index 4f3e9938c0fe9c5f5acb617621a6242e890a5983..7d346de06fce48d5c5529bc6dd478c7fccf06b15 100644 (file)
--- a/src/game/z_aabbtree.pas
+++ b/src/game/z_aabbtree.pas
*)
{$INCLUDE ../shared/a_modes.inc}
{.$DEFINE aabbtree_many_asserts}
-{.$DEFINE aabbtree_query_count}
+{$DEFINE aabbtree_query_count}
+{.$DEFINE aabbtree_use_floats}
unit z_aabbtree;
interface
// ////////////////////////////////////////////////////////////////////////// //
type
- Float = Single;
- PFloat = ^Float;
+ {$IFDEF aabbtree_use_floats}TreeNumber = Single;{$ELSE}TreeNumber = Integer;{$ENDIF}
TTreeFlesh = TObject;
type
Ray2D = record
public
- origX, origY: Float;
- dirX, dirY: Float;
+ origX, origY: Single;
+ dirX, dirY: Single;
public
- constructor Create (ax, ay: Float; aangle: Float); overload;
- constructor Create (ax0, ay0, ax1, ay1: Float); overload;
- constructor Create (const aray: Ray2D); overload;
+ constructor Create (ax, ay: Single; aangle: Single); overload;
+ constructor Create (ax0, ay0, ax1, ay1: Single); overload;
+ constructor Create (var aray: Ray2D); overload;
- procedure copyFrom (const aray: Ray2D); inline;
+ procedure copyFrom (var aray: Ray2D); inline;
procedure normalizeDir (); inline;
- procedure setXYAngle (ax, ay: Float; aangle: Float); inline;
- procedure setX0Y0X1Y1 (ax0, ay0, ax1, ay1: Float); inline;
+ procedure setXYAngle (ax, ay: Single; aangle: Single); inline;
+ procedure setX0Y0X1Y1 (ax0, ay0, ax1, ay1: Single); inline;
end;
// ////////////////////////////////////////////////////////////////////////// //
type
AABB2D = record
public
- minX, minY, maxX, maxY: Float;
+ minX, minY, maxX, maxY: TreeNumber;
private
function getvalid (): Boolean; inline;
- function getcenterX (): Float; inline;
- function getcenterY (): Float; inline;
- function getextentX (): Float; inline;
- function getextentY (): Float; inline;
+ function getcenterX (): TreeNumber; inline;
+ function getcenterY (): TreeNumber; inline;
+ function getextentX (): TreeNumber; inline;
+ function getextentY (): TreeNumber; inline;
public
- constructor Create (x0, y0, x1, y1: Float); overload;
- constructor Create (const aabb: AABB2D); overload;
- constructor Create (const aabb0, aabb1: AABB2D); overload;
+ constructor Create (x0, y0, x1, y1: TreeNumber); overload;
+ constructor Create (var aabb: AABB2D); overload;
+ constructor Create (var aabb0, aabb1: AABB2D); overload;
- procedure copyFrom (const aabb: AABB2D); inline;
- procedure setDims (x0, y0, x1, y1: Float); inline;
+ procedure copyFrom (var aabb: AABB2D); inline;
+ procedure setDims (x0, y0, x1, y1: TreeNumber); inline;
- procedure setMergeTwo (const aabb0, aabb1: AABB2D); inline;
+ procedure setMergeTwo (var aabb0, aabb1: AABB2D); inline;
- function volume (): Float; inline;
+ function volume (): TreeNumber; inline;
- procedure merge (const aabb: AABB2D); inline;
+ procedure merge (var aabb: AABB2D); inline;
// return true if the current AABB contains the AABB given in parameter
- function contains (const aabb: AABB2D): Boolean; inline; overload;
- function contains (ax, ay: Float): Boolean; inline; overload;
+ function contains (var aabb: AABB2D): Boolean; inline; overload;
+ function contains (ax, ay: TreeNumber): Boolean; inline; overload;
// return true if the current AABB is overlapping with the AABB in parameter
// two AABBs overlap if they overlap in the two axes at the same time
- function overlaps (const aabb: AABB2D): Boolean; inline; overload;
+ function overlaps (var aabb: AABB2D): Boolean; inline; overload;
// ray direction must be normalized
- function intersects (const ray: Ray2D; tmino: PFloat=nil; tmaxo: PFloat=nil): Boolean; overload;
- function intersects (ax, ay, bx, by: Float): Boolean; inline; overload;
+ function intersects (var ray: Ray2D; tmino: PSingle=nil; tmaxo: PSingle=nil): Boolean; overload;
+ function intersects (ax, ay, bx, by: Single): Boolean; inline; overload;
property valid: Boolean read getvalid;
- property centerX: Float read getcenterX;
- property centerY: Float read getcenterY;
- property extentX: Float read getextentX;
- property extentY: Float read getextentY;
+ property centerX: TreeNumber read getcenterX;
+ property centerY: TreeNumber read getcenterY;
+ property extentX: TreeNumber read getextentX;
+ property extentY: TreeNumber read getextentY;
end;
height: SmallInt;
// fat axis aligned bounding box (AABB) corresponding to the node
aabb: AABB2D;
+ tag: Integer; // just a user-defined tag
public
// return true if the node is a leaf of the tree
procedure clear (); inline;
end;
TVisitCheckerCB = function (node: PTreeNode): Boolean is nested;
- TVisitVisitorCB = function (abody: TTreeFlesh): Boolean is nested;
+ //TVisitVisitorCB = function (abody: TTreeFlesh; atag: Integer): Boolean is nested;
public
// return `true` to stop
- type TForEachLeafCB = function (abody: TTreeFlesh; const aabb: AABB2D): Boolean is nested; // WARNING! don't modify AABB here!
+ type TForEachLeafCB = function (abody: TTreeFlesh; var aabb: AABB2D): Boolean is nested; // WARNING! don't modify AABB here!
public
// in the broad-phase collision detection (dynamic AABB tree), the AABBs are
// also inflated in direction of the linear motion of the body by mutliplying the
// followin constant with the linear velocity and the elapsed time between two frames
+ {$IFDEF aabbtree_use_floats}
const LinearMotionGapMultiplier = 1.7;
+ {$ELSE}
+ const LinearMotionGapMultiplier = 17; // *10
+ {$ENDIF}
private
mNodes: array of TTreeNode; // nodes of the tree
// extra AABB Gap used to allow the collision shape to move a little bit
// without triggering a large modification of the tree which can be costly
- mExtraGap: Float;
+ mExtraGap: TreeNumber;
+
+ public
+ // called when a overlapping node has been found during the call to forEachAABBOverlap()
+ // return `true` to stop
+ type TQueryOverlapCB = function (abody: TTreeFlesh; atag: Integer): Boolean is nested;
+ type TSegQueryCallback = function (abody: TTreeFlesh; ax, ay, bx, by: Single): Single is nested; // return dist from (ax,ay) to abody
+
+ TSegmentQueryResult = record
+ dist: Single; // <0: nothing was hit
+ flesh: TTreeFlesh;
+
+ procedure reset (); inline;
+ function valid (): Boolean; inline;
+ end;
private
function allocateNode (): Integer;
function computeHeight (nodeId: Integer): Integer;
function insertObjectInternal (var aabb: AABB2D; staticObject: Boolean): Integer;
procedure setup ();
- function visit (checker: TVisitCheckerCB; visitor: TVisitVisitorCB): Integer;
+ function visit (var caabb: AABB2D; mode: Integer; checker: TVisitCheckerCB; visitor: TQueryOverlapCB; tagmask: Integer=-1): Integer;
public
{$IFDEF aabbtree_query_count}
{$ENDIF}
public
- // called when a overlapping node has been found during the call to forEachAABBOverlap()
- // return `true` to stop
- type TQueryOverlapCB = function (abody: TTreeFlesh): Boolean is nested;
- type TSegQueryCallback = function (abody: TTreeFlesh; ax, ay, bx, by: Float): Float is nested; // return dist from (ax,ay) to abody
-
- TSegmentQueryResult = record
- dist: Float; // <0: nothing was hit
- flesh: TTreeFlesh;
-
- procedure reset (); inline;
- function valid (): Boolean; inline;
- end;
-
- public
- constructor Create (extraAABBGap: Float=0.0);
+ constructor Create (extraAABBGap: TreeNumber=0);
destructor Destroy (); override;
// clear all the nodes and reset the tree
// this method creates a new leaf node in the tree and returns the id of the corresponding node or -1 on error
// AABB for static object will not be "fat" (simple optimization)
// WARNING! inserting the same object several times *WILL* break everything!
- function insertObject (flesh: TTreeFlesh; staticObject: Boolean=false): Integer;
+ function insertObject (flesh: TTreeFlesh; tag: Integer; staticObject: Boolean=false): Integer;
// remove an object from the tree
// WARNING: ids of removed objects can be reused on later insertions!
*
* return `true` if the tree was modified.
*)
- function updateObject (nodeId: Integer; dispX, dispY: Float; forceReinsert: Boolean=false): Boolean;
+ function updateObject (nodeId: Integer; dispX, dispY: TreeNumber; forceReinsert: Boolean=false): Boolean;
- function aabbQuery (ax, ay, aw, ah: Float; cb: TQueryOverlapCB): Boolean;
- function pointQuery (ax, ay: Float; cb: TQueryOverlapCB): TTreeFlesh;
- function segmentQuery (var qr: TSegmentQueryResult; ax, ay, bx, by: Float; cb: TSegQueryCallback): Boolean;
+ function aabbQuery (ax, ay, aw, ah: TreeNumber; cb: TQueryOverlapCB; tagmask: Integer=-1): TTreeFlesh;
+ function pointQuery (ax, ay: TreeNumber; cb: TQueryOverlapCB): TTreeFlesh;
+ function segmentQuery (var qr: TSegmentQueryResult; ax, ay, bx, by: TreeNumber; cb: TSegQueryCallback): Boolean;
function computeTreeHeight (): Integer; // compute the height of the tree
- property extraGap: Float read mExtraGap write mExtraGap;
+ property extraGap: TreeNumber read mExtraGap write mExtraGap;
property nodeCount: Integer read mNodeCount;
property nodeAlloced: Integer read mAllocCount;
{$IFDEF aabbtree_query_count}
function minI (a, b: Integer): Integer; inline; begin if (a < b) then result := a else result := b; end;
function maxI (a, b: Integer): Integer; inline; begin if (a > b) then result := a else result := b; end;
-function minF (a, b: Float): Float; inline; begin if (a < b) then result := a else result := b; end;
-function maxF (a, b: Float): Float; inline; begin if (a > b) then result := a else result := b; end;
+function minF (a, b: TreeNumber): TreeNumber; inline; begin if (a < b) then result := a else result := b; end;
+function maxF (a, b: TreeNumber): TreeNumber; inline; begin if (a > b) then result := a else result := b; end;
// ////////////////////////////////////////////////////////////////////////// //
-constructor Ray2D.Create (ax, ay: Float; aangle: Float); begin setXYAngle(ax, ay, aangle); end;
-constructor Ray2D.Create (ax0, ay0, ax1, ay1: Float); begin setX0Y0X1Y1(ax0, ay0, ax1, ay1); end;
-constructor Ray2D.Create (const aray: Ray2D); overload; begin copyFrom(aray); end;
+constructor Ray2D.Create (ax, ay: Single; aangle: Single); begin setXYAngle(ax, ay, aangle); end;
+constructor Ray2D.Create (ax0, ay0, ax1, ay1: Single); begin setX0Y0X1Y1(ax0, ay0, ax1, ay1); end;
+constructor Ray2D.Create (var aray: Ray2D); overload; begin copyFrom(aray); end;
-procedure Ray2D.copyFrom (const aray: Ray2D); inline;
+procedure Ray2D.copyFrom (var aray: Ray2D); inline;
begin
origX := aray.origX;
origY := aray.origY;
procedure Ray2D.normalizeDir (); inline;
var
- invlen: Float;
+ invlen: Single;
begin
invlen := 1.0/sqrt(dirX*dirX+dirY*dirY);
dirX *= invlen;
dirY *= invlen;
end;
-procedure Ray2D.setXYAngle (ax, ay: Float; aangle: Float); inline;
+procedure Ray2D.setXYAngle (ax, ay: Single; aangle: Single); inline;
begin
origX := ax;
origY := ay;
dirY := sin(aangle);
end;
-procedure Ray2D.setX0Y0X1Y1 (ax0, ay0, ax1, ay1: Float); inline;
+procedure Ray2D.setX0Y0X1Y1 (ax0, ay0, ax1, ay1: Single); inline;
begin
origX := ax0;
origY := ay0;
// ////////////////////////////////////////////////////////////////////////// //
-constructor AABB2D.Create (x0, y0, x1, y1: Float); overload;
+constructor AABB2D.Create (x0, y0, x1, y1: TreeNumber); overload;
begin
setDims(x0, y0, x1, y1);
end;
-constructor AABB2D.Create (const aabb: AABB2D); overload;
+constructor AABB2D.Create (var aabb: AABB2D); overload;
begin
copyFrom(aabb);
end;
-constructor AABB2D.Create (const aabb0, aabb1: AABB2D); overload;
+constructor AABB2D.Create (var aabb0, aabb1: AABB2D); overload;
begin
setMergeTwo(aabb0, aabb1);
end;
function AABB2D.getvalid (): Boolean; inline; begin result := (minX < maxX) and (minY < maxY); end;
-function AABB2D.getcenterX (): Float; inline; begin result := (minX+maxX)/2.0; end;
-function AABB2D.getcenterY (): Float; inline; begin result := (minY+maxY)/2.0; end;
-function AABB2D.getextentX (): Float; inline; begin result := (maxX-minX)+1.0; end;
-function AABB2D.getextentY (): Float; inline; begin result := (maxY-minY)+1.0; end;
-
-
-procedure AABB2D.copyFrom (const aabb: AABB2D); inline;
+{$IFDEF aabbtree_use_floats}
+function AABB2D.getcenterX (): TreeNumber; inline; begin result := (minX+maxX)/2.0; end;
+function AABB2D.getcenterY (): TreeNumber; inline; begin result := (minY+maxY)/2.0; end;
+{$ELSE}
+function AABB2D.getcenterX (): TreeNumber; inline; begin result := (minX+maxX) div 2; end;
+function AABB2D.getcenterY (): TreeNumber; inline; begin result := (minY+maxY) div 2; end;
+{$ENDIF}
+function AABB2D.getextentX (): TreeNumber; inline; begin result := (maxX-minX); end;
+function AABB2D.getextentY (): TreeNumber; inline; begin result := (maxY-minY); end;
+
+procedure AABB2D.copyFrom (var aabb: AABB2D); inline;
begin
minX := aabb.minX;
minY := aabb.minY;
end;
-procedure AABB2D.setDims (x0, y0, x1, y1: Float); inline;
+procedure AABB2D.setDims (x0, y0, x1, y1: TreeNumber); inline;
begin
minX := minF(x0, x1);
minY := minF(y0, y1);
end;
-procedure AABB2D.setMergeTwo (const aabb0, aabb1: AABB2D); inline;
+procedure AABB2D.setMergeTwo (var aabb0, aabb1: AABB2D); inline;
begin
{$IF DEFINED(D2F_DEBUG)}
if not aabb0.valid then raise Exception.Create('setMergeTwo: aabb0 is fucked');
end;
-function AABB2D.volume (): Float; inline;
+function AABB2D.volume (): TreeNumber; inline;
begin
result := (maxX-minX)*(maxY-minY);
end;
-procedure AABB2D.merge (const aabb: AABB2D); inline;
+procedure AABB2D.merge (var aabb: AABB2D); inline;
begin
{$IF DEFINED(D2F_DEBUG)}
if not aabb.valid then raise Exception.Create('merge: aabb is fucked');
end;
-function AABB2D.contains (const aabb: AABB2D): Boolean; inline; overload;
+function AABB2D.contains (var aabb: AABB2D): Boolean; inline; overload;
begin
result :=
(aabb.minX >= minX) and (aabb.minY >= minY) and
end;
-function AABB2D.contains (ax, ay: Float): Boolean; inline; overload;
+function AABB2D.contains (ax, ay: TreeNumber): Boolean; inline; overload;
begin
result := (ax >= minX) and (ay >= minY) and (ax <= maxX) and (ay <= maxY);
end;
-function AABB2D.overlaps (const aabb: AABB2D): Boolean; inline; overload;
+function AABB2D.overlaps (var aabb: AABB2D): Boolean; inline; overload;
begin
result := false;
// exit with no intersection if found separated along any axis
// something to consider here is that 0 * inf =nan which occurs when the ray starts exactly on the edge of a box
// https://tavianator.com/fast-branchless-raybounding-box-intersections-part-2-nans/
-function AABB2D.intersects (const ray: Ray2D; tmino: PFloat=nil; tmaxo: PFloat=nil): Boolean; overload;
+function AABB2D.intersects (var ray: Ray2D; tmino: PSingle=nil; tmaxo: PSingle=nil): Boolean; overload;
var
- dinv, t1, t2, tmp: Float;
- tmin, tmax: Float;
+ dinv, t1, t2, tmp: Single;
+ tmin, tmax: Single;
begin
// ok with coplanars
tmin := -1.0e100;
end;
end;
-function AABB2D.intersects (ax, ay, bx, by: Float): Boolean; inline; overload;
+function AABB2D.intersects (ax, ay, bx, by: Single): Boolean; inline; overload;
var
- tmin: Float;
+ tmin: Single;
ray: Ray2D;
begin
result := true;
children[0] := 0;
children[1] := 0;
flesh := nil;
+ tag := 0;
height := 0;
aabb.minX := 0;
aabb.minY := 0;
currentNodeId: Integer;
leftChild, rightChild, siblingNode: Integer;
oldParentNode, newParentNode: Integer;
- volumeAABB, mergedVolume: Float;
- costS, costI, costLeft, costRight: Float;
+ volumeAABB, mergedVolume: TreeNumber;
+ costS, costI, costLeft, costRight: TreeNumber;
begin
// if the tree is empty
if (mRootNodeId = TTreeNode.NullTreeNode) then
mergedVolume := mergedAABBs.volume;
// compute the cost of making the current node the sibling of the new node
- costS := 2.0*mergedVolume;
+ costS := 2*mergedVolume;
// compute the minimum cost of pushing the new node further down the tree (inheritance cost)
- costI := 2.0*(mergedVolume-volumeAABB);
+ costI := 2*(mergedVolume-volumeAABB);
// compute the cost of descending into the left child
currentAndLeftAABB := AABB2D.Create(newNodeAABB, mNodes[leftChild].aabb);
balanceFactor := nodeC.height-nodeB.height;
// if the right node C is 2 higher than left node B
- if (balanceFactor > 1.0) then
+ if (balanceFactor > 1) then
begin
{$IFDEF aabbtree_many_asserts}assert(not nodeC.leaf);{$ENDIF}
assert(pNode.height >= 0);
if (not pNode.aabb.valid) then
begin
+ {$IFDEF aabbtree_use_floats}
e_WriteLog(Format('AABB:(%f,%f)-(%f,%f); volume=%f; valid=%d; height=%d; leaf=%d', [pNode.aabb.minX, pNode.aabb.minY, pNode.aabb.maxX, pNode.aabb.maxY, pNode.aabb.volume, Integer(pNode.aabb.valid), pNode.height, Integer(pNode.leaf)]), MSG_NOTIFY);
+ {$ELSE}
+ e_WriteLog(Format('AABB:(%d,%d)-(%d,%d); volume=%d; valid=%d; height=%d; leaf=%d', [pNode.aabb.minX, pNode.aabb.minY, pNode.aabb.maxX, pNode.aabb.maxY, pNode.aabb.volume, Integer(pNode.aabb.valid), pNode.height, Integer(pNode.leaf)]), MSG_NOTIFY);
+ {$ENDIF}
if pNode.leaf then
begin
getFleshAABB(aabb, pNode.flesh);
+ {$IFDEF aabbtree_use_floats}
e_WriteLog(Format(' LEAF AABB:(%f,%f)-(%f,%f); valid=%d; volume=%f', [aabb.minX, aabb.minY, aabb.maxX, aabb.maxY, Integer(aabb.valid), aabb.volume]), MSG_NOTIFY);
+ {$ELSE}
+ e_WriteLog(Format(' LEAF AABB:(%d,%d)-(%d,%d); valid=%d; volume=%d', [aabb.minX, aabb.minY, aabb.maxX, aabb.maxY, Integer(aabb.valid), aabb.volume]), MSG_NOTIFY);
+ {$ENDIF}
end;
end;
assert(pNode.aabb.valid);
// return `true` from visitor to stop immediately
// checker should check if this node should be considered to further checking
// returns tree node if visitor says stop or -1
-function TDynAABBTree.visit (checker: TVisitCheckerCB; visitor: TVisitVisitorCB): Integer;
+const ModeNoChecks = 0;
+const ModeAABB = 1;
+const ModePoint = 2;
+function TDynAABBTree.visit (var caabb: AABB2D; mode: Integer; checker: TVisitCheckerCB; visitor: TQueryOverlapCB; tagmask: Integer=-1): Integer;
var
- stack: array [0..255] of Integer; // stack with the nodes to visit
+ stack: array [0..2048] of Integer; // stack with the nodes to visit
bigstack: array of Integer = nil;
sp: Integer = 0;
end;
end;
- (*
function spop (): Integer; inline;
begin
- {$IFDEF aabbtree_many_asserts}assert(sp > 0);{$ENDIF}
+ //{$IFDEF aabbtree_many_asserts}assert(sp > 0);{$ENDIF}
if (sp <= length(stack)) then
begin
// use "small stack"
result := bigstack[sp-length(stack)];
end;
end;
- *)
var
nodeId: Integer;
node: PTreeNode;
+ doNode: Boolean = false;
begin
if not assigned(checker) then begin result := -1; exit; end;
+ if not assigned(visitor) then raise Exception.Create('dyntree: empty visitors aren''t supported');
//if not assigned(visitor) then begin result := -1; exit; end;
- try
+ //try
{$IFDEF aabbtree_query_count}
mNodesVisited := 0;
mNodesDeepVisited := 0;
while (sp > 0) do
begin
// get the next node id to visit
- //nodeId := spop();
- {$IFDEF aabbtree_many_asserts}assert(sp > 0);{$ENDIF}
- if (sp <= length(stack)) then
- begin
- // use "small stack"
- Dec(sp);
- nodeId := stack[sp];
- end
- else
- begin
- // use "big stack"
- Dec(sp);
- nodeId := bigstack[sp-length(stack)];
- end;
-
+ {$IF TRUE}
+ nodeId := spop();
+ {$ELSE}
+ if (sp <= length(stack)) then
+ begin
+ // use "small stack"
+ Dec(sp);
+ nodeId := stack[sp];
+ end
+ else
+ begin
+ // use "big stack"
+ Dec(sp);
+ nodeId := bigstack[sp-length(stack)];
+ end;
+ {$ENDIF}
// skip it if it is a nil node
if (nodeId = TTreeNode.NullTreeNode) then continue;
{$IFDEF aabbtree_query_count}Inc(mNodesVisited);{$ENDIF}
// get the corresponding node
node := @mNodes[nodeId];
// should we investigate this node?
- if (checker(node)) then
+ case mode of
+ ModeNoChecks: doNode := checker(node);
+ ModeAABB:
+ begin
+ //doNode := caabb.overlaps(node.aabb);
+ // this gives small speedup (or not...)
+ // exit with no intersection if found separated along any axis
+ if (caabb.maxX < node.aabb.minX) or (caabb.minX > node.aabb.maxX) then doNode := false
+ else if (caabb.maxY < node.aabb.minY) or (caabb.minY > node.aabb.maxY) then doNode := false
+ else doNode := true;
+ end;
+ ModePoint:
+ begin
+ //doNode := node.aabb.contains(caabb.minX, caabb.minY);
+ // this gives small speedup
+ doNode := (caabb.minX >= node.aabb.minX) and (caabb.minY >= node.aabb.minY) and (caabb.minX <= node.aabb.maxX) and (caabb.minY <= node.aabb.maxY);
+ end;
+ end;
+ if doNode then
begin
// if the node is a leaf
if (node.leaf) then
begin
// call visitor on it
{$IFDEF aabbtree_query_count}Inc(mNodesDeepVisited);{$ENDIF}
- if assigned(visitor) then
+ if ((node.tag and tagmask) <> 0) then
begin
- if (visitor(node.flesh)) then begin result := nodeId; exit; end;
+ if (visitor(node.flesh, node.tag)) then begin result := nodeId; bigstack := nil; exit; end;
end;
end
else
end;
result := -1; // oops
- finally
bigstack := nil;
- end;
+ //finally
+ // bigstack := nil;
+ //end;
end;
// add `extraAABBGap` to bounding boxes so slight object movement won't cause tree rebuilds
// extra AABB Gap used to allow the collision shape to move a little bit without triggering a large modification of the tree which can be costly
-constructor TDynAABBTree.Create (extraAABBGap: Float=0.0);
+constructor TDynAABBTree.Create (extraAABBGap: TreeNumber=0);
begin
mExtraGap := extraAABBGap;
setup();
// this method creates a new leaf node in the tree and returns the id of the corresponding node or -1 on error
// AABB for static object will not be "fat" (simple optimization)
// WARNING! inserting the same object several times *WILL* break everything!
-function TDynAABBTree.insertObject (flesh: TTreeFlesh; staticObject: Boolean=false): Integer;
+function TDynAABBTree.insertObject (flesh: TTreeFlesh; tag: Integer; staticObject: Boolean=false): Integer;
var
aabb: AABB2D;
nodeId: Integer;
begin
if not getFleshAABB(aabb, flesh) then
begin
+ {$IFDEF aabbtree_use_floats}
e_WriteLog(Format('trying to insert FUCKED FLESH:(%f,%f)-(%f,%f); volume=%f; valid=%d', [aabb.minX, aabb.minY, aabb.maxX, aabb.maxY, aabb.volume, Integer(aabb.valid)]), MSG_WARNING);
+ {$ELSE}
+ e_WriteLog(Format('trying to insert FUCKED FLESH:(%d,%d)-(%d,%d); volume=%d; valid=%d', [aabb.minX, aabb.minY, aabb.maxX, aabb.maxY, aabb.volume, Integer(aabb.valid)]), MSG_WARNING);
+ {$ENDIF}
//raise Exception.Create('trying to insert invalid flesh in dyntree');
result := -1;
exit;
end;
if not aabb.valid then
begin
+ {$IFDEF aabbtree_use_floats}
e_WriteLog(Format('trying to insert FUCKED AABB:(%f,%f)-(%f,%f); volume=%f; valid=%d', [aabb.minX, aabb.minY, aabb.maxX, aabb.maxY, aabb.volume, Integer(aabb.valid)]), MSG_WARNING);
+ {$ELSE}
+ e_WriteLog(Format('trying to insert FUCKED AABB:(%d,%d)-(%d,%d); volume=%d; valid=%d', [aabb.minX, aabb.minY, aabb.maxX, aabb.maxY, aabb.volume, Integer(aabb.valid)]), MSG_WARNING);
+ {$ENDIF}
raise Exception.Create('trying to insert invalid aabb in dyntree');
result := -1;
exit;
nodeId := insertObjectInternal(aabb, staticObject);
{$IFDEF aabbtree_many_asserts}assert(mNodes[nodeId].leaf);{$ENDIF}
mNodes[nodeId].flesh := flesh;
+ mNodes[nodeId].tag := tag;
result := nodeId;
end;
end;
-function TDynAABBTree.updateObject (nodeId: Integer; dispX, dispY: Float; forceReinsert: Boolean=false): Boolean;
+function TDynAABBTree.updateObject (nodeId: Integer; dispX, dispY: TreeNumber; forceReinsert: Boolean=false): Boolean;
var
newAABB: AABB2D;
begin
end;
// inflate the fat AABB in direction of the linear motion of the AABB
- if (dispX < 0.0) then
+ if (dispX < 0) then
begin
- mNodes[nodeId].aabb.minX := mNodes[nodeId].aabb.minX+LinearMotionGapMultiplier*dispX;
+ mNodes[nodeId].aabb.minX := mNodes[nodeId].aabb.minX+LinearMotionGapMultiplier*dispX {$IFDEF aabbtree_use_floats}{$ELSE}div 10{$ENDIF};
end
else
begin
- mNodes[nodeId].aabb.maxX := mNodes[nodeId].aabb.maxX+LinearMotionGapMultiplier*dispX;
+ mNodes[nodeId].aabb.maxX := mNodes[nodeId].aabb.maxX+LinearMotionGapMultiplier*dispX {$IFDEF aabbtree_use_floats}{$ELSE}div 10{$ENDIF};
end;
- if (dispY < 0.0) then
+ if (dispY < 0) then
begin
- mNodes[nodeId].aabb.minY := mNodes[nodeId].aabb.minY+LinearMotionGapMultiplier*dispY;
+ mNodes[nodeId].aabb.minY := mNodes[nodeId].aabb.minY+LinearMotionGapMultiplier*dispY {$IFDEF aabbtree_use_floats}{$ELSE}div 10{$ENDIF};
end
else
begin
- mNodes[nodeId].aabb.maxY := mNodes[nodeId].aabb.maxY+LinearMotionGapMultiplier*dispY;
+ mNodes[nodeId].aabb.maxY := mNodes[nodeId].aabb.maxY+LinearMotionGapMultiplier*dispY {$IFDEF aabbtree_use_floats}{$ELSE}div 10{$ENDIF};
end;
{$IFDEF aabbtree_many_asserts}assert(mNodes[nodeId].aabb.contains(newAABB));{$ENDIF}
// report all shapes overlapping with the AABB given in parameter
-function TDynAABBTree.aabbQuery (ax, ay, aw, ah: Float; cb: TQueryOverlapCB): Boolean;
+function TDynAABBTree.aabbQuery (ax, ay, aw, ah: TreeNumber; cb: TQueryOverlapCB; tagmask: Integer=-1): TTreeFlesh;
var
caabb: AABB2D;
function checker (node: PTreeNode): Boolean;
begin
result := caabb.overlaps(node.aabb);
end;
+var
+ nid: Integer;
begin
+ result := nil;
if not assigned(cb) then exit;
if (aw < 1) or (ah < 1) then exit;
- caabb := AABB2D.Create(ax, ay, ax+aw, ay+ah);
- result := (visit(checker, cb) <> -1);
+ //caabb := AABB2D.Create(ax, ay, ax+aw, ay+ah);
+ caabb.minX := ax;
+ caabb.minY := ay;
+ caabb.maxX := ax+aw;
+ caabb.maxY := ay+ah;
+ nid := visit(caabb, ModeAABB, checker, cb, tagmask);
+ if (nid >= 0) then result := mNodes[nid].flesh else result := nil;
end;
// report body that contains the given point, or nil
-function TDynAABBTree.pointQuery (ax, ay: Float; cb: TQueryOverlapCB): TTreeFlesh;
-var
- nid: Integer;
+function TDynAABBTree.pointQuery (ax, ay: TreeNumber; cb: TQueryOverlapCB): TTreeFlesh;
function checker (node: PTreeNode): Boolean;
begin
result := node.aabb.contains(ax, ay);
end;
+ function dummycb (abody: TTreeFlesh; atag: Integer): Boolean; begin result := false; end;
+var
+ nid: Integer;
+ caabb: AABB2D;
begin
- nid := visit(checker, cb);
+ if not assigned(cb) then cb := dummycb;
+ caabb := AABB2D.Create(ax, ay, ax+1, ay+1);
+ nid := visit(caabb, ModePoint, checker, cb);
{$IFDEF aabbtree_many_asserts}assert((nid < 0) or ((nid >= 0) and (nid < mNodeCount) and (mNodes[nid].leaf)));{$ENDIF}
if (nid >= 0) then result := mNodes[nid].flesh else result := nil;
end;
// segment querying method
-function TDynAABBTree.segmentQuery (var qr: TSegmentQueryResult; ax, ay, bx, by: Float; cb: TSegQueryCallback): Boolean;
+function TDynAABBTree.segmentQuery (var qr: TSegmentQueryResult; ax, ay, bx, by: TreeNumber; cb: TSegQueryCallback): Boolean;
var
- maxFraction: Float = 1.0e100; // infinity
- curax, curay: Float;
- curbx, curby: Float;
- dirx, diry: Float;
- invlen: Float;
+ maxFraction: Single = 1.0e100; // infinity
+ curax, curay: Single;
+ curbx, curby: Single;
+ dirx, diry: Single;
+ invlen: Single;
+ caabb: AABB2D;
function checker (node: PTreeNode): Boolean;
begin
result := node.aabb.intersects(curax, curay, curbx, curby);
end;
- function visitor (flesh: TTreeFlesh): Boolean;
+ function visitor (flesh: TTreeFlesh; tag: Integer): Boolean;
var
- hitFraction: Float;
+ hitFraction: Single;
begin
hitFraction := cb(flesh, curax, curay, curbx, curby);
// if the user returned a hitFraction of zero, it means that the raycasting should stop here
dirx *= invlen;
diry *= invlen;
- visit(checker, visitor);
+ caabb := AABB2D.Create(0, 0, 1, 1);
+ visit(caabb, ModeNoChecks, checker, visitor);
result := qr.valid;
end;