746dddc067
* Map is unnecessary and inefficient in almost every case. * Replaced by the new HashMap. * Renamed Map to RBMap and Set to RBSet for cases that still make sense (order matters) but use is discouraged. There were very few cases where replacing by HashMap was undesired because keeping the key order was intended. I tried to keep those (as RBMap) as much as possible, but might have missed some. Review appreciated!
1272 lines
35 KiB
C++
1272 lines
35 KiB
C++
/*************************************************************************/
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/* octree.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef OCTREE_H
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#define OCTREE_H
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#include "core/math/aabb.h"
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#include "core/math/geometry_3d.h"
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#include "core/math/vector3.h"
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#include "core/string/print_string.h"
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#include "core/templates/list.h"
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#include "core/templates/rb_map.h"
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#include "core/variant/variant.h"
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typedef uint32_t OctreeElementID;
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#define OCTREE_ELEMENT_INVALID_ID 0
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#define OCTREE_SIZE_LIMIT 1e15
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template <class T, bool use_pairs = false, class AL = DefaultAllocator>
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class Octree {
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public:
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typedef void *(*PairCallback)(void *, OctreeElementID, T *, int, OctreeElementID, T *, int);
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typedef void (*UnpairCallback)(void *, OctreeElementID, T *, int, OctreeElementID, T *, int, void *);
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private:
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enum {
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NEG = 0,
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POS = 1,
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};
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enum {
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OCTANT_NX_NY_NZ,
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OCTANT_PX_NY_NZ,
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OCTANT_NX_PY_NZ,
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OCTANT_PX_PY_NZ,
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OCTANT_NX_NY_PZ,
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OCTANT_PX_NY_PZ,
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OCTANT_NX_PY_PZ,
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OCTANT_PX_PY_PZ
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};
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struct PairKey {
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union {
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struct {
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OctreeElementID A;
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OctreeElementID B;
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};
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uint64_t key;
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};
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_FORCE_INLINE_ bool operator<(const PairKey &p_pair) const {
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return key < p_pair.key;
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}
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_FORCE_INLINE_ PairKey(OctreeElementID p_A, OctreeElementID p_B) {
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if (p_A < p_B) {
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A = p_A;
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B = p_B;
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} else {
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B = p_A;
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A = p_B;
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}
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}
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_FORCE_INLINE_ PairKey() {}
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};
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struct Element;
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struct Octant {
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// cached for FAST plane check
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AABB aabb;
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uint64_t last_pass = 0;
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Octant *parent = nullptr;
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Octant *children[8] = { nullptr };
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int children_count = 0; // cache for amount of children (fast check for removal)
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int parent_index = -1; // cache for parent index (fast check for removal)
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List<Element *, AL> pairable_elements;
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List<Element *, AL> elements;
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Octant() {}
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~Octant() {}
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};
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struct PairData;
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struct Element {
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Octree *octree = nullptr;
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T *userdata = nullptr;
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int subindex = 0;
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bool pairable = false;
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uint32_t pairable_mask = 0;
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uint32_t pairable_type = 0;
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uint64_t last_pass = 0;
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OctreeElementID _id = 0;
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Octant *common_parent = nullptr;
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AABB aabb;
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AABB container_aabb;
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List<PairData *, AL> pair_list;
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struct OctantOwner {
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Octant *octant = nullptr;
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typename List<Element *, AL>::Element *E;
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}; // an element can be in max 8 octants
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List<OctantOwner, AL> octant_owners;
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Element() {}
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};
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struct PairData {
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int refcount;
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bool intersect;
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Element *A, *B;
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void *ud = nullptr;
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typename List<PairData *, AL>::Element *eA, *eB;
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};
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typedef HashMap<OctreeElementID, Element, Comparator<OctreeElementID>, AL> ElementMap;
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typedef HashMap<PairKey, PairData, Comparator<PairKey>, AL> PairMap;
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ElementMap element_map;
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PairMap pair_map;
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PairCallback pair_callback = nullptr;
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UnpairCallback unpair_callback = nullptr;
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void *pair_callback_userdata = nullptr;
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void *unpair_callback_userdata = nullptr;
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OctreeElementID last_element_id = 1;
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uint64_t pass = 1;
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real_t unit_size = 1.0;
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Octant *root = nullptr;
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int octant_count = 0;
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int pair_count = 0;
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_FORCE_INLINE_ void _pair_check(PairData *p_pair) {
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bool intersect = p_pair->A->aabb.intersects_inclusive(p_pair->B->aabb);
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if (intersect != p_pair->intersect) {
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if (intersect) {
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if (pair_callback) {
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p_pair->ud = pair_callback(pair_callback_userdata, p_pair->A->_id, p_pair->A->userdata, p_pair->A->subindex, p_pair->B->_id, p_pair->B->userdata, p_pair->B->subindex);
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}
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pair_count++;
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} else {
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if (unpair_callback) {
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unpair_callback(pair_callback_userdata, p_pair->A->_id, p_pair->A->userdata, p_pair->A->subindex, p_pair->B->_id, p_pair->B->userdata, p_pair->B->subindex, p_pair->ud);
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}
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pair_count--;
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}
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p_pair->intersect = intersect;
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}
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}
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_FORCE_INLINE_ void _pair_reference(Element *p_A, Element *p_B) {
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if (p_A == p_B || (p_A->userdata == p_B->userdata && p_A->userdata)) {
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return;
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}
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if (!(p_A->pairable_type & p_B->pairable_mask) &&
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!(p_B->pairable_type & p_A->pairable_mask)) {
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return; // none can pair with none
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}
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PairKey key(p_A->_id, p_B->_id);
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typename PairMap::Element *E = pair_map.find(key);
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if (!E) {
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PairData pdata;
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pdata.refcount = 1;
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pdata.A = p_A;
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pdata.B = p_B;
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pdata.intersect = false;
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E = pair_map.insert(key, pdata);
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E->get().eA = p_A->pair_list.push_back(&E->get());
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E->get().eB = p_B->pair_list.push_back(&E->get());
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} else {
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E->get().refcount++;
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}
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}
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_FORCE_INLINE_ void _pair_unreference(Element *p_A, Element *p_B) {
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if (p_A == p_B) {
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return;
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}
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PairKey key(p_A->_id, p_B->_id);
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typename PairMap::Element *E = pair_map.find(key);
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if (!E) {
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return; // no pair
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}
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E->get().refcount--;
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if (E->get().refcount == 0) {
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// bye pair
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if (E->get().intersect) {
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if (unpair_callback) {
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unpair_callback(pair_callback_userdata, p_A->_id, p_A->userdata, p_A->subindex, p_B->_id, p_B->userdata, p_B->subindex, E->get().ud);
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}
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pair_count--;
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}
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if (p_A == E->get().B) {
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//may be reaching inverted
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SWAP(p_A, p_B);
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}
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p_A->pair_list.erase(E->get().eA);
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p_B->pair_list.erase(E->get().eB);
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pair_map.erase(E);
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}
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}
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_FORCE_INLINE_ void _element_check_pairs(Element *p_element) {
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typename List<PairData *, AL>::Element *E = p_element->pair_list.front();
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while (E) {
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_pair_check(E->get());
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E = E->next();
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}
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}
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_FORCE_INLINE_ void _optimize() {
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while (root && root->children_count < 2 && !root->elements.size() && !(use_pairs && root->pairable_elements.size())) {
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Octant *new_root = nullptr;
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if (root->children_count == 1) {
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for (int i = 0; i < 8; i++) {
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if (root->children[i]) {
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new_root = root->children[i];
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root->children[i] = nullptr;
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break;
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}
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}
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ERR_FAIL_COND(!new_root);
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new_root->parent = nullptr;
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new_root->parent_index = -1;
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}
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memdelete_allocator<Octant, AL>(root);
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octant_count--;
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root = new_root;
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}
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}
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void _insert_element(Element *p_element, Octant *p_octant);
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void _ensure_valid_root(const AABB &p_aabb);
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bool _remove_element_from_octant(Element *p_element, Octant *p_octant, Octant *p_limit = nullptr);
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void _remove_element(Element *p_element);
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void _pair_element(Element *p_element, Octant *p_octant);
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void _unpair_element(Element *p_element, Octant *p_octant);
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struct _CullConvexData {
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const Plane *planes;
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int plane_count;
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const Vector3 *points;
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int point_count;
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T **result_array;
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int *result_idx = nullptr;
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int result_max;
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uint32_t mask;
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};
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void _cull_convex(Octant *p_octant, _CullConvexData *p_cull);
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void _cull_aabb(Octant *p_octant, const AABB &p_aabb, T **p_result_array, int *p_result_idx, int p_result_max, int *p_subindex_array, uint32_t p_mask);
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void _cull_segment(Octant *p_octant, const Vector3 &p_from, const Vector3 &p_to, T **p_result_array, int *p_result_idx, int p_result_max, int *p_subindex_array, uint32_t p_mask);
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void _cull_point(Octant *p_octant, const Vector3 &p_point, T **p_result_array, int *p_result_idx, int p_result_max, int *p_subindex_array, uint32_t p_mask);
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void _remove_tree(Octant *p_octant) {
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if (!p_octant) {
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return;
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}
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for (int i = 0; i < 8; i++) {
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if (p_octant->children[i]) {
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_remove_tree(p_octant->children[i]);
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}
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}
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memdelete_allocator<Octant, AL>(p_octant);
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}
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public:
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OctreeElementID 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 pairable_mask = 1);
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void move(OctreeElementID p_id, const AABB &p_aabb);
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void set_pairable(OctreeElementID p_id, bool p_pairable = false, uint32_t p_pairable_type = 0, uint32_t pairable_mask = 1);
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void erase(OctreeElementID p_id);
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bool is_pairable(OctreeElementID p_id) const;
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T *get(OctreeElementID p_id) const;
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int get_subindex(OctreeElementID p_id) const;
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int cull_convex(const Vector<Plane> &p_convex, T **p_result_array, int p_result_max, uint32_t p_mask = 0xFFFFFFFF);
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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);
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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);
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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);
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void set_pair_callback(PairCallback p_callback, void *p_userdata);
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void set_unpair_callback(UnpairCallback p_callback, void *p_userdata);
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int get_octant_count() const { return octant_count; }
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int get_pair_count() const { return pair_count; }
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Octree(real_t p_unit_size = 1.0);
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~Octree() { _remove_tree(root); }
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};
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/* PRIVATE FUNCTIONS */
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template <class T, bool use_pairs, class AL>
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T *Octree<T, use_pairs, AL>::get(OctreeElementID p_id) const {
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const typename ElementMap::Element *E = element_map.find(p_id);
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ERR_FAIL_COND_V(!E, nullptr);
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return E->get().userdata;
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}
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template <class T, bool use_pairs, class AL>
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bool Octree<T, use_pairs, AL>::is_pairable(OctreeElementID p_id) const {
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const typename ElementMap::Element *E = element_map.find(p_id);
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ERR_FAIL_COND_V(!E, false);
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return E->get().pairable;
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}
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template <class T, bool use_pairs, class AL>
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int Octree<T, use_pairs, AL>::get_subindex(OctreeElementID p_id) const {
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const typename ElementMap::Element *E = element_map.find(p_id);
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ERR_FAIL_COND_V(!E, -1);
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return E->get().subindex;
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}
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#define OCTREE_DIVISOR 4
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template <class T, bool use_pairs, class AL>
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void Octree<T, use_pairs, AL>::_insert_element(Element *p_element, Octant *p_octant) {
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real_t element_size = p_element->aabb.get_longest_axis_size() * 1.01; // avoid precision issues
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if (p_octant->aabb.size.x / OCTREE_DIVISOR < element_size) {
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//if (p_octant->aabb.size.x*0.5 < element_size) {
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/* at smallest possible size for the element */
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typename Element::OctantOwner owner;
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owner.octant = p_octant;
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if (use_pairs && p_element->pairable) {
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p_octant->pairable_elements.push_back(p_element);
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owner.E = p_octant->pairable_elements.back();
|
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} else {
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p_octant->elements.push_back(p_element);
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owner.E = p_octant->elements.back();
|
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}
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|
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p_element->octant_owners.push_back(owner);
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|
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if (p_element->common_parent == nullptr) {
|
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p_element->common_parent = p_octant;
|
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p_element->container_aabb = p_octant->aabb;
|
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} else {
|
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p_element->container_aabb.merge_with(p_octant->aabb);
|
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}
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|
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if (use_pairs && p_octant->children_count > 0) {
|
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pass++; //elements below this only get ONE reference added
|
|
|
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for (int i = 0; i < 8; i++) {
|
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if (p_octant->children[i]) {
|
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_pair_element(p_element, p_octant->children[i]);
|
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}
|
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}
|
|
}
|
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} else {
|
|
/* not big enough, send it to subitems */
|
|
int splits = 0;
|
|
bool candidate = p_element->common_parent == nullptr;
|
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|
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for (int i = 0; i < 8; i++) {
|
|
if (p_octant->children[i]) {
|
|
/* element exists, go straight to it */
|
|
if (p_octant->children[i]->aabb.intersects_inclusive(p_element->aabb)) {
|
|
_insert_element(p_element, p_octant->children[i]);
|
|
splits++;
|
|
}
|
|
} else {
|
|
/* check against AABB where child should be */
|
|
|
|
AABB aabb = p_octant->aabb;
|
|
aabb.size *= 0.5;
|
|
|
|
if (i & 1) {
|
|
aabb.position.x += aabb.size.x;
|
|
}
|
|
if (i & 2) {
|
|
aabb.position.y += aabb.size.y;
|
|
}
|
|
if (i & 4) {
|
|
aabb.position.z += aabb.size.z;
|
|
}
|
|
|
|
if (aabb.intersects_inclusive(p_element->aabb)) {
|
|
/* if actually intersects, create the child */
|
|
|
|
Octant *child = memnew_allocator(Octant, AL);
|
|
p_octant->children[i] = child;
|
|
child->parent = p_octant;
|
|
child->parent_index = i;
|
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|
|
child->aabb = aabb;
|
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|
|
p_octant->children_count++;
|
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|
|
_insert_element(p_element, child);
|
|
octant_count++;
|
|
splits++;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (candidate && splits > 1) {
|
|
p_element->common_parent = p_octant;
|
|
}
|
|
}
|
|
|
|
if (use_pairs) {
|
|
typename List<Element *, AL>::Element *E = p_octant->pairable_elements.front();
|
|
|
|
while (E) {
|
|
_pair_reference(p_element, E->get());
|
|
E = E->next();
|
|
}
|
|
|
|
if (p_element->pairable) {
|
|
// and always test non-pairable if element is pairable
|
|
E = p_octant->elements.front();
|
|
while (E) {
|
|
_pair_reference(p_element, E->get());
|
|
E = E->next();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::_ensure_valid_root(const AABB &p_aabb) {
|
|
if (!root) {
|
|
// octre is empty
|
|
|
|
AABB base(Vector3(), Vector3(1.0, 1.0, 1.0) * unit_size);
|
|
|
|
while (!base.encloses(p_aabb)) {
|
|
if (ABS(base.position.x + base.size.x) <= ABS(base.position.x)) {
|
|
/* grow towards positive */
|
|
base.size *= 2.0;
|
|
} else {
|
|
base.position -= base.size;
|
|
base.size *= 2.0;
|
|
}
|
|
}
|
|
|
|
root = memnew_allocator(Octant, AL);
|
|
|
|
root->parent = nullptr;
|
|
root->parent_index = -1;
|
|
root->aabb = base;
|
|
|
|
octant_count++;
|
|
|
|
} else {
|
|
AABB base = root->aabb;
|
|
|
|
while (!base.encloses(p_aabb)) {
|
|
ERR_FAIL_COND_MSG(base.size.x > OCTREE_SIZE_LIMIT, "Octree upper size limit reached, does the AABB supplied contain NAN?");
|
|
|
|
Octant *gp = memnew_allocator(Octant, AL);
|
|
octant_count++;
|
|
root->parent = gp;
|
|
|
|
if (ABS(base.position.x + base.size.x) <= ABS(base.position.x)) {
|
|
/* grow towards positive */
|
|
base.size *= 2.0;
|
|
gp->aabb = base;
|
|
gp->children[0] = root;
|
|
root->parent_index = 0;
|
|
} else {
|
|
base.position -= base.size;
|
|
base.size *= 2.0;
|
|
gp->aabb = base;
|
|
gp->children[(1 << 0) | (1 << 1) | (1 << 2)] = root; // add at all-positive
|
|
root->parent_index = (1 << 0) | (1 << 1) | (1 << 2);
|
|
}
|
|
|
|
gp->children_count = 1;
|
|
root = gp;
|
|
}
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
bool Octree<T, use_pairs, AL>::_remove_element_from_octant(Element *p_element, Octant *p_octant, Octant *p_limit) {
|
|
bool octant_removed = false;
|
|
|
|
while (true) {
|
|
// check all exit conditions
|
|
|
|
if (p_octant == p_limit) { // reached limit, nothing to erase, exit
|
|
return octant_removed;
|
|
}
|
|
|
|
bool unpaired = false;
|
|
|
|
if (use_pairs && p_octant->last_pass != pass) {
|
|
// check whether we should unpair stuff
|
|
// always test pairable
|
|
typename List<Element *, AL>::Element *E = p_octant->pairable_elements.front();
|
|
while (E) {
|
|
_pair_unreference(p_element, E->get());
|
|
E = E->next();
|
|
}
|
|
if (p_element->pairable) {
|
|
// and always test non-pairable if element is pairable
|
|
E = p_octant->elements.front();
|
|
while (E) {
|
|
_pair_unreference(p_element, E->get());
|
|
E = E->next();
|
|
}
|
|
}
|
|
p_octant->last_pass = pass;
|
|
unpaired = true;
|
|
}
|
|
|
|
bool removed = false;
|
|
|
|
Octant *parent = p_octant->parent;
|
|
|
|
if (p_octant->children_count == 0 && p_octant->elements.is_empty() && p_octant->pairable_elements.is_empty()) {
|
|
// erase octant
|
|
|
|
if (p_octant == root) { // won't have a parent, just erase
|
|
|
|
root = nullptr;
|
|
} else {
|
|
ERR_FAIL_INDEX_V(p_octant->parent_index, 8, octant_removed);
|
|
|
|
parent->children[p_octant->parent_index] = nullptr;
|
|
parent->children_count--;
|
|
}
|
|
|
|
memdelete_allocator<Octant, AL>(p_octant);
|
|
octant_count--;
|
|
removed = true;
|
|
octant_removed = true;
|
|
}
|
|
|
|
if (!removed && !unpaired) {
|
|
return octant_removed; // no reason to keep going up anymore! was already visited and was not removed
|
|
}
|
|
|
|
p_octant = parent;
|
|
}
|
|
|
|
return octant_removed;
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::_unpair_element(Element *p_element, Octant *p_octant) {
|
|
// always test pairable
|
|
typename List<Element *, AL>::Element *E = p_octant->pairable_elements.front();
|
|
while (E) {
|
|
if (E->get()->last_pass != pass) { // only remove ONE reference
|
|
_pair_unreference(p_element, E->get());
|
|
E->get()->last_pass = pass;
|
|
}
|
|
E = E->next();
|
|
}
|
|
|
|
if (p_element->pairable) {
|
|
// and always test non-pairable if element is pairable
|
|
E = p_octant->elements.front();
|
|
while (E) {
|
|
if (E->get()->last_pass != pass) { // only remove ONE reference
|
|
_pair_unreference(p_element, E->get());
|
|
E->get()->last_pass = pass;
|
|
}
|
|
E = E->next();
|
|
}
|
|
}
|
|
|
|
p_octant->last_pass = pass;
|
|
|
|
if (p_octant->children_count == 0) {
|
|
return; // small optimization for leafs
|
|
}
|
|
|
|
for (int i = 0; i < 8; i++) {
|
|
if (p_octant->children[i]) {
|
|
_unpair_element(p_element, p_octant->children[i]);
|
|
}
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::_pair_element(Element *p_element, Octant *p_octant) {
|
|
// always test pairable
|
|
|
|
typename List<Element *, AL>::Element *E = p_octant->pairable_elements.front();
|
|
|
|
while (E) {
|
|
if (E->get()->last_pass != pass) { // only get ONE reference
|
|
_pair_reference(p_element, E->get());
|
|
E->get()->last_pass = pass;
|
|
}
|
|
E = E->next();
|
|
}
|
|
|
|
if (p_element->pairable) {
|
|
// and always test non-pairable if element is pairable
|
|
E = p_octant->elements.front();
|
|
while (E) {
|
|
if (E->get()->last_pass != pass) { // only get ONE reference
|
|
_pair_reference(p_element, E->get());
|
|
E->get()->last_pass = pass;
|
|
}
|
|
E = E->next();
|
|
}
|
|
}
|
|
p_octant->last_pass = pass;
|
|
|
|
if (p_octant->children_count == 0) {
|
|
return; // small optimization for leafs
|
|
}
|
|
|
|
for (int i = 0; i < 8; i++) {
|
|
if (p_octant->children[i]) {
|
|
_pair_element(p_element, p_octant->children[i]);
|
|
}
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::_remove_element(Element *p_element) {
|
|
pass++; // will do a new pass for this
|
|
|
|
typename List<typename Element::OctantOwner, AL>::Element *I = p_element->octant_owners.front();
|
|
|
|
/* FIRST remove going up normally */
|
|
for (; I; I = I->next()) {
|
|
Octant *o = I->get().octant;
|
|
|
|
if (!use_pairs) { // small speedup
|
|
o->elements.erase(I->get().E);
|
|
}
|
|
|
|
_remove_element_from_octant(p_element, o);
|
|
}
|
|
|
|
/* THEN remove going down */
|
|
|
|
I = p_element->octant_owners.front();
|
|
|
|
if (use_pairs) {
|
|
for (; I; I = I->next()) {
|
|
Octant *o = I->get().octant;
|
|
|
|
// erase children pairs, they are erased ONCE even if repeated
|
|
pass++;
|
|
for (int i = 0; i < 8; i++) {
|
|
if (o->children[i]) {
|
|
_unpair_element(p_element, o->children[i]);
|
|
}
|
|
}
|
|
|
|
if (p_element->pairable) {
|
|
o->pairable_elements.erase(I->get().E);
|
|
} else {
|
|
o->elements.erase(I->get().E);
|
|
}
|
|
}
|
|
}
|
|
|
|
p_element->octant_owners.clear();
|
|
|
|
if (use_pairs) {
|
|
int remaining = p_element->pair_list.size();
|
|
//p_element->pair_list.clear();
|
|
ERR_FAIL_COND(remaining);
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
OctreeElementID Octree<T, use_pairs, AL>::create(T *p_userdata, const AABB &p_aabb, int p_subindex, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask) {
|
|
// check for AABB validity
|
|
#ifdef DEBUG_ENABLED
|
|
ERR_FAIL_COND_V(p_aabb.position.x > 1e15 || p_aabb.position.x < -1e15, 0);
|
|
ERR_FAIL_COND_V(p_aabb.position.y > 1e15 || p_aabb.position.y < -1e15, 0);
|
|
ERR_FAIL_COND_V(p_aabb.position.z > 1e15 || p_aabb.position.z < -1e15, 0);
|
|
ERR_FAIL_COND_V(p_aabb.size.x > 1e15 || p_aabb.size.x < 0.0, 0);
|
|
ERR_FAIL_COND_V(p_aabb.size.y > 1e15 || p_aabb.size.y < 0.0, 0);
|
|
ERR_FAIL_COND_V(p_aabb.size.z > 1e15 || p_aabb.size.z < 0.0, 0);
|
|
ERR_FAIL_COND_V(Math::is_nan(p_aabb.size.x), 0);
|
|
ERR_FAIL_COND_V(Math::is_nan(p_aabb.size.y), 0);
|
|
ERR_FAIL_COND_V(Math::is_nan(p_aabb.size.z), 0);
|
|
|
|
#endif
|
|
typename ElementMap::Element *E = element_map.insert(last_element_id++,
|
|
Element());
|
|
Element &e = E->get();
|
|
|
|
e.aabb = p_aabb;
|
|
e.userdata = p_userdata;
|
|
e.subindex = p_subindex;
|
|
e.last_pass = 0;
|
|
e.octree = this;
|
|
e.pairable = p_pairable;
|
|
e.pairable_type = p_pairable_type;
|
|
e.pairable_mask = p_pairable_mask;
|
|
e._id = last_element_id - 1;
|
|
|
|
if (!e.aabb.has_no_surface()) {
|
|
_ensure_valid_root(p_aabb);
|
|
_insert_element(&e, root);
|
|
if (use_pairs) {
|
|
_element_check_pairs(&e);
|
|
}
|
|
}
|
|
|
|
return last_element_id - 1;
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::move(OctreeElementID p_id, const AABB &p_aabb) {
|
|
#ifdef DEBUG_ENABLED
|
|
// check for AABB validity
|
|
ERR_FAIL_COND(p_aabb.position.x > 1e15 || p_aabb.position.x < -1e15);
|
|
ERR_FAIL_COND(p_aabb.position.y > 1e15 || p_aabb.position.y < -1e15);
|
|
ERR_FAIL_COND(p_aabb.position.z > 1e15 || p_aabb.position.z < -1e15);
|
|
ERR_FAIL_COND(p_aabb.size.x > 1e15 || p_aabb.size.x < 0.0);
|
|
ERR_FAIL_COND(p_aabb.size.y > 1e15 || p_aabb.size.y < 0.0);
|
|
ERR_FAIL_COND(p_aabb.size.z > 1e15 || p_aabb.size.z < 0.0);
|
|
ERR_FAIL_COND(Math::is_nan(p_aabb.size.x));
|
|
ERR_FAIL_COND(Math::is_nan(p_aabb.size.y));
|
|
ERR_FAIL_COND(Math::is_nan(p_aabb.size.z));
|
|
#endif
|
|
typename ElementMap::Element *E = element_map.find(p_id);
|
|
ERR_FAIL_COND(!E);
|
|
Element &e = E->get();
|
|
|
|
bool old_has_surf = !e.aabb.has_no_surface();
|
|
bool new_has_surf = !p_aabb.has_no_surface();
|
|
|
|
if (old_has_surf != new_has_surf) {
|
|
if (old_has_surf) {
|
|
_remove_element(&e); // removing
|
|
e.common_parent = nullptr;
|
|
e.aabb = AABB();
|
|
_optimize();
|
|
} else {
|
|
_ensure_valid_root(p_aabb); // inserting
|
|
e.common_parent = nullptr;
|
|
e.aabb = p_aabb;
|
|
_insert_element(&e, root);
|
|
if (use_pairs) {
|
|
_element_check_pairs(&e);
|
|
}
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
if (!old_has_surf) { // doing nothing
|
|
return;
|
|
}
|
|
|
|
// it still is enclosed in the same AABB it was assigned to
|
|
if (e.container_aabb.encloses(p_aabb)) {
|
|
e.aabb = p_aabb;
|
|
if (use_pairs) {
|
|
_element_check_pairs(&e); // must check pairs anyway
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
AABB combined = e.aabb;
|
|
combined.merge_with(p_aabb);
|
|
_ensure_valid_root(combined);
|
|
|
|
ERR_FAIL_COND(e.octant_owners.front() == nullptr);
|
|
|
|
/* FIND COMMON PARENT */
|
|
|
|
List<typename Element::OctantOwner, AL> owners = e.octant_owners; // save the octant owners
|
|
Octant *common_parent = e.common_parent;
|
|
ERR_FAIL_COND(!common_parent);
|
|
|
|
//src is now the place towards where insertion is going to happen
|
|
pass++;
|
|
|
|
while (common_parent && !common_parent->aabb.encloses(p_aabb)) {
|
|
common_parent = common_parent->parent;
|
|
}
|
|
|
|
ERR_FAIL_COND(!common_parent);
|
|
|
|
//prepare for reinsert
|
|
e.octant_owners.clear();
|
|
e.common_parent = nullptr;
|
|
e.aabb = p_aabb;
|
|
|
|
_insert_element(&e, common_parent); // reinsert from this point
|
|
|
|
pass++;
|
|
|
|
for (typename List<typename Element::OctantOwner, AL>::Element *F = owners.front(); F;) {
|
|
Octant *o = F->get().octant;
|
|
typename List<typename Element::OctantOwner, AL>::Element *N = F->next();
|
|
|
|
if (use_pairs && e.pairable) {
|
|
o->pairable_elements.erase(F->get().E);
|
|
} else {
|
|
o->elements.erase(F->get().E);
|
|
}
|
|
|
|
if (_remove_element_from_octant(&e, o, common_parent->parent)) {
|
|
owners.erase(F);
|
|
}
|
|
|
|
F = N;
|
|
}
|
|
|
|
if (use_pairs) {
|
|
//unpair child elements in anything that survived
|
|
for (typename List<typename Element::OctantOwner, AL>::Element *F = owners.front(); F; F = F->next()) {
|
|
Octant *o = F->get().octant;
|
|
|
|
// erase children pairs, unref ONCE
|
|
pass++;
|
|
for (int i = 0; i < 8; i++) {
|
|
if (o->children[i]) {
|
|
_unpair_element(&e, o->children[i]);
|
|
}
|
|
}
|
|
}
|
|
|
|
_element_check_pairs(&e);
|
|
}
|
|
|
|
_optimize();
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::set_pairable(OctreeElementID p_id, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask) {
|
|
typename ElementMap::Element *E = element_map.find(p_id);
|
|
ERR_FAIL_COND(!E);
|
|
|
|
Element &e = E->get();
|
|
|
|
if (p_pairable == e.pairable && e.pairable_type == p_pairable_type && e.pairable_mask == p_pairable_mask) {
|
|
return; // no changes, return
|
|
}
|
|
|
|
if (!e.aabb.has_no_surface()) {
|
|
_remove_element(&e);
|
|
}
|
|
|
|
e.pairable = p_pairable;
|
|
e.pairable_type = p_pairable_type;
|
|
e.pairable_mask = p_pairable_mask;
|
|
e.common_parent = nullptr;
|
|
|
|
if (!e.aabb.has_no_surface()) {
|
|
_ensure_valid_root(e.aabb);
|
|
_insert_element(&e, root);
|
|
if (use_pairs) {
|
|
_element_check_pairs(&e);
|
|
}
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::erase(OctreeElementID p_id) {
|
|
typename ElementMap::Element *E = element_map.find(p_id);
|
|
ERR_FAIL_COND(!E);
|
|
|
|
Element &e = E->get();
|
|
|
|
if (!e.aabb.has_no_surface()) {
|
|
_remove_element(&e);
|
|
}
|
|
|
|
element_map.erase(p_id);
|
|
_optimize();
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::_cull_convex(Octant *p_octant, _CullConvexData *p_cull) {
|
|
if (*p_cull->result_idx == p_cull->result_max) {
|
|
return; //pointless
|
|
}
|
|
|
|
if (!p_octant->elements.is_empty()) {
|
|
typename List<Element *, AL>::Element *I;
|
|
I = p_octant->elements.front();
|
|
|
|
for (; I; I = I->next()) {
|
|
Element *e = I->get();
|
|
|
|
if (e->last_pass == pass || (use_pairs && !(e->pairable_type & p_cull->mask))) {
|
|
continue;
|
|
}
|
|
e->last_pass = pass;
|
|
|
|
if (e->aabb.intersects_convex_shape(p_cull->planes, p_cull->plane_count, p_cull->points, p_cull->point_count)) {
|
|
if (*p_cull->result_idx < p_cull->result_max) {
|
|
p_cull->result_array[*p_cull->result_idx] = e->userdata;
|
|
(*p_cull->result_idx)++;
|
|
} else {
|
|
return; // pointless to continue
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (use_pairs && !p_octant->pairable_elements.is_empty()) {
|
|
typename List<Element *, AL>::Element *I;
|
|
I = p_octant->pairable_elements.front();
|
|
|
|
for (; I; I = I->next()) {
|
|
Element *e = I->get();
|
|
|
|
if (e->last_pass == pass || (use_pairs && !(e->pairable_type & p_cull->mask))) {
|
|
continue;
|
|
}
|
|
e->last_pass = pass;
|
|
|
|
if (e->aabb.intersects_convex_shape(p_cull->planes, p_cull->plane_count, p_cull->points, p_cull->point_count)) {
|
|
if (*p_cull->result_idx < p_cull->result_max) {
|
|
p_cull->result_array[*p_cull->result_idx] = e->userdata;
|
|
(*p_cull->result_idx)++;
|
|
} else {
|
|
return; // pointless to continue
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < 8; i++) {
|
|
if (p_octant->children[i] && p_octant->children[i]->aabb.intersects_convex_shape(p_cull->planes, p_cull->plane_count, p_cull->points, p_cull->point_count)) {
|
|
_cull_convex(p_octant->children[i], p_cull);
|
|
}
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::_cull_aabb(Octant *p_octant, const AABB &p_aabb, T **p_result_array, int *p_result_idx, int p_result_max, int *p_subindex_array, uint32_t p_mask) {
|
|
if (*p_result_idx == p_result_max) {
|
|
return; //pointless
|
|
}
|
|
|
|
if (!p_octant->elements.is_empty()) {
|
|
typename List<Element *, AL>::Element *I;
|
|
I = p_octant->elements.front();
|
|
for (; I; I = I->next()) {
|
|
Element *e = I->get();
|
|
|
|
if (e->last_pass == pass || (use_pairs && !(e->pairable_type & p_mask))) {
|
|
continue;
|
|
}
|
|
e->last_pass = pass;
|
|
|
|
if (p_aabb.intersects_inclusive(e->aabb)) {
|
|
if (*p_result_idx < p_result_max) {
|
|
p_result_array[*p_result_idx] = e->userdata;
|
|
if (p_subindex_array) {
|
|
p_subindex_array[*p_result_idx] = e->subindex;
|
|
}
|
|
|
|
(*p_result_idx)++;
|
|
} else {
|
|
return; // pointless to continue
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (use_pairs && !p_octant->pairable_elements.is_empty()) {
|
|
typename List<Element *, AL>::Element *I;
|
|
I = p_octant->pairable_elements.front();
|
|
for (; I; I = I->next()) {
|
|
Element *e = I->get();
|
|
|
|
if (e->last_pass == pass || (use_pairs && !(e->pairable_type & p_mask))) {
|
|
continue;
|
|
}
|
|
e->last_pass = pass;
|
|
|
|
if (p_aabb.intersects_inclusive(e->aabb)) {
|
|
if (*p_result_idx < p_result_max) {
|
|
p_result_array[*p_result_idx] = e->userdata;
|
|
if (p_subindex_array) {
|
|
p_subindex_array[*p_result_idx] = e->subindex;
|
|
}
|
|
(*p_result_idx)++;
|
|
} else {
|
|
return; // pointless to continue
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < 8; i++) {
|
|
if (p_octant->children[i] && p_octant->children[i]->aabb.intersects_inclusive(p_aabb)) {
|
|
_cull_aabb(p_octant->children[i], p_aabb, p_result_array, p_result_idx, p_result_max, p_subindex_array, p_mask);
|
|
}
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::_cull_segment(Octant *p_octant, const Vector3 &p_from, const Vector3 &p_to, T **p_result_array, int *p_result_idx, int p_result_max, int *p_subindex_array, uint32_t p_mask) {
|
|
if (*p_result_idx == p_result_max) {
|
|
return; //pointless
|
|
}
|
|
|
|
if (!p_octant->elements.is_empty()) {
|
|
typename List<Element *, AL>::Element *I;
|
|
I = p_octant->elements.front();
|
|
for (; I; I = I->next()) {
|
|
Element *e = I->get();
|
|
|
|
if (e->last_pass == pass || (use_pairs && !(e->pairable_type & p_mask))) {
|
|
continue;
|
|
}
|
|
e->last_pass = pass;
|
|
|
|
if (e->aabb.intersects_segment(p_from, p_to)) {
|
|
if (*p_result_idx < p_result_max) {
|
|
p_result_array[*p_result_idx] = e->userdata;
|
|
if (p_subindex_array) {
|
|
p_subindex_array[*p_result_idx] = e->subindex;
|
|
}
|
|
(*p_result_idx)++;
|
|
|
|
} else {
|
|
return; // pointless to continue
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (use_pairs && !p_octant->pairable_elements.is_empty()) {
|
|
typename List<Element *, AL>::Element *I;
|
|
I = p_octant->pairable_elements.front();
|
|
for (; I; I = I->next()) {
|
|
Element *e = I->get();
|
|
|
|
if (e->last_pass == pass || (use_pairs && !(e->pairable_type & p_mask))) {
|
|
continue;
|
|
}
|
|
|
|
e->last_pass = pass;
|
|
|
|
if (e->aabb.intersects_segment(p_from, p_to)) {
|
|
if (*p_result_idx < p_result_max) {
|
|
p_result_array[*p_result_idx] = e->userdata;
|
|
if (p_subindex_array) {
|
|
p_subindex_array[*p_result_idx] = e->subindex;
|
|
}
|
|
|
|
(*p_result_idx)++;
|
|
|
|
} else {
|
|
return; // pointless to continue
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < 8; i++) {
|
|
if (p_octant->children[i] && p_octant->children[i]->aabb.intersects_segment(p_from, p_to)) {
|
|
_cull_segment(p_octant->children[i], p_from, p_to, p_result_array, p_result_idx, p_result_max, p_subindex_array, p_mask);
|
|
}
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::_cull_point(Octant *p_octant, const Vector3 &p_point, T **p_result_array, int *p_result_idx, int p_result_max, int *p_subindex_array, uint32_t p_mask) {
|
|
if (*p_result_idx == p_result_max) {
|
|
return; //pointless
|
|
}
|
|
|
|
if (!p_octant->elements.is_empty()) {
|
|
typename List<Element *, AL>::Element *I;
|
|
I = p_octant->elements.front();
|
|
for (; I; I = I->next()) {
|
|
Element *e = I->get();
|
|
|
|
if (e->last_pass == pass || (use_pairs && !(e->pairable_type & p_mask))) {
|
|
continue;
|
|
}
|
|
e->last_pass = pass;
|
|
|
|
if (e->aabb.has_point(p_point)) {
|
|
if (*p_result_idx < p_result_max) {
|
|
p_result_array[*p_result_idx] = e->userdata;
|
|
if (p_subindex_array) {
|
|
p_subindex_array[*p_result_idx] = e->subindex;
|
|
}
|
|
(*p_result_idx)++;
|
|
|
|
} else {
|
|
return; // pointless to continue
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (use_pairs && !p_octant->pairable_elements.is_empty()) {
|
|
typename List<Element *, AL>::Element *I;
|
|
I = p_octant->pairable_elements.front();
|
|
for (; I; I = I->next()) {
|
|
Element *e = I->get();
|
|
|
|
if (e->last_pass == pass || (use_pairs && !(e->pairable_type & p_mask))) {
|
|
continue;
|
|
}
|
|
|
|
e->last_pass = pass;
|
|
|
|
if (e->aabb.has_point(p_point)) {
|
|
if (*p_result_idx < p_result_max) {
|
|
p_result_array[*p_result_idx] = e->userdata;
|
|
if (p_subindex_array) {
|
|
p_subindex_array[*p_result_idx] = e->subindex;
|
|
}
|
|
|
|
(*p_result_idx)++;
|
|
|
|
} else {
|
|
return; // pointless to continue
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < 8; i++) {
|
|
//could be optimized..
|
|
if (p_octant->children[i] && p_octant->children[i]->aabb.has_point(p_point)) {
|
|
_cull_point(p_octant->children[i], p_point, p_result_array, p_result_idx, p_result_max, p_subindex_array, p_mask);
|
|
}
|
|
}
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
int Octree<T, use_pairs, AL>::cull_convex(const Vector<Plane> &p_convex, T **p_result_array, int p_result_max, uint32_t p_mask) {
|
|
if (!root || p_convex.size() == 0) {
|
|
return 0;
|
|
}
|
|
|
|
Vector<Vector3> convex_points = Geometry3D::compute_convex_mesh_points(&p_convex[0], p_convex.size());
|
|
if (convex_points.size() == 0) {
|
|
return 0;
|
|
}
|
|
|
|
int result_count = 0;
|
|
pass++;
|
|
_CullConvexData cdata;
|
|
cdata.planes = &p_convex[0];
|
|
cdata.plane_count = p_convex.size();
|
|
cdata.points = &convex_points[0];
|
|
cdata.point_count = convex_points.size();
|
|
cdata.result_array = p_result_array;
|
|
cdata.result_max = p_result_max;
|
|
cdata.result_idx = &result_count;
|
|
cdata.mask = p_mask;
|
|
|
|
_cull_convex(root, &cdata);
|
|
|
|
return result_count;
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
int Octree<T, use_pairs, AL>::cull_aabb(const AABB &p_aabb, T **p_result_array, int p_result_max, int *p_subindex_array, uint32_t p_mask) {
|
|
if (!root) {
|
|
return 0;
|
|
}
|
|
|
|
int result_count = 0;
|
|
pass++;
|
|
_cull_aabb(root, p_aabb, p_result_array, &result_count, p_result_max, p_subindex_array, p_mask);
|
|
|
|
return result_count;
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
int Octree<T, use_pairs, AL>::cull_segment(const Vector3 &p_from, const Vector3 &p_to, T **p_result_array, int p_result_max, int *p_subindex_array, uint32_t p_mask) {
|
|
if (!root) {
|
|
return 0;
|
|
}
|
|
|
|
int result_count = 0;
|
|
pass++;
|
|
_cull_segment(root, p_from, p_to, p_result_array, &result_count, p_result_max, p_subindex_array, p_mask);
|
|
|
|
return result_count;
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
int Octree<T, use_pairs, AL>::cull_point(const Vector3 &p_point, T **p_result_array, int p_result_max, int *p_subindex_array, uint32_t p_mask) {
|
|
if (!root) {
|
|
return 0;
|
|
}
|
|
|
|
int result_count = 0;
|
|
pass++;
|
|
_cull_point(root, p_point, p_result_array, &result_count, p_result_max, p_subindex_array, p_mask);
|
|
|
|
return result_count;
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::set_pair_callback(PairCallback p_callback, void *p_userdata) {
|
|
pair_callback = p_callback;
|
|
pair_callback_userdata = p_userdata;
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
void Octree<T, use_pairs, AL>::set_unpair_callback(UnpairCallback p_callback, void *p_userdata) {
|
|
unpair_callback = p_callback;
|
|
unpair_callback_userdata = p_userdata;
|
|
}
|
|
|
|
template <class T, bool use_pairs, class AL>
|
|
Octree<T, use_pairs, AL>::Octree(real_t p_unit_size) {
|
|
unit_size = p_unit_size;
|
|
}
|
|
|
|
#endif // OCTREE_H
|