godot/servers/physics/broad_phase_bvh.cpp

/*************************************************************************/
/*  broad_phase_bvh.cpp                                                  */
/*************************************************************************/
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#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, const AABB &p_aabb, bool p_static) {
	uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
	uint32_t tree_collision_mask = p_static ? TREE_FLAG_DYNAMIC : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
	ID oid = bvh.create(p_object, true, tree_id, tree_collision_mask, p_aabb, p_subindex); // Pair everything, don't care?
	return oid + 1;
}

void BroadPhaseBVH::move(ID p_id, const AABB &p_aabb) {
	bvh.move(p_id - 1, p_aabb);
}

void BroadPhaseBVH::recheck_pairs(ID p_id) {
	bvh.recheck_pairs(p_id - 1);
}

void BroadPhaseBVH::set_static(ID p_id, bool p_static) {
	uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
	uint32_t tree_collision_mask = p_static ? TREE_FLAG_DYNAMIC : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
	bvh.set_tree(p_id - 1, tree_id, tree_collision_mask, false);
}

void BroadPhaseBVH::remove(ID p_id) {
	bvh.erase(p_id - 1);
}

CollisionObjectSW *BroadPhaseBVH::get_object(ID p_id) const {
	CollisionObjectSW *it = bvh.get(p_id - 1);
	ERR_FAIL_COND_V(!it, nullptr);
	return it;
}

bool BroadPhaseBVH::is_static(ID p_id) const {
	uint32_t tree_id = bvh.get_tree_id(p_id - 1);
	return tree_id == 0;
}

int BroadPhaseBVH::get_subindex(ID p_id) const {
	return bvh.get_subindex(p_id - 1);
}

int BroadPhaseBVH::cull_point(const Vector3 &p_point, CollisionObjectSW **p_results, int p_max_results, int *p_result_indices) {
	return bvh.cull_point(p_point, p_results, p_max_results, nullptr, 0xFFFFFFFF, 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, nullptr, 0xFFFFFFFF, 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, nullptr, 0xFFFFFFFF, p_result_indices);
}

void *BroadPhaseBVH::_pair_callback(void *p_self, uint32_t p_id_A, CollisionObjectSW *p_object_A, int p_subindex_A, uint32_t p_id_B, CollisionObjectSW *p_object_B, int p_subindex_B) {
	BroadPhaseBVH *bpo = (BroadPhaseBVH *)(p_self);
	if (!bpo->pair_callback) {
		return nullptr;
	}

	return bpo->pair_callback(p_object_A, p_subindex_A, p_object_B, p_subindex_B, nullptr, bpo->pair_userdata);
}

void BroadPhaseBVH::_unpair_callback(void *p_self, uint32_t p_id_A, CollisionObjectSW *p_object_A, int p_subindex_A, uint32_t p_id_B, CollisionObjectSW *p_object_B, int p_subindex_B, void *p_pair_data) {
	BroadPhaseBVH *bpo = (BroadPhaseBVH *)(p_self);
	if (!bpo->unpair_callback) {
		return;
	}

	bpo->unpair_callback(p_object_A, p_subindex_A, p_object_B, p_subindex_B, p_pair_data, bpo->unpair_userdata);
}

void *BroadPhaseBVH::_check_pair_callback(void *p_self, uint32_t p_id_A, CollisionObjectSW *p_object_A, int p_subindex_A, uint32_t p_id_B, CollisionObjectSW *p_object_B, int p_subindex_B, void *p_pair_data) {
	BroadPhaseBVH *bpo = (BroadPhaseBVH *)(p_self);
	if (!bpo->pair_callback) {
		return nullptr;
	}

	return bpo->pair_callback(p_object_A, p_subindex_A, p_object_B, p_subindex_B, p_pair_data, bpo->pair_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.params_set_thread_safe(GLOBAL_GET("rendering/threads/thread_safe_bvh"));
	bvh.params_set_pairing_expansion(GLOBAL_GET("physics/3d/godot_physics/bvh_collision_margin"));
	bvh.set_pair_callback(_pair_callback, this);
	bvh.set_unpair_callback(_unpair_callback, this);
	bvh.set_check_pair_callback(_check_pair_callback, this);
	pair_callback = nullptr;
	pair_userdata = nullptr;
	unpair_userdata = nullptr;
}