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; // nobody truly understands how masks are intended to work. uint32_t mask; uint32_t pairable_type; // optional components for different tests Vector3 point; BVHABB_CLASS abb; typename BVHABB_CLASS::ConvexHull hull; typename BVHABB_CLASS::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; } // write this logic once for use in all routines // double check this as a possible source of bugs in future. bool _cull_pairing_mask_test_hit(uint32_t p_maskA, uint32_t p_typeA, uint32_t p_maskB, uint32_t p_typeB) const { // double check this as a possible source of bugs in future. bool A_match_B = p_maskA & p_typeB; if (!A_match_B) { bool B_match_A = p_maskB & p_typeA; if (!B_match_A) { return false; } } return true; } 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 (!_cull_pairing_mask_test_hit(p.mask, p.pairable_type, ex.pairable_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 BVHABB_CLASS &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 BVHABB_CLASS &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 BVHABB_CLASS &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 BVHABB_CLASS &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 BVHABB_CLASS::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 BVHABB_CLASS::IR_PARTIAL: { } break; case BVHABB_CLASS::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 BVHABB_CLASS &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 BVHABB_CLASS &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 BVHABB_CLASS &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; }