handle); + } + + void _remove_changed_item(BVHHandle p_handle) { + + // Care has to be taken here for items that are deleted. The ref ID + // could be reused on the same tick for new items. This is probably + // rare but should be taken into consideration + + // callbacks + _remove_pairs_containing(p_handle); + + // remove from changed items (not very efficient yet) + for (unsigned int n = 0; n < changed_items.size(); n++) { + if (changed_items[n] == p_handle) { + changed_items.remove_unordered(n); + } + } + + // reset the last updated tick (may not be necessary but just in case) + tree._extra[p_handle.id()].last_updated_tick = 0; + } + + PairCallback pair_callback; + UnpairCallback unpair_callback; + void *pair_callback_userdata; + void *unpair_callback_userdata; + + BVHTREE_CLASS tree; + + // for collision pairing, + // maintain a list of all items moved etc on each frame / tick + LocalVector changed_items; + uint32_t _tick; + +public: + BVH_Manager() { + _tick = 1; // start from 1 so items with 0 indicate never updated + pair_callback = nullptr; + unpair_callback = nullptr; + pair_callback_userdata = nullptr; + unpair_callback_userdata = nullptr; + } +}; + +#undef BVHTREE_CLASS + +#endif // BVH_H diff --git a/core/math/bvh_abb.h b/core/math/bvh_abb.h new file mode 100644 index 00000000000..724caa0d366 --- /dev/null +++ b/core/math/bvh_abb.h @@ -0,0 +1,252 @@ +/*************************************************************************/ +/* bvh_abb.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#ifndef BVH_ABB_H +#define BVH_ABB_H + +// special optimized version of axis aligned bounding box +struct BVH_ABB { + struct ConvexHull { + // convex hulls (optional) + const Plane *planes; + int num_planes; + const Vector3 *points; + int num_points; + }; + + struct Segment { + Vector3 from; + Vector3 to; + }; + + enum IntersectResult { + IR_MISS = 0, + IR_PARTIAL, + IR_FULL, + }; + + // we store mins with a negative value in order to test them with SIMD + Vector3 min; + Vector3 neg_max; + + bool operator==(const BVH_ABB &o) const { return (min == o.min) && (neg_max == o.neg_max); } + bool operator!=(const BVH_ABB &o) const { return (*this == o) == false; } + + void set(const Vector3 &_min, const Vector3 &_max) { + min = _min; + neg_max = -_max; + } + + // to and from standard AABB + void from(const AABB &p_aabb) { + min = p_aabb.position; + neg_max = -(p_aabb.position + p_aabb.size); + } + + void to(AABB &r_aabb) const { + r_aabb.position = min; + r_aabb.size = calculate_size(); + } + + void merge(const BVH_ABB &p_o) { + neg_max.x = MIN(neg_max.x, p_o.neg_max.x); + neg_max.y = MIN(neg_max.y, p_o.neg_max.y); + neg_max.z = MIN(neg_max.z, p_o.neg_max.z); + + min.x = MIN(min.x, p_o.min.x); + min.y = MIN(min.y, p_o.min.y); + min.z = MIN(min.z, p_o.min.z); + } + + Vector3 calculate_size() const { + return -neg_max - min; + } + + Vector3 calculate_centre() const { + return Vector3((calculate_size() * 0.5) + min); + } + + real_t get_proximity_to(const BVH_ABB &p_b) const { + const Vector3 d = (min - neg_max) - (p_b.min - p_b.neg_max); + return (Math::abs(d.x) + Math::abs(d.y) + Math::abs(d.z)); + } + + int select_by_proximity(const BVH_ABB &p_a, const BVH_ABB &p_b) const { + return (get_proximity_to(p_a) < get_proximity_to(p_b) ? 0 : 1); + } + + uint32_t find_cutting_planes(const BVH_ABB::ConvexHull &p_hull, uint32_t *p_plane_ids) const { + uint32_t count = 0; + + for (int n = 0; n < p_hull.num_planes; n++) { + const Plane &p = p_hull.planes[n]; + if (intersects_plane(p)) { + p_plane_ids[count++] = n; + } + } + + return count; + } + + bool intersects_plane(const Plane &p_p) const { + Vector3 size = calculate_size(); + Vector3 half_extents = size * 0.5; + Vector3 ofs = min + half_extents; + + // forward side of plane? + Vector3 point_offset( + (p_p.normal.x < 0) ? -half_extents.x : half_extents.x, + (p_p.normal.y < 0) ? -half_extents.y : half_extents.y, + (p_p.normal.z < 0) ? -half_extents.z : half_extents.z); + Vector3 point = point_offset + ofs; + + if (!p_p.is_point_over(point)) + return false; + + point = -point_offset + ofs; + if (p_p.is_point_over(point)) + return false; + + return true; + } + + bool intersects_convex_optimized(const ConvexHull &p_hull, const uint32_t *p_plane_ids, uint32_t p_num_planes) const { + Vector3 size = calculate_size(); + Vector3 half_extents = size * 0.5; + Vector3 ofs = min + half_extents; + + for (unsigned int i = 0; i < p_num_planes; i++) { + + const Plane &p = p_hull.planes[p_plane_ids[i]]; + Vector3 point( + (p.normal.x > 0) ? -half_extents.x : half_extents.x, + (p.normal.y > 0) ? -half_extents.y : half_extents.y, + (p.normal.z > 0) ? -half_extents.z : half_extents.z); + point += ofs; + if (p.is_point_over(point)) + return false; + } + + return true; + } + + bool intersects_convex_partial(const ConvexHull &p_hull) const { + AABB bb; + to(bb); + return bb.intersects_convex_shape(p_hull.planes, p_hull.num_planes, p_hull.points, p_hull.num_points); + } + + IntersectResult intersects_convex(const ConvexHull &p_hull) const { + if (intersects_convex_partial(p_hull)) { + // fully within? very important for tree checks + if (is_within_convex(p_hull)) { + return IR_FULL; + } + + return IR_PARTIAL; + } + + return IR_MISS; + } + + bool is_within_convex(const ConvexHull &p_hull) const { + // use half extents routine + AABB bb; + to(bb); + return bb.inside_convex_shape(p_hull.planes, p_hull.num_planes); + } + + bool is_point_within_hull(const ConvexHull &p_hull, const Vector3 &p_pt) const { + for (int n = 0; n < p_hull.num_planes; n++) { + if (p_hull.planes[n].distance_to(p_pt) > 0.0f) + return false; + } + return true; + } + + bool intersects_segment(const Segment &p_s) const { + AABB bb; + to(bb); + return bb.intersects_segment(p_s.from, p_s.to); + } + + bool intersects_point(const Vector3 &p_pt) const { + if (_vector3_any_lessthan(-p_pt, neg_max)) return false; + if (_vector3_any_lessthan(p_pt, min)) return false; + return true; + } + + bool intersects(const BVH_ABB &p_o) const { + if (_vector3_any_morethan(p_o.min, -neg_max)) return false; + if (_vector3_any_morethan(min, -p_o.neg_max)) return false; + return true; + } + + bool is_other_within(const BVH_ABB &p_o) const { + if (_vector3_any_lessthan(p_o.neg_max, neg_max)) return false; + if (_vector3_any_lessthan(p_o.min, min)) return false; + return true; + } + + void grow(const Vector3 &p_change) { + neg_max -= p_change; + min -= p_change; + } + + void expand(real_t p_change) { + grow(Vector3(p_change, p_change, p_change)); + } + + float get_area() const // actually surface area metric + { + Vector3 d = calculate_size(); + return 2.0f * (d.x * d.y + d.y * d.z + d.z * d.x); + } + void set_to_max_opposite_extents() { + neg_max = Vector3(FLT_MAX, FLT_MAX, FLT_MAX); + min = neg_max; + } + + bool _vector3_any_morethan(const Vector3 &p_a, const Vector3 &p_b) const { + if (p_a.x > p_b.x) return true; + if (p_a.y > p_b.y) return true; + if (p_a.z > p_b.z) return true; + return false; + } + + bool _vector3_any_lessthan(const Vector3 &p_a, const Vector3 &p_b) const { + if (p_a.x < p_b.x) return true; + if (p_a.y < p_b.y) return true; + if (p_a.z < p_b.z) return true; + return false; + } +}; + +#endif // BVH_ABB_H diff --git a/core/math/bvh_cull.inc b/core/math/bvh_cull.inc new file mode 100644 index 00000000000..212969c3a80 --- /dev/null +++ b/core/math/bvh_cull.inc @@ -0,0 +1,524 @@ +public: +// cull parameters is a convenient way of passing a bunch +// of arguments through the culling functions without +// writing loads of code. Not all members are used for some cull checks +struct CullParams { + int result_count_overall; // both trees + int result_count; // this tree only + int result_max; + T **result_array; + int *subindex_array; + uint32_t mask; + + // optional components for different tests + Vector3 point; + BVH_ABB abb; + typename BVH_ABB::ConvexHull hull; + typename BVH_ABB::Segment segment; + + // when collision testing, non pairable moving items + // only need to be tested against the pairable tree. + // collisions with other non pairable items are irrelevant. + bool test_pairable_only; +}; + +private: +void _cull_translate_hits(CullParams &p) { + int num_hits = _cull_hits.size(); + int left = p.result_max - p.result_count_overall; + + if (num_hits > left) + num_hits = left; + + int out_n = p.result_count_overall; + + for (int n = 0; n < num_hits; n++) { + uint32_t ref_id = _cull_hits[n]; + + const ItemExtra &ex = _extra[ref_id]; + p.result_array[out_n] = ex.userdata; + + if (p.subindex_array) + p.subindex_array[out_n] = ex.subindex; + + out_n++; + } + + p.result_count = num_hits; + p.result_count_overall += num_hits; +} + +public: +int cull_convex(CullParams &r_params, bool p_translate_hits = true) { + + _cull_hits.clear(); + r_params.result_count = 0; + + for (int n = 0; n < NUM_TREES; n++) { + if (_root_node_id[n] == BVHCommon::INVALID) + continue; + + _cull_convex_iterative(_root_node_id[n], r_params); + } + + if (p_translate_hits) + _cull_translate_hits(r_params); + + return r_params.result_count; +} + +int cull_segment(CullParams &r_params, bool p_translate_hits = true) { + _cull_hits.clear(); + r_params.result_count = 0; + + for (int n = 0; n < NUM_TREES; n++) { + if (_root_node_id[n] == BVHCommon::INVALID) + continue; + + _cull_segment_iterative(_root_node_id[n], r_params); + } + + if (p_translate_hits) + _cull_translate_hits(r_params); + + return r_params.result_count; +} + +int cull_point(CullParams &r_params, bool p_translate_hits = true) { + + _cull_hits.clear(); + r_params.result_count = 0; + + for (int n = 0; n < NUM_TREES; n++) { + if (_root_node_id[n] == BVHCommon::INVALID) + continue; + + _cull_point_iterative(_root_node_id[n], r_params); + } + + if (p_translate_hits) + _cull_translate_hits(r_params); + + return r_params.result_count; +} + +int cull_aabb(CullParams &r_params, bool p_translate_hits = true) { + _cull_hits.clear(); + r_params.result_count = 0; + + for (int n = 0; n < NUM_TREES; n++) { + if (_root_node_id[n] == BVHCommon::INVALID) + continue; + + if ((n == 0) && r_params.test_pairable_only) + continue; + + _cull_aabb_iterative(_root_node_id[n], r_params); + } + + if (p_translate_hits) + _cull_translate_hits(r_params); + + return r_params.result_count; +} + +bool _cull_hits_full(const CullParams &p) { + // instead of checking every hit, we can do a lazy check for this condition. + // it isn't a problem if we write too much _cull_hits because they only the + // result_max amount will be translated and outputted. But we might as + // well stop our cull checks after the maximum has been reached. + return (int)_cull_hits.size() >= p.result_max; +} + +void _cull_hit(uint32_t p_ref_id, CullParams &p) { + + // take into account masks etc + // this would be more efficient to do before plane checks, + // but done here for ease to get started + if (USE_PAIRS) { + const ItemExtra &ex = _extra[p_ref_id]; + + if (!(p.mask & ex.pairable_type)) + return; + } + + _cull_hits.push_back(p_ref_id); +} + +bool _cull_segment_iterative(uint32_t p_node_id, CullParams &r_params) { + + // our function parameters to keep on a stack + struct CullSegParams { + uint32_t node_id; + }; + + // most of the iterative functionality is contained in this helper class + BVH_IterativeInfo ii; + + // alloca must allocate the stack from this function, it cannot be allocated in the + // helper class + ii.stack = (CullSegParams *)alloca(ii.get_alloca_stacksize()); + + // seed the stack + ii.get_first()->node_id = p_node_id; + + CullSegParams csp; + + // while there are still more nodes on the stack + while (ii.pop(csp)) { + + TNode &tnode = _nodes[csp.node_id]; + + if (tnode.is_leaf()) { + + // lazy check for hits full up condition + if (_cull_hits_full(r_params)) { + return false; + } + + TLeaf &leaf = _node_get_leaf(tnode); + + // test children individually + for (int n = 0; n < leaf.num_items; n++) { + const BVH_ABB &aabb = leaf.get_aabb(n); + + if (aabb.intersects_segment(r_params.segment)) { + uint32_t child_id = leaf.get_item_ref_id(n); + + // register hit + _cull_hit(child_id, r_params); + } + } + } else { + // test children individually + for (int n = 0; n < tnode.num_children; n++) { + + uint32_t child_id = tnode.children[n]; + const BVH_ABB &child_abb = _nodes[child_id].aabb; + + if (child_abb.intersects_segment(r_params.segment)) { + + // add to the stack + CullSegParams *child = ii.request(); + child->node_id = child_id; + } + } + } + + } // while more nodes to pop + + // true indicates results are not full + return true; +} + +bool _cull_point_iterative(uint32_t p_node_id, CullParams &r_params) { + // our function parameters to keep on a stack + struct CullPointParams { + uint32_t node_id; + }; + + // most of the iterative functionality is contained in this helper class + BVH_IterativeInfo ii; + + // alloca must allocate the stack from this function, it cannot be allocated in the + // helper class + ii.stack = (CullPointParams *)alloca(ii.get_alloca_stacksize()); + + // seed the stack + ii.get_first()->node_id = p_node_id; + + CullPointParams cpp; + + // while there are still more nodes on the stack + while (ii.pop(cpp)) { + + TNode &tnode = _nodes[cpp.node_id]; + // no hit with this node? + if (!tnode.aabb.intersects_point(r_params.point)) + continue; + + if (tnode.is_leaf()) { + + // lazy check for hits full up condition + if (_cull_hits_full(r_params)) { + return false; + } + + TLeaf &leaf = _node_get_leaf(tnode); + + // test children individually + for (int n = 0; n < leaf.num_items; n++) { + + if (leaf.get_aabb(n).intersects_point(r_params.point)) { + uint32_t child_id = leaf.get_item_ref_id(n); + + // register hit + _cull_hit(child_id, r_params); + } + } + } else { + // test children individually + for (int n = 0; n < tnode.num_children; n++) { + uint32_t child_id = tnode.children[n]; + + // add to the stack + CullPointParams *child = ii.request(); + child->node_id = child_id; + } + } + + } // while more nodes to pop + + // true indicates results are not full + return true; +} + +bool _cull_aabb_iterative(uint32_t p_node_id, CullParams &r_params, bool p_fully_within = false) { + + // our function parameters to keep on a stack + struct CullAABBParams { + uint32_t node_id; + bool fully_within; + }; + + // most of the iterative functionality is contained in this helper class + BVH_IterativeInfo ii; + + // alloca must allocate the stack from this function, it cannot be allocated in the + // helper class + ii.stack = (CullAABBParams *)alloca(ii.get_alloca_stacksize()); + + // seed the stack + ii.get_first()->node_id = p_node_id; + ii.get_first()->fully_within = p_fully_within; + + CullAABBParams cap; + + // while there are still more nodes on the stack + while (ii.pop(cap)) { + + TNode &tnode = _nodes[cap.node_id]; + + if (tnode.is_leaf()) { + + // lazy check for hits full up condition + if (_cull_hits_full(r_params)) { + return false; + } + + TLeaf &leaf = _node_get_leaf(tnode); + + // if fully within we can just add all items + // as long as they pass mask checks + if (cap.fully_within) { + for (int n = 0; n < leaf.num_items; n++) { + uint32_t child_id = leaf.get_item_ref_id(n); + + // register hit + _cull_hit(child_id, r_params); + } + } else { + for (int n = 0; n < leaf.num_items; n++) { + const BVH_ABB &aabb = leaf.get_aabb(n); + + if (aabb.intersects(r_params.abb)) { + uint32_t child_id = leaf.get_item_ref_id(n); + + // register hit + _cull_hit(child_id, r_params); + } + } + } // not fully within + } else { + if (!cap.fully_within) { + // test children individually + for (int n = 0; n < tnode.num_children; n++) { + + uint32_t child_id = tnode.children[n]; + const BVH_ABB &child_abb = _nodes[child_id].aabb; + + if (child_abb.intersects(r_params.abb)) { + // is the node totally within the aabb? + bool fully_within = r_params.abb.is_other_within(child_abb); + + // add to the stack + CullAABBParams *child = ii.request(); + + // should always return valid child + child->node_id = child_id; + child->fully_within = fully_within; + } + } + } else { + for (int n = 0; n < tnode.num_children; n++) { + uint32_t child_id = tnode.children[n]; + + // add to the stack + CullAABBParams *child = ii.request(); + + // should always return valid child + child->node_id = child_id; + child->fully_within = true; + } + } + } + + } // while more nodes to pop + + // true indicates results are not full + return true; +} + +// returns full up with results +bool _cull_convex_iterative(uint32_t p_node_id, CullParams &r_params, bool p_fully_within = false) { + + // our function parameters to keep on a stack + struct CullConvexParams { + uint32_t node_id; + bool fully_within; + }; + + // most of the iterative functionality is contained in this helper class + BVH_IterativeInfo ii; + + // alloca must allocate the stack from this function, it cannot be allocated in the + // helper class + ii.stack = (CullConvexParams *)alloca(ii.get_alloca_stacksize()); + + // seed the stack + ii.get_first()->node_id = p_node_id; + ii.get_first()->fully_within = p_fully_within; + + // preallocate these as a once off to be reused + uint32_t max_planes = r_params.hull.num_planes; + uint32_t *plane_ids = (uint32_t *)alloca(sizeof(uint32_t) * max_planes); + + CullConvexParams ccp; + + // while there are still more nodes on the stack + while (ii.pop(ccp)) { + const TNode &tnode = _nodes[ccp.node_id]; + + if (!ccp.fully_within) { + + typename BVH_ABB::IntersectResult res = tnode.aabb.intersects_convex(r_params.hull); + + switch (res) { + default: { + continue; // miss, just move on to the next node in the stack + } break; + case BVH_ABB::IR_PARTIAL: { + } break; + case BVH_ABB::IR_FULL: { + ccp.fully_within = true; + } break; + } + + } // if not fully within already + + if (tnode.is_leaf()) { + + // lazy check for hits full up condition + if (_cull_hits_full(r_params)) { + return false; + } + + const TLeaf &leaf = _node_get_leaf(tnode); + + // if fully within, simply add all items to the result + // (taking into account masks) + if (ccp.fully_within) { + + for (int n = 0; n < leaf.num_items; n++) { + + uint32_t child_id = leaf.get_item_ref_id(n); + + // register hit + _cull_hit(child_id, r_params); + } + + } else { + + // we can either use a naive check of all the planes against the AABB, + // or an optimized check, which finds in advance which of the planes can possibly + // cut the AABB, and only tests those. This can be much faster. +#define BVH_CONVEX_CULL_OPTIMIZED +#ifdef BVH_CONVEX_CULL_OPTIMIZED + // first find which planes cut the aabb + uint32_t num_planes = tnode.aabb.find_cutting_planes(r_params.hull, plane_ids); + BVH_ASSERT(num_planes <= max_planes); + +//#define BVH_CONVEX_CULL_OPTIMIZED_RIGOR_CHECK +#ifdef BVH_CONVEX_CULL_OPTIMIZED_RIGOR_CHECK + // rigorous check + uint32_t results[MAX_ITEMS]; + uint32_t num_results = 0; +#endif + + // test children individually + for (int n = 0; n < leaf.num_items; n++) { + //const Item &item = leaf.get_item(n); + const BVH_ABB &aabb = leaf.get_aabb(n); + + if (aabb.intersects_convex_optimized(r_params.hull, plane_ids, num_planes)) { + uint32_t child_id = leaf.get_item_ref_id(n); + +#ifdef BVH_CONVEX_CULL_OPTIMIZED_RIGOR_CHECK + results[num_results++] = child_id; +#endif + + // register hit + _cull_hit(child_id, r_params); + } + } + +#ifdef BVH_CONVEX_CULL_OPTIMIZED_RIGOR_CHECK + uint32_t test_count = 0; + + for (int n = 0; n < leaf.num_items; n++) { + const BVH_ABB &aabb = leaf.get_aabb(n); + + if (aabb.intersects_convex_partial(r_params.hull)) { + uint32_t child_id = leaf.get_item_ref_id(n); + + CRASH_COND(child_id != results[test_count++]); + CRASH_COND(test_count > num_results); + } + } +#endif + +#else + // not BVH_CONVEX_CULL_OPTIMIZED + // test children individually + for (int n = 0; n < leaf.num_items; n++) { + const BVH_ABB &aabb = leaf.get_aabb(n); + + if (aabb.intersects_convex_partial(r_params.hull)) { + uint32_t child_id = leaf.get_item_ref_id(n); + + // full up with results? exit early, no point in further testing + if (!_cull_hit(child_id, r_params)) + return false; + } + } +#endif // BVH_CONVEX_CULL_OPTIMIZED + } // if not fully within + } else { + + for (int n = 0; n < tnode.num_children; n++) { + uint32_t child_id = tnode.children[n]; + + // add to the stack + CullConvexParams *child = ii.request(); + + // should always return valid child + child->node_id = child_id; + child->fully_within = ccp.fully_within; + } + } + + } // while more nodes to pop + + // true indicates results are not full + return true; +} diff --git a/core/math/bvh_debug.inc b/core/math/bvh_debug.inc new file mode 100644 index 00000000000..4a5df741aab --- /dev/null +++ b/core/math/bvh_debug.inc @@ -0,0 +1,68 @@ +public: +#ifdef BVH_VERBOSE +void _debug_recursive_print_tree(int p_tree_id) const { + if (_root_node_id[p_tree_id] != BVHCommon::INVALID) + _debug_recursive_print_tree_node(_root_node_id[p_tree_id]); +} + +String _debug_aabb_to_string(const BVH_ABB &aabb) const { + String sz = "("; + sz += itos(-aabb.neg_min.x); + sz += " ~ "; + sz += itos(aabb.max.x); + sz += ") ("; + + sz += itos(-aabb.neg_min.y); + sz += " ~ "; + sz += itos(aabb.max.y); + sz += ") ("; + + sz += itos(-aabb.neg_min.z); + sz += " ~ "; + sz += itos(aabb.max.z); + sz += ") "; + + Vector3 size = aabb.calculate_size(); + float vol = size.x * size.y * size.z; + sz += "vol " + itos(vol); + + return sz; +} + +void _debug_recursive_print_tree_node(uint32_t p_node_id, int depth = 0) const { + const TNode &tnode = _nodes[p_node_id]; + + String sz = ""; + for (int n = 0; n < depth; n++) { + sz += "\t"; + } + sz += itos(p_node_id); + + if (tnode.is_leaf()) { + sz += " L"; + sz += itos(tnode.height) + " "; + const TLeaf *leaf = node_get_leaf(tnode); + + sz += "["; + for (int n = 0; n < leaf->num_items; n++) { + if (n) + sz += ", "; + sz += "r"; + sz += itos(leaf->get_item_ref_id(n)); + } + sz += "] "; + } else { + sz += " N"; + sz += itos(tnode.height) + " "; + } + + sz += _debug_aabb_to_string(tnode.aabb); + print_line(sz); + + if (!tnode.is_leaf()) { + for (int n = 0; n < tnode.num_children; n++) { + _debug_recursive_print_tree_node(tnode.children[n], depth + 1); + } + } +} +#endif diff --git a/core/math/bvh_integrity.inc b/core/math/bvh_integrity.inc new file mode 100644 index 00000000000..724fc8e2211 --- /dev/null +++ b/core/math/bvh_integrity.inc @@ -0,0 +1,42 @@ +void _integrity_check_all() { +#ifdef BVH_INTEGRITY_CHECKS + for (int n = 0; n < NUM_TREES; n++) { + uint32_t root = _root_node_id[n]; + if (root != BVHCommon::INVALID) { + _integrity_check_down(root); + } + } +#endif +} + +void _integrity_check_up(uint32_t p_node_id) { + TNode &node = _nodes[p_node_id]; + + BVH_ABB abb = node.aabb; + node_update_aabb(node); + + BVH_ABB abb2 = node.aabb; + abb2.expand(-_node_expansion); + + CRASH_COND(!abb.is_other_within(abb2)); +} + +void _integrity_check_down(uint32_t p_node_id) { + const TNode &node = _nodes[p_node_id]; + + if (node.is_leaf()) { + _integrity_check_up(p_node_id); + } else { + CRASH_COND(node.num_children != 2); + + for (int n = 0; n < node.num_children; n++) { + uint32_t child_id = node.children[n]; + + // check the children parent pointers are correct + TNode &child = _nodes[child_id]; + CRASH_COND(child.parent_id != p_node_id); + + _integrity_check_down(child_id); + } + } +} diff --git a/core/math/bvh_logic.inc b/core/math/bvh_logic.inc new file mode 100644 index 00000000000..79463957741 --- /dev/null +++ b/core/math/bvh_logic.inc @@ -0,0 +1,221 @@ + +// for slow incremental optimization, we will periodically remove each +// item from the tree and reinsert, to give it a chance to find a better position +void _logic_item_remove_and_reinsert(uint32_t p_ref_id) { + // get the reference + ItemRef &ref = _refs[p_ref_id]; + + // special case of debug draw + if (ref.item_id == BVHCommon::INVALID) + return; + + BVH_ASSERT(ref.tnode_id != BVHCommon::INVALID); + + // some overlay elaborate way to find out which tree the node is in! + BVHHandle temp_handle; + temp_handle.set_id(p_ref_id); + _current_tree = _handle_get_tree_id(temp_handle); + + // remove and reinsert + BVH_ABB abb; + node_remove_item(p_ref_id, &abb); + + // we must choose where to add to tree + ref.tnode_id = _logic_choose_item_add_node(_root_node_id[_current_tree], abb); + _node_add_item(ref.tnode_id, p_ref_id, abb); + + refit_upward_and_balance(ref.tnode_id); +} + +// from randy gaul balance function +BVH_ABB _logic_abb_merge(const BVH_ABB &a, const BVH_ABB &b) { + BVH_ABB c = a; + c.merge(b); + return c; +} + +//-------------------------------------------------------------------------------------------------- +/** +@file q3DynamicAABBTree.h +@author Randy Gaul +@date 10/10/2014 + Copyright (c) 2014 Randy Gaul http://www.randygaul.net + This software is provided 'as-is', without any express or implied + warranty. In no event will the authors be held liable for any damages + arising from the use of this software. + Permission is granted to anyone to use this software for any purpose, + including commercial applications, and to alter it and redistribute it + freely, subject to the following restrictions: + 1. The origin of this software must not be misrepresented; you must not + claim that you wrote the original software. If you use this software + in a product, an acknowledgment in the product documentation would be + appreciated but is not required. + 2. Altered source versions must be plainly marked as such, and must not + be misrepresented as being the original software. + 3. This notice may not be removed or altered from any source distribution. +*/ +//-------------------------------------------------------------------------------------------------- + +// This function is based on the 'Balance' function from Randy Gaul's qu3e +// https://github.com/RandyGaul/qu3e +// It is MODIFIED from qu3e version. +// This is the only function used (and _logic_abb_merge helper function). +int32_t _logic_balance(int32_t iA) { + // return iA; // uncomment this to bypass balance + + TNode *A = &_nodes[iA]; + + if (A->is_leaf() || A->height == 1) + return iA; + + /* A + / \ + B C + / \ / \ + D E F G + */ + + CRASH_COND(A->num_children != 2); + int32_t iB = A->children[0]; + int32_t iC = A->children[1]; + TNode *B = &_nodes[iB]; + TNode *C = &_nodes[iC]; + + int32_t balance = C->height - B->height; + + // C is higher, promote C + if (balance > 1) { + int32_t iF = C->children[0]; + int32_t iG = C->children[1]; + TNode *F = &_nodes[iF]; + TNode *G = &_nodes[iG]; + + // grandParent point to C + if (A->parent_id != BVHCommon::INVALID) { + if (_nodes[A->parent_id].children[0] == iA) + _nodes[A->parent_id].children[0] = iC; + + else + _nodes[A->parent_id].children[1] = iC; + } else { + // check this .. seems dodgy + change_root_node(iC); + } + + // Swap A and C + C->children[0] = iA; + C->parent_id = A->parent_id; + A->parent_id = iC; + + // Finish rotation + if (F->height > G->height) { + C->children[1] = iF; + A->children[1] = iG; + G->parent_id = iA; + A->aabb = _logic_abb_merge(B->aabb, G->aabb); + C->aabb = _logic_abb_merge(A->aabb, F->aabb); + + A->height = 1 + MAX(B->height, G->height); + C->height = 1 + MAX(A->height, F->height); + } + + else { + C->children[1] = iG; + A->children[1] = iF; + F->parent_id = iA; + A->aabb = _logic_abb_merge(B->aabb, F->aabb); + C->aabb = _logic_abb_merge(A->aabb, G->aabb); + + A->height = 1 + MAX(B->height, F->height); + C->height = 1 + MAX(A->height, G->height); + } + + return iC; + } + + // B is higher, promote B + else if (balance < -1) { + int32_t iD = B->children[0]; + int32_t iE = B->children[1]; + TNode *D = &_nodes[iD]; + TNode *E = &_nodes[iE]; + + // grandParent point to B + if (A->parent_id != BVHCommon::INVALID) { + if (_nodes[A->parent_id].children[0] == iA) + _nodes[A->parent_id].children[0] = iB; + else + _nodes[A->parent_id].children[1] = iB; + } + + else { + // check this .. seems dodgy + change_root_node(iB); + } + + // Swap A and B + B->children[1] = iA; + B->parent_id = A->parent_id; + A->parent_id = iB; + + // Finish rotation + if (D->height > E->height) { + B->children[0] = iD; + A->children[0] = iE; + E->parent_id = iA; + A->aabb = _logic_abb_merge(C->aabb, E->aabb); + B->aabb = _logic_abb_merge(A->aabb, D->aabb); + + A->height = 1 + MAX(C->height, E->height); + B->height = 1 + MAX(A->height, D->height); + } + + else { + B->children[0] = iE; + A->children[0] = iD; + D->parent_id = iA; + A->aabb = _logic_abb_merge(C->aabb, D->aabb); + B->aabb = _logic_abb_merge(A->aabb, E->aabb); + + A->height = 1 + MAX(C->height, D->height); + B->height = 1 + MAX(A->height, E->height); + } + + return iB; + } + + return iA; +} + +// either choose an existing node to add item to, or create a new node and return this +uint32_t _logic_choose_item_add_node(uint32_t p_node_id, const BVH_ABB &p_aabb) { + + while (true) { + BVH_ASSERT(p_node_id != BVHCommon::INVALID); + TNode &tnode = _nodes[p_node_id]; + + if (tnode.is_leaf()) { + // if a leaf, and non full, use this to add to + if (!node_is_leaf_full(tnode)) + return p_node_id; + + // else split the leaf, and use one of the children to add to + return split_leaf(p_node_id, p_aabb); + } + + // this should not happen??? + // is still happening, need to debug and find circumstances. Is not that serious + // but would be nice to prevent. I think it only happens with the root node. + if (tnode.num_children == 1) { + WARN_PRINT_ONCE("BVH::recursive_choose_item_add_node, node with 1 child, recovering"); + p_node_id = tnode.children[0]; + } else { + BVH_ASSERT(tnode.num_children == 2); + TNode &childA = _nodes[tnode.children[0]]; + TNode &childB = _nodes[tnode.children[1]]; + int which = p_aabb.select_by_proximity(childA.aabb, childB.aabb); + + p_node_id = tnode.children[which]; + } + } +} diff --git a/core/math/bvh_misc.inc b/core/math/bvh_misc.inc new file mode 100644 index 00000000000..b973f02cd9f --- /dev/null +++ b/core/math/bvh_misc.inc @@ -0,0 +1,54 @@ + +int _handle_get_tree_id(BVHHandle p_handle) const { + if (USE_PAIRS) { + int tree = 0; + if (_extra[p_handle.id()].pairable) + tree = 1; + return tree; + } + return 0; +} + +public: +void _handle_sort(BVHHandle &p_ha, BVHHandle &p_hb) const { + if (p_ha.id() > p_hb.id()) { + BVHHandle temp = p_hb; + p_hb = p_ha; + p_ha = temp; + } +} + +private: +void create_root_node(int p_tree) { + // if there is no root node, create one + if (_root_node_id[p_tree] == BVHCommon::INVALID) { + uint32_t root_node_id; + TNode *node = _nodes.request(root_node_id); + node->clear(); + _root_node_id[p_tree] = root_node_id; + + // make the root node a leaf + uint32_t leaf_id; + TLeaf *leaf = _leaves.request(leaf_id); + leaf->clear(); + node->neg_leaf_id = -(int)leaf_id; + } +} + +bool node_is_leaf_full(TNode &tnode) const { + const TLeaf &leaf = _node_get_leaf(tnode); + return leaf.is_full(); +} + +public: +TLeaf &_node_get_leaf(TNode &tnode) { + BVH_ASSERT(tnode.is_leaf()); + return _leaves[tnode.get_leaf_id()]; +} + +const TLeaf &_node_get_leaf(const TNode &tnode) const { + BVH_ASSERT(tnode.is_leaf()); + return _leaves[tnode.get_leaf_id()]; +} + +private: diff --git a/core/math/bvh_pair.inc b/core/math/bvh_pair.inc new file mode 100644 index 00000000000..ce79857f088 --- /dev/null +++ b/core/math/bvh_pair.inc @@ -0,0 +1,64 @@ +public: +// note .. maybe this can be attached to another node structure? +// depends which works best for cache. +struct ItemPairs { + struct Link { + void set(BVHHandle h, void *ud) { + handle = h; + userdata = ud; + } + BVHHandle handle; + void *userdata; + }; + + void clear() { + num_pairs = 0; + extended_pairs.reset(); + } + + AABB expanded_aabb; + + // maybe we can just use the number in the vector TODO + int32_t num_pairs; + LocalVector extended_pairs; + + void add_pair_to(BVHHandle h, void *p_userdata) { + Link temp; + temp.set(h, p_userdata); + + extended_pairs.push_back(temp); + num_pairs++; + } + + uint32_t find_pair_to(BVHHandle h) const { + for (int n = 0; n < num_pairs; n++) { + if (extended_pairs[n].handle == h) { + return n; + } + } + return -1; + } + + bool contains_pair_to(BVHHandle h) const { + return find_pair_to(h) != BVHCommon::INVALID; + } + + // return success + void *remove_pair_to(BVHHandle h) { + void *userdata = nullptr; + + for (int n = 0; n < num_pairs; n++) { + if (extended_pairs[n].handle == h) { + userdata = extended_pairs[n].userdata; + extended_pairs.remove_unordered(n); + num_pairs--; + break; + } + } + + return userdata; + } + + void update() { + } +}; diff --git a/core/math/bvh_public.inc b/core/math/bvh_public.inc new file mode 100644 index 00000000000..bb293fa0e3e --- /dev/null +++ b/core/math/bvh_public.inc @@ -0,0 +1,338 @@ +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(); + VERBOSE_PRINT("\n"); +#endif + + BVH_ABB abb; + abb.from(p_aabb); + + // handle to be filled with the new item ref + BVHHandle handle; + + // ref id easier to pass around than handle + uint32_t ref_id; + + // this should never fail + ItemRef *ref = _refs.request(ref_id); + + // the extra data should be parallel list to the references + uint32_t extra_id; + ItemExtra *extra = _extra.request(extra_id); + BVH_ASSERT(extra_id == ref_id); + + // pairs info + if (USE_PAIRS) { + uint32_t pairs_id; + ItemPairs *pairs = _pairs.request(pairs_id); + pairs->clear(); + BVH_ASSERT(pairs_id == ref_id); + } + + extra->subindex = p_subindex; + extra->userdata = p_userdata; + extra->last_updated_tick = 0; + + // add an active reference to the list for slow incremental optimize + // this list must be kept in sync with the references as they are added or removed. + extra->active_ref_id = _active_refs.size(); + _active_refs.push_back(ref_id); + + if (USE_PAIRS) { + extra->pairable_mask = p_pairable_mask; + extra->pairable_type = p_pairable_type; + extra->pairable = p_pairable; + } else { + // just for safety, in case this gets queried etc + extra->pairable = 0; + p_pairable = false; + } + + // assign to handle to return + handle.set_id(ref_id); + + _current_tree = 0; + if (p_pairable) + _current_tree = 1; + + create_root_node(_current_tree); + + // we must choose where to add to tree + ref->tnode_id = _logic_choose_item_add_node(_root_node_id[_current_tree], abb); + + bool refit = _node_add_item(ref->tnode_id, ref_id, abb); + + if (refit) { + // only need to refit from the parent + const TNode &add_node = _nodes[ref->tnode_id]; + if (add_node.parent_id != BVHCommon::INVALID) + refit_upward_and_balance(add_node.parent_id); + } + +#ifdef BVH_VERBOSE + // memory use + int mem = _refs.estimate_memory_use(); + mem += _nodes.estimate_memory_use(); + + String sz = _debug_aabb_to_string(abb); + VERBOSE_PRINT("\titem_add [" + itos(ref_id) + "] " + itos(_refs.size()) + " refs,\t" + itos(_nodes.size()) + " nodes " + sz); + VERBOSE_PRINT("mem use : " + itos(mem) + ", num nodes : " + itos(_nodes.size())); + +#endif + + return handle; +} + +void _debug_print_refs() { +#ifdef BVH_VERBOSE_TREE + print_line("refs....."); + for (int n = 0; n < _refs.size(); n++) { + const ItemRef &ref = _refs[n]; + print_line("tnode_id " + itos(ref.tnode_id) + ", item_id " + itos(ref.item_id)); + } + +#endif +} + +// returns false if noop +bool item_move(BVHHandle p_handle, const AABB &p_aabb) { + uint32_t ref_id = p_handle.id(); + + BVH_ABB abb; + abb.from(p_aabb); + + // get the reference + ItemRef &ref = _refs[ref_id]; + + BVH_ASSERT(ref.tnode_id != BVHCommon::INVALID); + TNode &tnode = _nodes[ref.tnode_id]; + + // does it fit within the current aabb? + if (tnode.aabb.is_other_within(abb)) { + // do nothing .. fast path .. not moved enough to need refit + + // however we WILL update the exact aabb in the leaf, as this will be needed + // for accurate collision detection + TLeaf &leaf = _node_get_leaf(tnode); + + leaf.get_aabb(ref.item_id) = abb; + _integrity_check_all(); + + return true; + } + + _current_tree = _handle_get_tree_id(p_handle); + + // remove and reinsert + node_remove_item(ref_id); + + // we must choose where to add to tree + ref.tnode_id = _logic_choose_item_add_node(_root_node_id[_current_tree], abb); + + // add to the tree + bool needs_refit = _node_add_item(ref.tnode_id, ref_id, abb); + + // only need to refit from the PARENT + if (needs_refit) { + // only need to refit from the parent + const TNode &add_node = _nodes[ref.tnode_id]; + if (add_node.parent_id != BVHCommon::INVALID) + // not sure we need to rebalance all the time, this can be done less often + refit_upward(add_node.parent_id); + //refit_upward_and_balance(add_node.parent_id); + } + + return true; +} + +void item_remove(BVHHandle p_handle) { + uint32_t ref_id = p_handle.id(); + + _current_tree = _handle_get_tree_id(p_handle); + + VERBOSE_PRINT("item_remove [" + itos(ref_id) + "] "); + + //////////////////////////////////////// + // remove the active reference from the list for slow incremental optimize + // this list must be kept in sync with the references as they are added or removed. + uint32_t active_ref_id = _extra[ref_id].active_ref_id; + uint32_t ref_id_moved_back = _active_refs[_active_refs.size() - 1]; + + // swap back and decrement for fast unordered remove + _active_refs[active_ref_id] = ref_id_moved_back; + _active_refs.resize(_active_refs.size() - 1); + + // keep the moved active reference up to date + _extra[ref_id_moved_back].active_ref_id = active_ref_id; + //////////////////////////////////////// + + // remove the item from the node + node_remove_item(ref_id); + + // remove the item reference + _refs.free(ref_id); + _extra.free(ref_id); + if (USE_PAIRS) { + _pairs.free(ref_id); + } + + // don't think refit_all is necessary? + //refit_all(_current_tree); + +#ifdef BVH_VERBOSE_TREE + _recursive_print_tree(tree_id); +#endif +} + +// during collision testing, we want to set the mask and whether pairable for the item testing from +void item_fill_cullparams(BVHHandle p_handle, CullParams &r_params) const { + uint32_t ref_id = p_handle.id(); + const ItemExtra &extra = _extra[ref_id]; + + // testing from a non pairable item, we only want to test pairable items + r_params.test_pairable_only = extra.pairable == 0; + + // we take into account the mask of the item testing from + r_params.mask = extra.pairable_mask; +} + +bool item_is_pairable(const BVHHandle &p_handle) { + uint32_t ref_id = p_handle.id(); + const ItemExtra &extra = _extra[ref_id]; + return extra.pairable != 0; +} + +void item_get_ABB(const BVHHandle &p_handle, BVH_ABB &r_abb) { + // change tree? + uint32_t ref_id = p_handle.id(); + const ItemRef &ref = _refs[ref_id]; + + TNode &tnode = _nodes[ref.tnode_id]; + TLeaf &leaf = _node_get_leaf(tnode); + + r_abb = leaf.get_aabb(ref.item_id); +} + +void item_set_pairable(const BVHHandle &p_handle, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask) { + // change tree? + uint32_t ref_id = p_handle.id(); + + ItemExtra &ex = _extra[ref_id]; + ItemRef &ref = _refs[ref_id]; + + ex.pairable_type = p_pairable_type; + ex.pairable_mask = p_pairable_mask; + + if ((ex.pairable != 0) != p_pairable) { + // record abb + TNode &tnode = _nodes[ref.tnode_id]; + TLeaf &leaf = _node_get_leaf(tnode); + BVH_ABB abb = leaf.get_aabb(ref.item_id); + + // make sure current tree is correct prior to changing + _current_tree = _handle_get_tree_id(p_handle); + + // remove from old tree + node_remove_item(ref_id); + + ex.pairable = p_pairable; + + // add to new tree + _current_tree = _handle_get_tree_id(p_handle); + create_root_node(_current_tree); + + // we must choose where to add to tree + ref.tnode_id = _logic_choose_item_add_node(_root_node_id[_current_tree], abb); + bool needs_refit = _node_add_item(ref.tnode_id, ref_id, abb); + + // only need to refit from the PARENT + if (needs_refit) { + // only need to refit from the parent + const TNode &add_node = _nodes[ref.tnode_id]; + if (add_node.parent_id != BVHCommon::INVALID) + refit_upward_and_balance(add_node.parent_id); + } + } +} + +void incremental_optimize() { + // first update all aabbs as one off step.. + // this is cheaper than doing it on each move as each leaf may get touched multiple times + // in a frame. + for (int n = 0; n < NUM_TREES; n++) { + if (_root_node_id[n] != BVHCommon::INVALID) + refit_branch(_root_node_id[n]); + } + + // now do small section reinserting to get things moving + // gradually, and keep items in the right leaf + if (_current_active_ref >= _active_refs.size()) { + _current_active_ref = 0; + } + + // special case + if (!_active_refs.size()) + return; + + uint32_t ref_id = _active_refs[_current_active_ref++]; + + _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(); + int mem_leaves = _leaves.estimate_memory_use(); + + String sz; + sz += "mem_refs : " + itos(mem_refs) + " "; + sz += "mem_nodes : " + itos(mem_nodes) + " "; + sz += "mem_leaves : " + itos(mem_leaves) + " "; + sz += ", num nodes : " + itos(_nodes.size()); + print_line(sz); + +#endif +} + +void update() { + incremental_optimize(); + + // keep the expansion values up to date with the world bound +//#define BVH_ALLOW_AUTO_EXPANSION +#ifdef BVH_ALLOW_AUTO_EXPANSION + if (_auto_node_expansion || _auto_pairing_expansion) { + BVH_ABB world_bound; + world_bound.set_to_max_opposite_extents(); + + bool bound_valid = false; + + for (int n = 0; n < NUM_TREES; n++) { + uint32_t node_id = _root_node_id[n]; + if (node_id != BVHCommon::INVALID) { + world_bound.merge(_nodes[node_id].aabb); + bound_valid = true; + } + } + + // if there are no nodes, do nothing, but if there are... + if (bound_valid) { + AABB bb; + world_bound.to(bb); + real_t size = bb.get_longest_axis_size(); + + // automatic AI decision for best parameters. + // These can be overridden in project settings. + + // these magic numbers are determined by experiment + if (_auto_node_expansion) { + _node_expansion = size * 0.025; + } + if (_auto_pairing_expansion) { + _pairing_expansion = size * 0.009; + } + } + } +#endif +} diff --git a/core/math/bvh_refit.inc b/core/math/bvh_refit.inc new file mode 100644 index 00000000000..b16bb0ab85e --- /dev/null +++ b/core/math/bvh_refit.inc @@ -0,0 +1,142 @@ +void _debug_node_verify_bound(uint32_t p_node_id) { + TNode &node = _nodes[p_node_id]; + BVH_ABB abb_before = node.aabb; + + node_update_aabb(node); + + BVH_ABB abb_after = node.aabb; + CRASH_COND(abb_before != abb_after); +} + +void node_update_aabb(TNode &tnode) { + tnode.aabb.set_to_max_opposite_extents(); + tnode.height = 0; + + if (!tnode.is_leaf()) { + for (int n = 0; n < tnode.num_children; n++) { + uint32_t child_node_id = tnode.children[n]; + + // merge with child aabb + const TNode &tchild = _nodes[child_node_id]; + tnode.aabb.merge(tchild.aabb); + + // do heights at the same time + if (tchild.height > tnode.height) + tnode.height = tchild.height; + } + + // the height of a non leaf is always 1 bigger than the biggest child + tnode.height++; + +#ifdef BVH_CHECKS + if (!tnode.num_children) { + // the 'blank' aabb will screw up parent aabbs + WARN_PRINT("BVH_Tree::TNode no children, AABB is undefined"); + } +#endif + } else { + // leaf + const TLeaf &leaf = _node_get_leaf(tnode); + + for (int n = 0; n < leaf.num_items; n++) { + tnode.aabb.merge(leaf.get_aabb(n)); + } + + // now the leaf items are unexpanded, we expand only in the node AABB + tnode.aabb.expand(_node_expansion); +#ifdef BVH_CHECKS + if (!leaf.num_items) { + // the 'blank' aabb will screw up parent aabbs + WARN_PRINT("BVH_Tree::TLeaf no items, AABB is undefined"); + } +#endif + } +} + +void refit_all(int p_tree_id) { + refit_downward(_root_node_id[p_tree_id]); +} + +void refit_upward(uint32_t p_node_id) { + while (p_node_id != BVHCommon::INVALID) { + TNode &tnode = _nodes[p_node_id]; + node_update_aabb(tnode); + p_node_id = tnode.parent_id; + } +} + +void refit_upward_and_balance(uint32_t p_node_id) { + while (p_node_id != BVHCommon::INVALID) { + uint32_t before = p_node_id; + p_node_id = _logic_balance(p_node_id); + + if (before != p_node_id) { + VERBOSE_PRINT("REBALANCED!"); + } + + TNode &tnode = _nodes[p_node_id]; + + // update overall aabb from the children + node_update_aabb(tnode); + + p_node_id = tnode.parent_id; + } +} + +void refit_downward(uint32_t p_node_id) { + TNode &tnode = _nodes[p_node_id]; + + // do children first + if (!tnode.is_leaf()) { + for (int n = 0; n < tnode.num_children; n++) { + refit_downward(tnode.children[n]); + } + } + + node_update_aabb(tnode); +} + +// go down to the leaves, then refit upward +void refit_branch(uint32_t p_node_id) { + // our function parameters to keep on a stack + struct RefitParams { + uint32_t node_id; + }; + + // most of the iterative functionality is contained in this helper class + BVH_IterativeInfo ii; + + // alloca must allocate the stack from this function, it cannot be allocated in the + // helper class + ii.stack = (RefitParams *)alloca(ii.get_alloca_stacksize()); + + // seed the stack + ii.get_first()->node_id = p_node_id; + + RefitParams rp; + + // while there are still more nodes on the stack + while (ii.pop(rp)) { + + TNode &tnode = _nodes[rp.node_id]; + + // do children first + if (!tnode.is_leaf()) { + for (int n = 0; n < tnode.num_children; n++) { + + uint32_t child_id = tnode.children[n]; + + // add to the stack + RefitParams *child = ii.request(); + child->node_id = child_id; + } + } else { + // leaf .. only refit upward if dirty + TLeaf &leaf = _node_get_leaf(tnode); + if (leaf.is_dirty()) { + leaf.set_dirty(false); + refit_upward(p_node_id); + } + } + } // while more nodes to pop +} diff --git a/core/math/bvh_split.inc b/core/math/bvh_split.inc new file mode 100644 index 00000000000..e6a63d24d70 --- /dev/null +++ b/core/math/bvh_split.inc @@ -0,0 +1,293 @@ +void _split_inform_references(uint32_t p_node_id) { + TNode &node = _nodes[p_node_id]; + TLeaf &leaf = _node_get_leaf(node); + + for (int n = 0; n < leaf.num_items; n++) { + uint32_t ref_id = leaf.get_item_ref_id(n); + + ItemRef &ref = _refs[ref_id]; + ref.tnode_id = p_node_id; + ref.item_id = n; + } +} + +void _split_leaf_sort_groups_simple(int &num_a, int &num_b, uint16_t *group_a, uint16_t *group_b, const BVH_ABB *temp_bounds, const BVH_ABB full_bound) { + // special case for low leaf sizes .. should static compile out + if (MAX_ITEMS < 4) { + uint32_t ind = group_a[0]; + + // add to b + group_b[num_b++] = ind; + + // remove from a + group_a[0] = group_a[num_a - 1]; + num_a--; + return; + } + + Vector3 centre = full_bound.calculate_centre(); + Vector3 size = full_bound.calculate_size(); + + int order[3]; + + order[0] = size.min_axis(); + order[2] = size.max_axis(); + order[1] = 3 - (order[0] + order[2]); + + // simplest case, split on the longest axis + int split_axis = order[0]; + for (int a = 0; a < num_a; a++) { + uint32_t ind = group_a[a]; + + if (temp_bounds[ind].min.coord[split_axis] > centre.coord[split_axis]) { + // add to b + group_b[num_b++] = ind; + + // remove from a + group_a[a] = group_a[num_a - 1]; + num_a--; + + // do this one again, as it has been replaced + a--; + } + } + + // detect when split on longest axis failed + int min_threshold = MAX_ITEMS / 4; + int min_group_size[3]; + min_group_size[0] = MIN(num_a, num_b); + if (min_group_size[0] < min_threshold) { + // slow but sure .. first move everything back into a + for (int b = 0; b < num_b; b++) { + group_a[num_a++] = group_b[b]; + } + num_b = 0; + + // now calculate the best split + for (int axis = 1; axis < 3; axis++) { + split_axis = order[axis]; + int count = 0; + + for (int a = 0; a < num_a; a++) { + uint32_t ind = group_a[a]; + + if (temp_bounds[ind].min.coord[split_axis] > centre.coord[split_axis]) { + count++; + } + } + + min_group_size[axis] = MIN(count, num_a - count); + } // for axis + + // best axis + int best_axis = 0; + int best_min = min_group_size[0]; + for (int axis = 1; axis < 3; axis++) { + if (min_group_size[axis] > best_min) { + best_min = min_group_size[axis]; + best_axis = axis; + } + } + + // now finally do the split + if (best_min > 0) { + split_axis = order[best_axis]; + + for (int a = 0; a < num_a; a++) { + uint32_t ind = group_a[a]; + + if (temp_bounds[ind].min.coord[split_axis] > centre.coord[split_axis]) { + // add to b + group_b[num_b++] = ind; + + // remove from a + group_a[a] = group_a[num_a - 1]; + num_a--; + + // do this one again, as it has been replaced + a--; + } + } + } // if there was a split! + } // if the longest axis wasn't a good split + + // special case, none crossed threshold + if (!num_b) { + uint32_t ind = group_a[0]; + + // add to b + group_b[num_b++] = ind; + + // remove from a + group_a[0] = group_a[num_a - 1]; + num_a--; + } + // opposite problem! :) + if (!num_a) { + uint32_t ind = group_b[0]; + + // add to a + group_a[num_a++] = ind; + + // remove from b + group_b[0] = group_b[num_b - 1]; + num_b--; + } +} + +void _split_leaf_sort_groups(int &num_a, int &num_b, uint16_t *group_a, uint16_t *group_b, const BVH_ABB *temp_bounds) { + BVH_ABB groupb_aabb; + groupb_aabb.set_to_max_opposite_extents(); + for (int n = 0; n < num_b; n++) { + int which = group_b[n]; + groupb_aabb.merge(temp_bounds[which]); + } + BVH_ABB groupb_aabb_new; + + BVH_ABB rest_aabb; + + float best_size = FLT_MAX; + int best_candidate = -1; + + // find most likely from a to move into b + for (int check = 0; check < num_a; check++) { + rest_aabb.set_to_max_opposite_extents(); + groupb_aabb_new = groupb_aabb; + + // find aabb of all the rest + for (int rest = 0; rest < num_a; rest++) { + if (rest == check) + continue; + + int which = group_a[rest]; + rest_aabb.merge(temp_bounds[which]); + } + + groupb_aabb_new.merge(temp_bounds[group_a[check]]); + + // now compare the sizes + float size = groupb_aabb_new.get_area() + rest_aabb.get_area(); + if (size < best_size) { + best_size = size; + best_candidate = check; + } + } + + // we should now have the best, move it from group a to group b + group_b[num_b++] = group_a[best_candidate]; + + // remove best candidate from group a + num_a--; + group_a[best_candidate] = group_a[num_a]; +} + +uint32_t split_leaf(uint32_t p_node_id, const BVH_ABB &p_added_item_aabb) { + return split_leaf_complex(p_node_id, p_added_item_aabb); +} + +// aabb is the new inserted node +uint32_t split_leaf_complex(uint32_t p_node_id, const BVH_ABB &p_added_item_aabb) { + VERBOSE_PRINT("split_leaf"); + + // note the tnode before and AFTER splitting may be a different address + // in memory because the vector could get relocated. So we need to reget + // the tnode after the split + BVH_ASSERT(_nodes[p_node_id].is_leaf()); + + // first create child leaf nodes + uint32_t *child_ids = (uint32_t *)alloca(sizeof(uint32_t) * MAX_CHILDREN); + + for (int n = 0; n < MAX_CHILDREN; n++) { + // create node children + TNode *child_node = _nodes.request(child_ids[n]); + + child_node->clear(); + + // back link to parent + child_node->parent_id = p_node_id; + + // make each child a leaf node + node_make_leaf(child_ids[n]); + } + + // don't get any leaves or nodes till AFTER the split + TNode &tnode = _nodes[p_node_id]; + uint32_t orig_leaf_id = tnode.get_leaf_id(); + const TLeaf &orig_leaf = _node_get_leaf(tnode); + + // store the final child ids + for (int n = 0; n < MAX_CHILDREN; n++) { + tnode.children[n] = child_ids[n]; + } + + // mark as no longer a leaf node + tnode.num_children = MAX_CHILDREN; + + // 2 groups, A and B, and assign children to each to split equally + int max_children = orig_leaf.num_items + 1; // plus 1 for the wildcard .. the item being added + //CRASH_COND(max_children > MAX_CHILDREN); + + uint16_t *group_a = (uint16_t *)alloca(sizeof(uint16_t) * max_children); + uint16_t *group_b = (uint16_t *)alloca(sizeof(uint16_t) * max_children); + + // we are copying the ABBs. This is ugly, but we need one extra for the inserted item... + BVH_ABB *temp_bounds = (BVH_ABB *)alloca(sizeof(BVH_ABB) * max_children); + + int num_a = max_children; + int num_b = 0; + + // setup - start with all in group a + for (int n = 0; n < orig_leaf.num_items; n++) { + group_a[n] = n; + temp_bounds[n] = orig_leaf.get_aabb(n); + } + // wildcard + int wildcard = orig_leaf.num_items; + + group_a[wildcard] = wildcard; + temp_bounds[wildcard] = p_added_item_aabb; + + // we can choose here either an equal split, or just 1 in the new leaf + _split_leaf_sort_groups_simple(num_a, num_b, group_a, group_b, temp_bounds, tnode.aabb); + + uint32_t wildcard_node = BVHCommon::INVALID; + + // now there should be equal numbers in both groups + for (int n = 0; n < num_a; n++) { + int which = group_a[n]; + + if (which != wildcard) { + const BVH_ABB &source_item_aabb = orig_leaf.get_aabb(which); + uint32_t source_item_ref_id = orig_leaf.get_item_ref_id(which); + //const Item &source_item = orig_leaf.get_item(which); + _node_add_item(tnode.children[0], source_item_ref_id, source_item_aabb); + } else { + wildcard_node = tnode.children[0]; + } + } + for (int n = 0; n < num_b; n++) { + int which = group_b[n]; + + if (which != wildcard) { + const BVH_ABB &source_item_aabb = orig_leaf.get_aabb(which); + uint32_t source_item_ref_id = orig_leaf.get_item_ref_id(which); + //const Item &source_item = orig_leaf.get_item(which); + _node_add_item(tnode.children[1], source_item_ref_id, source_item_aabb); + } else { + wildcard_node = tnode.children[1]; + } + } + + // now remove all items from the parent and replace with the child nodes + _leaves.free(orig_leaf_id); + + // we should keep the references up to date! + for (int n = 0; n < MAX_CHILDREN; n++) { + _split_inform_references(tnode.children[n]); + } + + refit_upward(p_node_id); + + BVH_ASSERT(wildcard_node != BVHCommon::INVALID); + return wildcard_node; +} diff --git a/core/math/bvh_structs.inc b/core/math/bvh_structs.inc new file mode 100644 index 00000000000..8dc8e5b3a88 --- /dev/null +++ b/core/math/bvh_structs.inc @@ -0,0 +1,174 @@ + +public: +struct ItemRef { + uint32_t tnode_id; // -1 is invalid + uint32_t item_id; // in the leaf +}; + +// extra info kept in separate parallel list to the references, +// as this is less used as keeps cache better +struct ItemExtra { + uint32_t last_updated_tick; + uint32_t pairable; + uint32_t pairable_mask; + uint32_t pairable_type; + + int32_t subindex; + + // the active reference is a separate list of which references + // are active so that we can slowly iterate through it over many frames for + // slow optimize. + uint32_t active_ref_id; + + T *userdata; +}; + +// this is an item OR a child node depending on whether a leaf node +struct Item { + BVH_ABB aabb; + uint32_t item_ref_id; +}; + +// tree leaf +struct TLeaf { + uint16_t num_items; + +private: + uint16_t dirty; + // separate data orientated lists for faster SIMD traversal + uint32_t item_ref_ids[MAX_ITEMS]; + BVH_ABB aabbs[MAX_ITEMS]; + +public: + // accessors + BVH_ABB &get_aabb(uint32_t p_id) { return aabbs[p_id]; } + const BVH_ABB &get_aabb(uint32_t p_id) const { return aabbs[p_id]; } + + uint32_t &get_item_ref_id(uint32_t p_id) { return item_ref_ids[p_id]; } + const uint32_t &get_item_ref_id(uint32_t p_id) const { return item_ref_ids[p_id]; } + + bool is_dirty() const { return dirty; } + void set_dirty(bool p) { dirty = p; } + + void clear() { + num_items = 0; + set_dirty(true); + } + bool is_full() const { return num_items >= MAX_ITEMS; } + + void remove_item_unordered(uint32_t p_id) { + BVH_ASSERT(p_id < num_items); + num_items--; + aabbs[p_id] = aabbs[num_items]; + item_ref_ids[p_id] = item_ref_ids[num_items]; + } + + uint32_t request_item() { + if (num_items < MAX_ITEMS) { + uint32_t id = num_items; + num_items++; + return id; + } + return -1; + } +}; + +// tree node +struct TNode { + BVH_ABB aabb; + // either number of children if positive + // or leaf id if negative (leaf id 0 is disallowed) + union { + int32_t num_children; + int32_t neg_leaf_id; + }; + uint32_t parent_id; // or -1 + uint16_t children[MAX_CHILDREN]; + + // height in the tree, where leaves are 0, and all above are 1+ + // (or the highest where there is a tie off) + int32_t height; + + bool is_leaf() const { return num_children < 0; } + void set_leaf_id(int id) { neg_leaf_id = -id; } + int get_leaf_id() const { return -neg_leaf_id; } + + void clear() { + num_children = 0; + parent_id = BVHCommon::INVALID; + height = 0; // or -1 for testing + + // for safety set to improbable value + aabb.set_to_max_opposite_extents(); + + // other members are not blanked for speed .. they may be uninitialized + } + + bool is_full_of_children() const { return num_children >= MAX_CHILDREN; } + + void remove_child_internal(uint32_t child_num) { + children[child_num] = children[num_children - 1]; + num_children--; + } + + int find_child(uint32_t p_child_node_id) { + BVH_ASSERT(!is_leaf()); + + for (int n = 0; n < num_children; n++) { + if (children[n] == p_child_node_id) + return n; + } + + // not found + return -1; + } +}; + +// instead of using linked list we maintain +// item references (for quick lookup) +PooledList _refs; +PooledList _extra; +PooledList _pairs; + +// these 2 are not in sync .. nodes != leaves! +PooledList _nodes; +PooledList _leaves; + +// we can maintain an un-ordered list of which references are active, +// in order to do a slow incremental optimize of the tree over each frame. +// This will work best if dynamic objects and static objects are in a different tree. +LocalVector _active_refs; +uint32_t _current_active_ref = 0; + +// instead of translating directly to the userdata output, +// we keep an intermediate list of hits as reference IDs, which can be used +// for pairing collision detection +LocalVector _cull_hits; + +// we now have multiple root nodes, allowing us to store +// more than 1 tree. This can be more efficient, while sharing the same +// common lists +enum { NUM_TREES = 2, +}; + +// Tree 0 - Non pairable +// Tree 1 - Pairable +// This is more efficient because in physics we only need check non pairable against the pairable tree. +uint32_t _root_node_id[NUM_TREES]; +int _current_tree = 0; + +// these values may need tweaking according to the project +// the bound of the world, and the average velocities of the objects + +// node expansion is important in the rendering tree +// larger values give less re-insertion as items move... +// but on the other hand over estimates the bounding box of nodes. +// we can either use auto mode, where the expansion is based on the root node size, or specify manually +real_t _node_expansion = 0.5; +bool _auto_node_expansion = true; + +// pairing expansion important for physics pairing +// larger values gives more 'sticky' pairing, and is less likely to exhibit tunneling +// we can either use auto mode, where the expansion is based on the root node size, or specify manually +real_t _pairing_expansion = 0.1; +bool _auto_pairing_expansion = true; diff --git a/core/math/bvh_tree.h b/core/math/bvh_tree.h new file mode 100644 index 00000000000..61766b6fbdc --- /dev/null +++ b/core/math/bvh_tree.h @@ -0,0 +1,414 @@ +/*************************************************************************/ +/* bvh_tree.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#ifndef BVH_TREE_H +#define BVH_TREE_H + +// BVH Tree +// This is an implementation of a dynamic BVH with templated leaf size. +// This differs from most dynamic BVH in that it can handle more than 1 object +// in leaf nodes. This can make it far more efficient in certain circumstances. +// It also means that the splitting logic etc have to be completely different +// to a simpler tree. +// Note that MAX_CHILDREN should be fixed at 2 for now. + +#include "core/local_vector.h" +#include "core/math/aabb.h" +#include "core/math/bvh_abb.h" +#include "core/math/geometry.h" +#include "core/math/vector3.h" +#include "core/pooled_list.h" +#include "core/print_string.h" +#include + +// never do these checks in release +#if defined(TOOLS_ENABLED) && defined(DEBUG_ENABLED) +//#define BVH_VERBOSE +//#define BVH_VERBOSE_TREE + +//#define BVH_VERBOSE_FRAME +//#define BVH_CHECKS +//#define BVH_INTEGRITY_CHECKS +#endif + +// debug only assert +#ifdef BVH_CHECKS +#define BVH_ASSERT(a) CRASH_COND((a) == false) +#else +#define BVH_ASSERT(a) +#endif + +#ifdef BVH_VERBOSE +#define VERBOSE_PRINT print_line +#else +#define VERBOSE_PRINT(a) +#endif + +// really just a namespace +struct BVHCommon { + static const uint32_t INVALID = (0xffffffff); +}; + +// really a handle, can be anything +// note that zero is a valid reference for the BVH .. this may involve using +// a plus one based ID for clients that expect 0 to be invalid. +struct BVHHandle { + // conversion operator + operator uint32_t() const { return _data; } + void set(uint32_t p_value) { _data = p_value; } + + uint32_t _data; + + void set_invalid() { _data = BVHCommon::INVALID; } + bool is_invalid() const { return _data == BVHCommon::INVALID; } + uint32_t id() const { return _data; } + void set_id(uint32_t p_id) { _data = p_id; } + + bool operator==(const BVHHandle &p_h) const { return _data == p_h._data; } + bool operator!=(const BVHHandle &p_h) const { return (*this == p_h) == false; } +}; + +// helper class to make iterative versions of recursive functions +template +class BVH_IterativeInfo { +public: + enum { + ALLOCA_STACK_SIZE = 128 + }; + + int32_t depth = 1; + int32_t threshold = ALLOCA_STACK_SIZE - 2; + T *stack; + //only used in rare occasions when you run out of alloca memory + // because tree is too unbalanced. + LocalVector aux_stack; + int32_t get_alloca_stacksize() const { return ALLOCA_STACK_SIZE * sizeof(T); } + + T *get_first() const { + return &stack[0]; + } + + // pop the last member of the stack, or return false + bool pop(T &r_value) { + if (!depth) { + return false; + } + + depth--; + r_value = stack[depth]; + return true; + } + + // request new addition to stack + T *request() { + if (depth > threshold) { + if (aux_stack.empty()) { + aux_stack.resize(ALLOCA_STACK_SIZE * 2); + copymem(aux_stack.ptr(), stack, get_alloca_stacksize()); + } else { + aux_stack.resize(aux_stack.size() * 2); + } + stack = aux_stack.ptr(); + threshold = aux_stack.size() - 2; + } + return &stack[depth++]; + } +}; + +template +class BVH_Tree { + friend class BVH; + +#include "bvh_pair.inc" +#include "bvh_structs.inc" + +public: + BVH_Tree() { + for (int n = 0; n < NUM_TREES; n++) { + _root_node_id[n] = BVHCommon::INVALID; + } + + // disallow zero leaf ids + // (as these ids are stored as negative numbers in the node) + uint32_t dummy_leaf_id; + _leaves.request(dummy_leaf_id); + } + +private: + bool node_add_child(uint32_t p_node_id, uint32_t p_child_node_id) { + TNode &tnode = _nodes[p_node_id]; + if (tnode.is_full_of_children()) + return false; + + tnode.children[tnode.num_children] = p_child_node_id; + tnode.num_children += 1; + + // back link in the child to the parent + TNode &tnode_child = _nodes[p_child_node_id]; + tnode_child.parent_id = p_node_id; + + return true; + } + + void node_replace_child(uint32_t p_parent_id, uint32_t p_old_child_id, uint32_t p_new_child_id) { + TNode &parent = _nodes[p_parent_id]; + BVH_ASSERT(!parent.is_leaf()); + + int child_num = parent.find_child(p_old_child_id); + BVH_ASSERT(child_num != BVHCommon::INVALID); + parent.children[child_num] = p_new_child_id; + + TNode &new_child = _nodes[p_new_child_id]; + new_child.parent_id = p_parent_id; + } + + void node_remove_child(uint32_t p_parent_id, uint32_t p_child_id, bool p_prevent_sibling = false) { + TNode &parent = _nodes[p_parent_id]; + BVH_ASSERT(!parent.is_leaf()); + + int child_num = parent.find_child(p_child_id); + BVH_ASSERT(child_num != BVHCommon::INVALID); + + parent.remove_child_internal(child_num); + + // no need to keep back references for children at the moment + + uint32_t sibling_id; // always a node id, as tnode is never a leaf + bool sibling_present = false; + + // if there are more children, or this is the root node, don't try and delete + if (parent.num_children > 1) { + return; + } + + // if there is 1 sibling, it can be moved to be a child of the + if (parent.num_children == 1) { + // else there is now a redundant node with one child, which can be removed + sibling_id = parent.children[0]; + sibling_present = true; + } + + // now there may be no children in this node .. in which case it can be deleted + // remove node if empty + // remove link from parent + uint32_t grandparent_id = parent.parent_id; + + // special case for root node + if (grandparent_id == BVHCommon::INVALID) { + if (sibling_present) { + // change the root node + change_root_node(sibling_id); + + // delete the old root node as no longer needed + _nodes.free(p_parent_id); + } + + return; + } + + if (sibling_present) { + node_replace_child(grandparent_id, p_parent_id, sibling_id); + } else { + node_remove_child(grandparent_id, p_parent_id, true); + } + + // put the node on the free list to recycle + _nodes.free(p_parent_id); + } + + // this relies on _current_tree being accurate + void change_root_node(uint32_t p_new_root_id) { + _root_node_id[_current_tree] = p_new_root_id; + TNode &root = _nodes[p_new_root_id]; + + // mark no parent + root.parent_id = BVHCommon::INVALID; + } + + void node_make_leaf(uint32_t p_node_id) { + uint32_t child_leaf_id; + TLeaf *child_leaf = _leaves.request(child_leaf_id); + child_leaf->clear(); + + // zero is reserved at startup, to prevent this id being used + // (as they are stored as negative values in the node, and zero is already taken) + BVH_ASSERT(child_leaf_id != 0); + + TNode &node = _nodes[p_node_id]; + node.neg_leaf_id = -(int)child_leaf_id; + } + + void node_remove_item(uint32_t p_ref_id, BVH_ABB *r_old_aabb = nullptr) { + // get the reference + ItemRef &ref = _refs[p_ref_id]; + uint32_t owner_node_id = ref.tnode_id; + + // debug draw special + // This may not be needed + if (owner_node_id == BVHCommon::INVALID) + return; + + TNode &tnode = _nodes[owner_node_id]; + CRASH_COND(!tnode.is_leaf()); + + TLeaf &leaf = _node_get_leaf(tnode); + + // if the aabb is not determining the corner size, then there is no need to refit! + // (optimization, as merging AABBs takes a lot of time) + const BVH_ABB &old_aabb = leaf.get_aabb(ref.item_id); + + // shrink a little to prevent using corner aabbs + // in order to miss the corners first we shrink by node_expansion + // (which is added to the overall bound of the leaf), then we also + // shrink by an epsilon, in order to miss out the very corner aabbs + // which are important in determining the bound. Any other aabb + // within this can be removed and not affect the overall bound. + BVH_ABB node_bound = tnode.aabb; + node_bound.expand(-_node_expansion - 0.001f); + bool refit = true; + + if (node_bound.is_other_within(old_aabb)) { + refit = false; + } + + // record the old aabb if required (for incremental remove_and_reinsert) + if (r_old_aabb) { + *r_old_aabb = old_aabb; + } + + leaf.remove_item_unordered(ref.item_id); + + if (leaf.num_items) { + // the swapped item has to have its reference changed to, to point to the new item id + uint32_t swapped_ref_id = leaf.get_item_ref_id(ref.item_id); + + ItemRef &swapped_ref = _refs[swapped_ref_id]; + + swapped_ref.item_id = ref.item_id; + + // only have to refit if it is an edge item + // This is a VERY EXPENSIVE STEP + // we defer the refit updates until the update function is called once per frame + if (refit) { + leaf.set_dirty(true); + } + } else { + // remove node if empty + // remove link from parent + if (tnode.parent_id != BVHCommon::INVALID) { + // DANGER .. this can potentially end up with root node with 1 child ... + // we don't want this and must check for it + + uint32_t parent_id = tnode.parent_id; + + node_remove_child(parent_id, owner_node_id); + refit_upward(parent_id); + + // put the node on the free list to recycle + _nodes.free(owner_node_id); + } + + // else if no parent, it is the root node. Do not delete + } + + ref.tnode_id = BVHCommon::INVALID; + ref.item_id = BVHCommon::INVALID; // unset + } + + // returns true if needs refit of PARENT tree only, the node itself AABB is calculated + // within this routine + bool _node_add_item(uint32_t p_node_id, uint32_t p_ref_id, const BVH_ABB &p_aabb) { + ItemRef &ref = _refs[p_ref_id]; + ref.tnode_id = p_node_id; + + TNode &node = _nodes[p_node_id]; + BVH_ASSERT(node.is_leaf()); + TLeaf &leaf = _node_get_leaf(node); + + // optimization - we only need to do a refit + // if the added item is changing the AABB of the node. + // in most cases it won't. + bool needs_refit = true; + + // expand bound now + BVH_ABB expanded = p_aabb; + expanded.expand(_node_expansion); + + // the bound will only be valid if there is an item in there already + if (leaf.num_items) { + if (node.aabb.is_other_within(expanded)) { + // no change to node AABBs + needs_refit = false; + } else { + node.aabb.merge(expanded); + } + } else { + // bound of the node = the new aabb + node.aabb = expanded; + } + + ref.item_id = leaf.request_item(); + BVH_ASSERT(ref.item_id != BVHCommon::INVALID); + + // set the aabb of the new item + leaf.get_aabb(ref.item_id) = p_aabb; + + // back reference on the item back to the item reference + leaf.get_item_ref_id(ref.item_id) = p_ref_id; + + return needs_refit; + } + + uint32_t _node_create_another_child(uint32_t p_node_id, const BVH_ABB &p_aabb) { + uint32_t child_node_id; + TNode *child_node = _nodes.request(child_node_id); + child_node->clear(); + + // may not be necessary + child_node->aabb = p_aabb; + + node_add_child(p_node_id, child_node_id); + + return child_node_id; + } + +#include "bvh_cull.inc" +#include "bvh_debug.inc" +#include "bvh_integrity.inc" +#include "bvh_logic.inc" +#include "bvh_misc.inc" +#include "bvh_public.inc" +#include "bvh_refit.inc" +#include "bvh_split.inc" +}; + +#undef VERBOSE_PRINT + +#endif // BVH_TREE_H diff --git a/core/math/octree_definition.inc b/core/math/octree_definition.inc index 27982666894..8c94052be8b 100644 --- a/core/math/octree_definition.inc +++ b/core/math/octree_definition.inc @@ -37,6 +37,7 @@ #include "core/math/aabb.h" #include "core/math/geometry.h" #include "core/math/vector3.h" +#include "core/os/os.h" #include "core/print_string.h" #include "core/variant.h" diff --git a/core/pooled_list.h b/core/pooled_list.h new file mode 100644 index 00000000000..a57bfd68fac --- /dev/null +++ b/core/pooled_list.h @@ -0,0 +1,95 @@ +/*************************************************************************/ +/* pooled_list.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#pragma once + +// Simple template to provide a pool with O(1) allocate and free. +// The freelist could alternatively be a linked list placed within the unused elements +// to use less memory, however a separate freelist is probably more cache friendly. + +// NOTE : Take great care when using this with non POD types. The construction and destruction +// is done in the LocalVector, NOT as part of the pool. So requesting a new item does not guarantee +// a constructor is run, and free does not guarantee a destructor. +// You should generally handle clearing +// an item explicitly after a request, as it may contain 'leftovers'. +// This is by design for fastest use in the BVH. If you want a more general pool +// that does call constructors / destructors on request / free, this should probably be +// a separate template. + +#include "core/local_vector.h" + +template +class PooledList { + LocalVector list; + LocalVector freelist; + + // not all list members are necessarily used + int _used_size; + +public: + PooledList() { + _used_size = 0; + } + + int estimate_memory_use() const { + return (list.size() * sizeof(T)) + (freelist.size() * sizeof(uint32_t)); + } + + const T &operator[](uint32_t p_index) const { + return list[p_index]; + } + T &operator[](uint32_t p_index) { + return list[p_index]; + } + + int size() const { return _used_size; } + + T *request(uint32_t &r_id) { + _used_size++; + + if (freelist.size()) { + // pop from freelist + int new_size = freelist.size() - 1; + r_id = freelist[new_size]; + freelist.resize(new_size); + return &list[r_id]; + } + + r_id = list.size(); + list.resize(r_id + 1); + return &list[r_id]; + } + void free(const uint32_t &p_id) { + // should not be on free list already + CRASH_COND(p_id >= list.size()); + freelist.push_back(p_id); + _used_size--; + } +}; diff --git a/doc/classes/ProjectSettings.xml b/doc/classes/ProjectSettings.xml index 473210e55e6..af3aa51271a 100644 --- a/doc/classes/ProjectSettings.xml +++ b/doc/classes/ProjectSettings.xml @@ -996,6 +996,9 @@ The default linear damp in 3D. [b]Note:[/b] Good values are in the range [code]0[/code] to [code]1[/code]. At value [code]0[/code] objects will keep moving with the same velocity. Values greater than [code]1[/code] will aim to reduce the velocity to [code]0[/code] in less than a second e.g. a value of [code]2[/code] will aim to reduce the velocity to [code]0[/code] in half a second. A value equal to or greater than the physics frame rate ([member ProjectSettings.physics/common/physics_fps], [code]60[/code] by default) will bring the object to a stop in one iteration. + + Enables the use of bounding volume hierarchy instead of octree for physics spatial partitioning. This may give better performance. + Sets which physics engine to use for 3D physics. "DEFAULT" is currently the [url=https://bulletphysics.org]Bullet[/url] physics engine. The "GodotPhysics" engine is still supported as an alternative. @@ -1244,6 +1247,9 @@ The rendering octree balance can be changed to favor smaller ([code]0[/code]), or larger ([code]1[/code]) branches. Larger branches can increase performance significantly in some projects. + + Enables the use of bounding volume hierarchy instead of octree for rendering spatial partitioning. This may give better performance. + Improves quality of subsurface scattering, but cost significantly increases. diff --git a/scene/resources/world.cpp b/scene/resources/world.cpp index 1099852098f..972bbb2485a 100644 --- a/scene/resources/world.cpp +++ b/scene/resources/world.cpp @@ -335,6 +335,10 @@ void World::_bind_methods() { World::World() { + // These defaults must be created BEFORE creating the scenario, because the BVH reads + // the defaults at that point. + GLOBAL_DEF("physics/3d/godot_physics/use_bvh", true); + space = PhysicsServer::get_singleton()->space_create(); scenario = VisualServer::get_singleton()->scenario_create(); diff --git a/servers/physics/broad_phase_bvh.cpp b/servers/physics/broad_phase_bvh.cpp new file mode 100644 index 00000000000..46db8b45dab --- /dev/null +++ b/servers/physics/broad_phase_bvh.cpp @@ -0,0 +1,130 @@ +/*************************************************************************/ +/* broad_phase_bvh.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#include "broad_phase_bvh.h" +#include "collision_object_sw.h" +#include "core/project_settings.h" + +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; +} + +void BroadPhaseBVH::move(ID p_id, const AABB &p_aabb) { + + bvh.move(p_id, 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? +} +void BroadPhaseBVH::remove(ID p_id) { + + bvh.erase(p_id); +} + +CollisionObjectSW *BroadPhaseBVH::get_object(ID p_id) const { + + CollisionObjectSW *it = bvh.get(p_id); + ERR_FAIL_COND_V(!it, NULL); + return it; +} +bool BroadPhaseBVH::is_static(ID p_id) const { + + return !bvh.is_pairable(p_id); +} +int BroadPhaseBVH::get_subindex(ID p_id) const { + + return bvh.get_subindex(p_id); +} + +int BroadPhaseBVH::cull_point(const Vector3 &p_point, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices) { + + return bvh.cull_point(p_point, p_results, p_max_results, p_result_indices); +} + +int BroadPhaseBVH::cull_segment(const Vector3 &p_from, const Vector3 &p_to, CollisionObjectSW **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); +} + +int BroadPhaseBVH::cull_aabb(const AABB &p_aabb, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices) { + + return bvh.cull_aabb(p_aabb, p_results, p_max_results, p_result_indices); +} + +void *BroadPhaseBVH::_pair_callback(void *self, uint32_t p_A, CollisionObjectSW *p_object_A, int subindex_A, uint32_t p_B, CollisionObjectSW *p_object_B, int subindex_B) { + + BroadPhaseBVH *bpo = (BroadPhaseBVH *)(self); + if (!bpo->pair_callback) + return NULL; + + return bpo->pair_callback(p_object_A, subindex_A, p_object_B, subindex_B, bpo->pair_userdata); +} + +void BroadPhaseBVH::_unpair_callback(void *self, uint32_t p_A, CollisionObjectSW *p_object_A, int subindex_A, uint32_t p_B, CollisionObjectSW *p_object_B, int subindex_B, void *pairdata) { + + BroadPhaseBVH *bpo = (BroadPhaseBVH *)(self); + if (!bpo->unpair_callback) + return; + + bpo->unpair_callback(p_object_A, subindex_A, p_object_B, subindex_B, pairdata, bpo->unpair_userdata); +} + +void BroadPhaseBVH::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) { + + pair_callback = p_pair_callback; + pair_userdata = p_userdata; +} +void BroadPhaseBVH::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) { + + unpair_callback = p_unpair_callback; + unpair_userdata = p_userdata; +} + +void BroadPhaseBVH::update() { + bvh.update(); +} + +BroadPhaseSW *BroadPhaseBVH::_create() { + + return memnew(BroadPhaseBVH); +} + +BroadPhaseBVH::BroadPhaseBVH() { + bvh.set_pair_callback(_pair_callback, this); + bvh.set_unpair_callback(_unpair_callback, this); + pair_callback = NULL; + pair_userdata = NULL; + unpair_userdata = NULL; +} diff --git a/servers/physics/broad_phase_bvh.h b/servers/physics/broad_phase_bvh.h new file mode 100644 index 00000000000..72defd714a1 --- /dev/null +++ b/servers/physics/broad_phase_bvh.h @@ -0,0 +1,73 @@ +/*************************************************************************/ +/* broad_phase_bvh.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#ifndef BROAD_PHASE_BVH_H +#define BROAD_PHASE_BVH_H + +#include "broad_phase_sw.h" +#include "core/math/bvh.h" + +class BroadPhaseBVH : public BroadPhaseSW { + + BVH_Manager bvh; + + static void *_pair_callback(void *, uint32_t, CollisionObjectSW *, int, uint32_t, CollisionObjectSW *, int); + static void _unpair_callback(void *, uint32_t, CollisionObjectSW *, int, uint32_t, CollisionObjectSW *, int, void *); + + PairCallback pair_callback; + void *pair_userdata; + UnpairCallback unpair_callback; + void *unpair_userdata; + +public: + // 0 is an invalid ID + virtual ID create(CollisionObjectSW *p_object, int p_subindex = 0); + virtual void move(ID p_id, const AABB &p_aabb); + virtual void set_static(ID p_id, bool p_static); + virtual void remove(ID p_id); + + virtual CollisionObjectSW *get_object(ID p_id) const; + virtual bool is_static(ID p_id) const; + virtual int get_subindex(ID p_id) const; + + virtual int cull_point(const Vector3 &p_point, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices = NULL); + virtual int cull_segment(const Vector3 &p_from, const Vector3 &p_to, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices = NULL); + virtual int cull_aabb(const AABB &p_aabb, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices = NULL); + + virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata); + virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata); + + virtual void update(); + + static BroadPhaseSW *_create(); + BroadPhaseBVH(); +}; + +#endif // BROAD_PHASE_BVH_H diff --git a/servers/physics/physics_server_sw.cpp b/servers/physics/physics_server_sw.cpp index bd6463d357c..9c47404627a 100644 --- a/servers/physics/physics_server_sw.cpp +++ b/servers/physics/physics_server_sw.cpp @@ -31,8 +31,10 @@ #include "physics_server_sw.h" #include "broad_phase_basic.h" +#include "broad_phase_bvh.h" #include "broad_phase_octree.h" #include "core/os/os.h" +#include "core/project_settings.h" #include "core/script_language.h" #include "joints/cone_twist_joint_sw.h" #include "joints/generic_6dof_joint_sw.h" @@ -1565,7 +1567,15 @@ void PhysicsServerSW::_shape_col_cbk(const Vector3 &p_point_A, const Vector3 &p_ PhysicsServerSW *PhysicsServerSW::singleton = NULL; PhysicsServerSW::PhysicsServerSW() { singleton = this; - BroadPhaseSW::create_func = BroadPhaseOctree::_create; + + bool use_bvh_or_octree = GLOBAL_GET("physics/3d/godot_physics/use_bvh"); + + if (use_bvh_or_octree) { + BroadPhaseSW::create_func = BroadPhaseBVH::_create; + } else { + BroadPhaseSW::create_func = BroadPhaseOctree::_create; + } + island_count = 0; active_objects = 0; collision_pairs = 0; diff --git a/servers/visual/visual_server_scene.cpp b/servers/visual/visual_server_scene.cpp index 0c268a928c2..103797da10d 100644 --- a/servers/visual/visual_server_scene.cpp +++ b/servers/visual/visual_server_scene.cpp @@ -103,9 +103,104 @@ void VisualServerScene::camera_set_use_vertical_aspect(RID p_camera, bool p_enab camera->vaspect = p_enable; } +/* SPATIAL PARTITIONING */ +VisualServerScene::SpatialPartitionID VisualServerScene::SpatialPartitioningScene_BVH::create(Instance *p_userdata, const AABB &p_aabb, int p_subindex, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask) { + return _bvh.create(p_userdata, p_aabb, p_subindex, p_pairable, p_pairable_type, p_pairable_mask) + 1; +} + +void VisualServerScene::SpatialPartitioningScene_BVH::erase(SpatialPartitionID p_handle) { + _bvh.erase(p_handle - 1); +} + +void VisualServerScene::SpatialPartitioningScene_BVH::move(SpatialPartitionID p_handle, const AABB &p_aabb) { + _bvh.move(p_handle - 1, p_aabb); +} + +void VisualServerScene::SpatialPartitioningScene_BVH::update() { + _bvh.update(); +} + +void VisualServerScene::SpatialPartitioningScene_BVH::set_pairable(SpatialPartitionID p_handle, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask) { + _bvh.set_pairable(p_handle - 1, p_pairable, p_pairable_type, p_pairable_mask); +} + +int VisualServerScene::SpatialPartitioningScene_BVH::cull_convex(const Vector &p_convex, Instance **p_result_array, int p_result_max, uint32_t p_mask) { + return _bvh.cull_convex(p_convex, p_result_array, p_result_max, p_mask); +} + +int VisualServerScene::SpatialPartitioningScene_BVH::cull_aabb(const AABB &p_aabb, Instance **p_result_array, int p_result_max, int *p_subindex_array, uint32_t p_mask) { + return _bvh.cull_aabb(p_aabb, p_result_array, p_result_max, p_subindex_array, p_mask); +} + +int VisualServerScene::SpatialPartitioningScene_BVH::cull_segment(const Vector3 &p_from, const Vector3 &p_to, Instance **p_result_array, int p_result_max, int *p_subindex_array, uint32_t p_mask) { + return _bvh.cull_segment(p_from, p_to, p_result_array, p_result_max, p_subindex_array, p_mask); +} + +void VisualServerScene::SpatialPartitioningScene_BVH::set_pair_callback(PairCallback p_callback, void *p_userdata) { + _bvh.set_pair_callback(p_callback, p_userdata); +} + +void VisualServerScene::SpatialPartitioningScene_BVH::set_unpair_callback(UnpairCallback p_callback, void *p_userdata) { + _bvh.set_unpair_callback(p_callback, p_userdata); +} + +/////////////////////// + +VisualServerScene::SpatialPartitionID VisualServerScene::SpatialPartitioningScene_Octree::create(Instance *p_userdata, const AABB &p_aabb, int p_subindex, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask) { + return _octree.create(p_userdata, p_aabb, p_subindex, p_pairable, p_pairable_type, p_pairable_mask); +} + +void VisualServerScene::SpatialPartitioningScene_Octree::erase(SpatialPartitionID p_handle) { + _octree.erase(p_handle); +} + +void VisualServerScene::SpatialPartitioningScene_Octree::move(SpatialPartitionID p_handle, const AABB &p_aabb) { + _octree.move(p_handle, p_aabb); +} + +void VisualServerScene::SpatialPartitioningScene_Octree::set_pairable(SpatialPartitionID p_handle, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask) { + _octree.set_pairable(p_handle, p_pairable, p_pairable_type, p_pairable_mask); +} + +int VisualServerScene::SpatialPartitioningScene_Octree::cull_convex(const Vector &p_convex, Instance **p_result_array, int p_result_max, uint32_t p_mask) { + return _octree.cull_convex(p_convex, p_result_array, p_result_max, p_mask); +} + +int VisualServerScene::SpatialPartitioningScene_Octree::cull_aabb(const AABB &p_aabb, Instance **p_result_array, int p_result_max, int *p_subindex_array, uint32_t p_mask) { + return _octree.cull_aabb(p_aabb, p_result_array, p_result_max, p_subindex_array, p_mask); +} + +int VisualServerScene::SpatialPartitioningScene_Octree::cull_segment(const Vector3 &p_from, const Vector3 &p_to, Instance **p_result_array, int p_result_max, int *p_subindex_array, uint32_t p_mask) { + return _octree.cull_segment(p_from, p_to, p_result_array, p_result_max, p_subindex_array, p_mask); +} + +void VisualServerScene::SpatialPartitioningScene_Octree::set_pair_callback(PairCallback p_callback, void *p_userdata) { + _octree.set_pair_callback(p_callback, p_userdata); +} + +void VisualServerScene::SpatialPartitioningScene_Octree::set_unpair_callback(UnpairCallback p_callback, void *p_userdata) { + _octree.set_unpair_callback(p_callback, p_userdata); +} + +void VisualServerScene::SpatialPartitioningScene_Octree::set_balance(float p_balance) { + _octree.set_balance(p_balance); +} + /* SCENARIO API */ -void *VisualServerScene::_instance_pair(void *p_self, OctreeElementID, Instance *p_A, int, OctreeElementID, Instance *p_B, int) { +VisualServerScene::Scenario::Scenario() { + debug = VS::SCENARIO_DEBUG_DISABLED; + + bool use_bvh_or_octree = GLOBAL_DEF("rendering/quality/spatial_partitioning/use_bvh", true); + + if (use_bvh_or_octree) { + sps = memnew(SpatialPartitioningScene_BVH); + } else { + sps = memnew(SpatialPartitioningScene_Octree); + } +} + +void *VisualServerScene::_instance_pair(void *p_self, SpatialPartitionID, Instance *p_A, int, SpatialPartitionID, Instance *p_B, int) { //VisualServerScene *self = (VisualServerScene*)p_self; Instance *A = p_A; @@ -184,7 +279,8 @@ void *VisualServerScene::_instance_pair(void *p_self, OctreeElementID, Instance return NULL; } -void VisualServerScene::_instance_unpair(void *p_self, OctreeElementID, Instance *p_A, int, OctreeElementID, Instance *p_B, int, void *udata) { + +void VisualServerScene::_instance_unpair(void *p_self, SpatialPartitionID, Instance *p_A, int, SpatialPartitionID, Instance *p_B, int, void *udata) { //VisualServerScene *self = (VisualServerScene*)p_self; Instance *A = p_A; @@ -260,9 +356,10 @@ RID VisualServerScene::scenario_create() { RID scenario_rid = scenario_owner.make_rid(scenario); scenario->self = scenario_rid; - scenario->octree.set_balance(GLOBAL_GET("rendering/quality/spatial_partitioning/render_tree_balance")); - scenario->octree.set_pair_callback(_instance_pair, this); - scenario->octree.set_unpair_callback(_instance_unpair, this); + scenario->sps->set_balance(GLOBAL_GET("rendering/quality/spatial_partitioning/render_tree_balance")); + scenario->sps->set_pair_callback(_instance_pair, this); + scenario->sps->set_unpair_callback(_instance_unpair, this); + scenario->reflection_probe_shadow_atlas = VSG::scene_render->shadow_atlas_create(); VSG::scene_render->shadow_atlas_set_size(scenario->reflection_probe_shadow_atlas, 1024); //make enough shadows for close distance, don't bother with rest VSG::scene_render->shadow_atlas_set_quadrant_subdivision(scenario->reflection_probe_shadow_atlas, 0, 4); @@ -358,9 +455,9 @@ void VisualServerScene::instance_set_base(RID p_instance, RID p_base) { } } - if (scenario && instance->octree_id) { - scenario->octree.erase(instance->octree_id); //make dependencies generated by the octree go away - instance->octree_id = 0; + if (scenario && instance->spatial_partition_id) { + scenario->sps->erase(instance->spatial_partition_id); + instance->spatial_partition_id = 0; } switch (instance->base_type) { @@ -511,9 +608,9 @@ void VisualServerScene::instance_set_scenario(RID p_instance, RID p_scenario) { instance->scenario->instances.remove(&instance->scenario_item); - if (instance->octree_id) { - instance->scenario->octree.erase(instance->octree_id); //make dependencies generated by the octree go away - instance->octree_id = 0; + if (instance->spatial_partition_id) { + instance->scenario->sps->erase(instance->spatial_partition_id); + instance->spatial_partition_id = 0; } switch (instance->base_type) { @@ -677,26 +774,26 @@ void VisualServerScene::instance_set_visible(RID p_instance, bool p_visible) { switch (instance->base_type) { case VS::INSTANCE_LIGHT: { - if (VSG::storage->light_get_type(instance->base) != VS::LIGHT_DIRECTIONAL && instance->octree_id && instance->scenario) { - instance->scenario->octree.set_pairable(instance->octree_id, p_visible, 1 << VS::INSTANCE_LIGHT, p_visible ? VS::INSTANCE_GEOMETRY_MASK : 0); + if (VSG::storage->light_get_type(instance->base) != VS::LIGHT_DIRECTIONAL && instance->spatial_partition_id && instance->scenario) { + instance->scenario->sps->set_pairable(instance->spatial_partition_id, p_visible, 1 << VS::INSTANCE_LIGHT, p_visible ? VS::INSTANCE_GEOMETRY_MASK : 0); } } break; case VS::INSTANCE_REFLECTION_PROBE: { - if (instance->octree_id && instance->scenario) { - instance->scenario->octree.set_pairable(instance->octree_id, p_visible, 1 << VS::INSTANCE_REFLECTION_PROBE, p_visible ? VS::INSTANCE_GEOMETRY_MASK : 0); + if (instance->spatial_partition_id && instance->scenario) { + instance->scenario->sps->set_pairable(instance->spatial_partition_id, p_visible, 1 << VS::INSTANCE_REFLECTION_PROBE, p_visible ? VS::INSTANCE_GEOMETRY_MASK : 0); } } break; case VS::INSTANCE_LIGHTMAP_CAPTURE: { - if (instance->octree_id && instance->scenario) { - instance->scenario->octree.set_pairable(instance->octree_id, p_visible, 1 << VS::INSTANCE_LIGHTMAP_CAPTURE, p_visible ? VS::INSTANCE_GEOMETRY_MASK : 0); + if (instance->spatial_partition_id && instance->scenario) { + instance->scenario->sps->set_pairable(instance->spatial_partition_id, p_visible, 1 << VS::INSTANCE_LIGHTMAP_CAPTURE, p_visible ? VS::INSTANCE_GEOMETRY_MASK : 0); } } break; case VS::INSTANCE_GI_PROBE: { - if (instance->octree_id && instance->scenario) { - instance->scenario->octree.set_pairable(instance->octree_id, p_visible, 1 << VS::INSTANCE_GI_PROBE, p_visible ? (VS::INSTANCE_GEOMETRY_MASK | (1 << VS::INSTANCE_LIGHT)) : 0); + if (instance->spatial_partition_id && instance->scenario) { + instance->scenario->sps->set_pairable(instance->spatial_partition_id, p_visible, 1 << VS::INSTANCE_GI_PROBE, p_visible ? (VS::INSTANCE_GEOMETRY_MASK | (1 << VS::INSTANCE_LIGHT)) : 0); } } break; @@ -800,7 +897,7 @@ Vector VisualServerScene::instances_cull_aabb(const AABB &p_aabb, RID int culled = 0; Instance *cull[1024]; - culled = scenario->octree.cull_aabb(p_aabb, cull, 1024); + culled = scenario->sps->cull_aabb(p_aabb, cull, 1024); for (int i = 0; i < culled; i++) { @@ -823,7 +920,7 @@ Vector VisualServerScene::instances_cull_ray(const Vector3 &p_from, co int culled = 0; Instance *cull[1024]; - culled = scenario->octree.cull_segment(p_from, p_from + p_to * 10000, cull, 1024); + culled = scenario->sps->cull_segment(p_from, p_from + p_to * 10000, cull, 1024); for (int i = 0; i < culled; i++) { Instance *instance = cull[i]; @@ -846,7 +943,7 @@ Vector VisualServerScene::instances_cull_convex(const Vector &p int culled = 0; Instance *cull[1024]; - culled = scenario->octree.cull_convex(p_convex, cull, 1024); + culled = scenario->sps->cull_convex(p_convex, cull, 1024); for (int i = 0; i < culled; i++) { @@ -975,7 +1072,7 @@ void VisualServerScene::_update_instance(Instance *p_instance) { return; } - if (p_instance->octree_id == 0) { + if (p_instance->spatial_partition_id == 0) { uint32_t base_type = 1 << p_instance->base_type; uint32_t pairable_mask = 0; @@ -994,7 +1091,7 @@ void VisualServerScene::_update_instance(Instance *p_instance) { } // not inside octree - p_instance->octree_id = p_instance->scenario->octree.create(p_instance, new_aabb, 0, pairable, base_type, pairable_mask); + p_instance->spatial_partition_id = p_instance->scenario->sps->create(p_instance, new_aabb, 0, pairable, base_type, pairable_mask); } else { @@ -1003,7 +1100,7 @@ void VisualServerScene::_update_instance(Instance *p_instance) { return; */ - p_instance->scenario->octree.move(p_instance->octree_id, new_aabb); + p_instance->scenario->sps->move(p_instance->spatial_partition_id, new_aabb); } } @@ -1346,7 +1443,7 @@ bool VisualServerScene::_light_instance_update_shadow(Instance *p_instance, cons if (depth_range_mode == VS::LIGHT_DIRECTIONAL_SHADOW_DEPTH_RANGE_OPTIMIZED) { //optimize min/max Vector planes = p_cam_projection.get_projection_planes(p_cam_transform); - int cull_count = p_scenario->octree.cull_convex(planes, instance_shadow_cull_result, MAX_INSTANCE_CULL, VS::INSTANCE_GEOMETRY_MASK); + int cull_count = p_scenario->sps->cull_convex(planes, instance_shadow_cull_result, MAX_INSTANCE_CULL, VS::INSTANCE_GEOMETRY_MASK); Plane base(p_cam_transform.origin, -p_cam_transform.basis.get_axis(2)); //check distance max and min @@ -1544,7 +1641,7 @@ bool VisualServerScene::_light_instance_update_shadow(Instance *p_instance, cons light_frustum_planes.write[4] = Plane(z_vec, z_max + 1e6); light_frustum_planes.write[5] = Plane(-z_vec, -z_min); // z_min is ok, since casters further than far-light plane are not needed - int cull_count = p_scenario->octree.cull_convex(light_frustum_planes, instance_shadow_cull_result, MAX_INSTANCE_CULL, VS::INSTANCE_GEOMETRY_MASK); + int cull_count = p_scenario->sps->cull_convex(light_frustum_planes, instance_shadow_cull_result, MAX_INSTANCE_CULL, VS::INSTANCE_GEOMETRY_MASK); // a pre pass will need to be needed to determine the actual z-near to be used @@ -1609,7 +1706,7 @@ bool VisualServerScene::_light_instance_update_shadow(Instance *p_instance, cons planes.write[4] = light_transform.xform(Plane(Vector3(0, -1, z).normalized(), radius)); planes.write[5] = light_transform.xform(Plane(Vector3(0, 0, -z), 0)); - int cull_count = p_scenario->octree.cull_convex(planes, instance_shadow_cull_result, MAX_INSTANCE_CULL, VS::INSTANCE_GEOMETRY_MASK); + int cull_count = p_scenario->sps->cull_convex(planes, instance_shadow_cull_result, MAX_INSTANCE_CULL, VS::INSTANCE_GEOMETRY_MASK); Plane near_plane(light_transform.origin, light_transform.basis.get_axis(2) * z); for (int j = 0; j < cull_count; j++) { @@ -1663,7 +1760,7 @@ bool VisualServerScene::_light_instance_update_shadow(Instance *p_instance, cons Vector planes = cm.get_projection_planes(xform); - int cull_count = p_scenario->octree.cull_convex(planes, instance_shadow_cull_result, MAX_INSTANCE_CULL, VS::INSTANCE_GEOMETRY_MASK); + int cull_count = p_scenario->sps->cull_convex(planes, instance_shadow_cull_result, MAX_INSTANCE_CULL, VS::INSTANCE_GEOMETRY_MASK); Plane near_plane(xform.origin, -xform.basis.get_axis(2)); for (int j = 0; j < cull_count; j++) { @@ -1700,7 +1797,7 @@ bool VisualServerScene::_light_instance_update_shadow(Instance *p_instance, cons cm.set_perspective(angle * 2.0, 1.0, 0.01, radius); Vector planes = cm.get_projection_planes(light_transform); - int cull_count = p_scenario->octree.cull_convex(planes, instance_shadow_cull_result, MAX_INSTANCE_CULL, VS::INSTANCE_GEOMETRY_MASK); + int cull_count = p_scenario->sps->cull_convex(planes, instance_shadow_cull_result, MAX_INSTANCE_CULL, VS::INSTANCE_GEOMETRY_MASK); Plane near_plane(light_transform.origin, -light_transform.basis.get_axis(2)); for (int j = 0; j < cull_count; j++) { @@ -1883,7 +1980,7 @@ void VisualServerScene::_prepare_scene(const Transform p_cam_transform, const Ca float z_far = p_cam_projection.get_z_far(); /* STEP 2 - CULL */ - instance_cull_count = scenario->octree.cull_convex(planes, instance_cull_result, MAX_INSTANCE_CULL); + instance_cull_count = scenario->sps->cull_convex(planes, instance_cull_result, MAX_INSTANCE_CULL); light_cull_count = 0; reflection_probe_cull_count = 0; @@ -3477,10 +3574,20 @@ void VisualServerScene::update_dirty_instances() { VSG::storage->update_dirty_resources(); + // this is just to get access to scenario so we can update the spatial partitioning scheme + Scenario *scenario = nullptr; + if (_instance_update_list.first()) { + scenario = _instance_update_list.first()->self()->scenario; + } + while (_instance_update_list.first()) { _update_dirty_instance(_instance_update_list.first()->self()); } + + if (scenario) { + scenario->sps->update(); + } } bool VisualServerScene::free(RID p_rid) { @@ -3541,6 +3648,7 @@ VisualServerScene::VisualServerScene() { render_pass = 1; singleton = this; + _use_bvh = false; } VisualServerScene::~VisualServerScene() { diff --git a/servers/visual/visual_server_scene.h b/servers/visual/visual_server_scene.h index ee1fd408f4b..4c6ebf7f6c6 100644 --- a/servers/visual/visual_server_scene.h +++ b/servers/visual/visual_server_scene.h @@ -33,6 +33,7 @@ #include "servers/visual/rasterizer.h" +#include "core/math/bvh.h" #include "core/math/geometry.h" #include "core/math/octree.h" #include "core/os/semaphore.h" @@ -52,6 +53,7 @@ public: }; uint64_t render_pass; + bool _use_bvh; static VisualServerScene *singleton; @@ -103,12 +105,82 @@ public: struct Instance; + // common interface for all spatial partitioning schemes + // this is a bit excessive boilerplatewise but can be removed if we decide to stick with one method + + // note this is actually the BVH id +1, so that visual server can test against zero + // for validity to maintain compatibility with octree (where 0 indicates invalid) + typedef uint32_t SpatialPartitionID; + + class SpatialPartitioningScene { + public: + virtual SpatialPartitionID create(Instance *p_userdata, const AABB &p_aabb = AABB(), int p_subindex = 0, bool p_pairable = false, uint32_t p_pairable_type = 0, uint32_t pairable_mask = 1) = 0; + virtual void erase(SpatialPartitionID p_handle) = 0; + virtual void move(SpatialPartitionID p_handle, const AABB &p_aabb) = 0; + virtual void update() {} + virtual void set_pairable(SpatialPartitionID p_handle, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask) = 0; + virtual int cull_convex(const Vector &p_convex, Instance **p_result_array, int p_result_max, uint32_t p_mask = 0xFFFFFFFF) = 0; + virtual int cull_aabb(const AABB &p_aabb, Instance **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF) = 0; + virtual int cull_segment(const Vector3 &p_from, const Vector3 &p_to, Instance **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF) = 0; + + typedef void *(*PairCallback)(void *, uint32_t, Instance *, int, uint32_t, Instance *, int); + typedef void (*UnpairCallback)(void *, uint32_t, Instance *, int, uint32_t, Instance *, int, void *); + + virtual void set_pair_callback(PairCallback p_callback, void *p_userdata) = 0; + virtual void set_unpair_callback(UnpairCallback p_callback, void *p_userdata) = 0; + + // bvh specific + virtual void params_set_node_expansion(real_t p_value) {} + virtual void params_set_pairing_expansion(real_t p_value) {} + + // octree specific + virtual void set_balance(float p_balance) {} + + virtual ~SpatialPartitioningScene() {} + }; + + class SpatialPartitioningScene_Octree : public SpatialPartitioningScene { + Octree_CL _octree; + + public: + SpatialPartitionID create(Instance *p_userdata, const AABB &p_aabb = AABB(), int p_subindex = 0, bool p_pairable = false, uint32_t p_pairable_type = 0, uint32_t pairable_mask = 1); + void erase(SpatialPartitionID p_handle); + void move(SpatialPartitionID p_handle, const AABB &p_aabb); + void set_pairable(SpatialPartitionID p_handle, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask); + int cull_convex(const Vector &p_convex, Instance **p_result_array, int p_result_max, uint32_t p_mask = 0xFFFFFFFF); + int cull_aabb(const AABB &p_aabb, Instance **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF); + int cull_segment(const Vector3 &p_from, const Vector3 &p_to, Instance **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF); + void set_pair_callback(PairCallback p_callback, void *p_userdata); + void set_unpair_callback(UnpairCallback p_callback, void *p_userdata); + void set_balance(float p_balance); + }; + + class SpatialPartitioningScene_BVH : public SpatialPartitioningScene { + // Note that SpatialPartitionIDs are +1 based when stored in visual server, to enable 0 to indicate invalid ID. + BVH_Manager _bvh; + + public: + SpatialPartitionID create(Instance *p_userdata, const AABB &p_aabb = AABB(), int p_subindex = 0, bool p_pairable = false, uint32_t p_pairable_type = 0, uint32_t p_pairable_mask = 1); + void erase(SpatialPartitionID p_handle); + void move(SpatialPartitionID p_handle, const AABB &p_aabb); + void update(); + void set_pairable(SpatialPartitionID p_handle, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask); + int cull_convex(const Vector &p_convex, Instance **p_result_array, int p_result_max, uint32_t p_mask = 0xFFFFFFFF); + int cull_aabb(const AABB &p_aabb, Instance **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF); + int cull_segment(const Vector3 &p_from, const Vector3 &p_to, Instance **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF); + void set_pair_callback(PairCallback p_callback, void *p_userdata); + void set_unpair_callback(UnpairCallback p_callback, void *p_userdata); + + void params_set_node_expansion(real_t p_value) { _bvh.params_set_node_expansion(p_value); } + void params_set_pairing_expansion(real_t p_value) { _bvh.params_set_pairing_expansion(p_value); } + }; + struct Scenario : RID_Data { VS::ScenarioDebugMode debug; RID self; - Octree_CL octree; + SpatialPartitioningScene *sps; List directional_lights; RID environment; @@ -118,13 +190,14 @@ public: SelfList::List instances; - Scenario() { debug = VS::SCENARIO_DEBUG_DISABLED; } + Scenario(); + ~Scenario() { memdelete(sps); } }; mutable RID_Owner scenario_owner; - static void *_instance_pair(void *p_self, OctreeElementID, Instance *p_A, int, OctreeElementID, Instance *p_B, int); - static void _instance_unpair(void *p_self, OctreeElementID, Instance *p_A, int, OctreeElementID, Instance *p_B, int, void *); + static void *_instance_pair(void *p_self, SpatialPartitionID, Instance *p_A, int, SpatialPartitionID, Instance *p_B, int); + static void _instance_unpair(void *p_self, SpatialPartitionID, Instance *p_A, int, SpatialPartitionID, Instance *p_B, int, void *); virtual RID scenario_create(); @@ -144,7 +217,7 @@ public: RID self; //scenario stuff - OctreeElementID octree_id; + SpatialPartitionID spatial_partition_id; Scenario *scenario; SelfList scenario_item; @@ -187,7 +260,7 @@ public: scenario_item(this), update_item(this) { - octree_id = 0; + spatial_partition_id = 0; scenario = NULL; update_aabb = false;