index 8260d9e82aea1122836db9da2e21624f4c312909..996230d258244b9fed0818eca65ab2ecb3a3074a 100644 (file)
--- a/src/game/z_aabbtree.pas
+++ b/src/game/z_aabbtree.pas
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*)
{$INCLUDE ../shared/a_modes.inc}
-{$DEFINE aabbtree_many_asserts}
+{.$DEFINE aabbtree_many_asserts}
{$DEFINE aabbtree_query_count}
+{.$DEFINE aabbtree_use_floats}
unit z_aabbtree;
interface
-uses e_log;
+uses
+ e_log, g_grid;
// ////////////////////////////////////////////////////////////////////////// //
type
- Float = Single;
- PFloat = ^Float;
-
- TTreeFlesh = TObject;
+ {$IFDEF aabbtree_use_floats}TreeNumber = Single;{$ELSE}TreeNumber = Integer;{$ENDIF}
// ////////////////////////////////////////////////////////////////////////// //
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;
+
+ constructor CreateWH (ax, ay, w, h: TreeNumber);
- 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;
// ////////////////////////////////////////////////////////////////////////// //
// Dynamic AABB Tree: can be used to speed up broad phase in various engines
type
- TDynAABBTree = class(TObject)
+ generic TDynAABBTreeBase<ITP> = class(TObject)
+ public
+ type TTreeFlesh = ITP;
+
private
type
PTreeNode = ^TTreeNode;
//nextNodeId: Integer;
// a node is either a leaf (has data) or is an internal node (has children)
children: array [0..1] of Integer; // left and right child of the node (children[0] = left child)
- //TODO: `flesh` can be united with `children`
- flesh: TTreeFlesh;
// height of the node in the tree (-1 for free nodes)
height: SmallInt;
// fat axis aligned bounding box (AABB) corresponding to the node
aabb: AABB2D;
+ //TODO: `flesh` can be united with `children`
+ flesh: TTreeFlesh;
+ fleshX, fleshY: TreeNumber;
+ tag: Integer; // just a user-defined tag
public
// return true if the node is a leaf of the tree
procedure clear (); inline;
function leaf (): Boolean; inline;
- function free (): Boolean; inline;
+ function isfree (): Boolean; inline;
property nextNodeId: Integer read parentId write parentId;
//property flesh: Integer read children[0] write children[0];
+
+ procedure dumpToLog ();
end;
- TVisitCheckerCB = function (node: PTreeNode): Boolean is nested;
- TVisitVisitorCB = function (abody: TTreeFlesh): Boolean is nested;
+ TVisitCheckerCB = function (node: PTreeNode): Boolean of object;
+ //TVisitVisitorCB = function (abody: TTreeFlesh; atag: Integer): Boolean is nested;
+
+ const ModeNoChecks = 0;
+ const ModeAABB = 1;
+ const ModePoint = 2;
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
+ {$ENDIF}
+
+ public
+ // called when a overlapping node has been found during the call to forEachAABBOverlap()
+ // return `true` to stop
+ type TQueryOverlapCB = function (abody: TTreeFlesh; atag: Integer): Boolean is nested;
+ type TSegQueryCallback = function (abody: TTreeFlesh; ax, ay, bx, by: Single): Single is nested; // return dist from (ax,ay) to abody
+
+ PSegmentQueryResult = ^TSegmentQueryResult;
+ TSegmentQueryResult = record
+ dist: Single; // <0: nothing was hit
+ flesh: TTreeFlesh;
+
+ procedure reset (); inline;
+ function valid (): Boolean; inline;
+ end;
private
mNodes: array of TTreeNode; // nodes of the tree
// extra AABB Gap used to allow the collision shape to move a little bit
// without triggering a large modification of the tree which can be costly
- mExtraGap: Float;
+ mExtraGap: TreeNumber;
+
+ chkAABB: AABB2D; // for checkers
+ qSRes: PSegmentQueryResult; // for queries
+ // for segment query
+ maxFraction: Single;
+ curax, curay: Single;
+ curbx, curby: Single;
+ dirx, diry: Single;
+ sqcb: TSegQueryCallback;
+
+ function checkerAABB (node: PTreeNode): Boolean;
+ function checkerPoint (node: PTreeNode): Boolean;
+ function checkerRay (node: PTreeNode): Boolean;
+ function visitorRay (flesh: TTreeFlesh; tag: Integer): Boolean;
+
+ type TQueryOverlapDg = function (abody: TTreeFlesh; atag: Integer): Boolean of object;
private
function allocateNode (): Integer;
function computeHeight (nodeId: Integer): Integer;
function insertObjectInternal (var aabb: AABB2D; staticObject: Boolean): Integer;
procedure setup ();
- function visit (checker: TVisitCheckerCB; visitor: TVisitVisitorCB): Integer;
+ function visit (var caabb: AABB2D; mode: Integer; checker: TVisitCheckerCB; visitor: TQueryOverlapCB; visdg: TQueryOverlapDg; tagmask: Integer): Integer;
+
+ function forEachNode (nodeId: Integer; dg: TForEachLeafCB): Boolean;
public
{$IFDEF aabbtree_query_count}
- nodesVisited, nodesDeepVisited: Integer;
+ mNodesVisited, mNodesDeepVisited: Integer;
{$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
function getNodeObjectId (nodeid: Integer): TTreeFlesh; inline;
procedure getNodeFatAABB (var aabb: AABB2D; nodeid: Integer); inline;
+ // returns `false` if nodeid is not leaf
+ function getNodeXY (nodeid: Integer; out x, y: Integer): Boolean; inline;
+
// return `false` for invalid flesh
- function getFleshAABB (var aabb: AABB2D; flesh: TTreeFlesh): Boolean; virtual; abstract;
+ function getFleshAABB (out aabb: AABB2D; flesh: TTreeFlesh; tag: Integer): Boolean; virtual; abstract;
// insert an object into 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=-1; 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; overload;
+ function updateObject (nodeId: Integer; forceReinsert: Boolean=false): Boolean; overload;
- procedure aabbQuery (ax, ay, aw, ah: Float; cb: TQueryOverlapCB);
- 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; tagmask: Integer=-1): TTreeFlesh;
+ function segmentQuery (var qr: TSegmentQueryResult; ax, ay, bx, by: TreeNumber; cb: TSegQueryCallback; tagmask: Integer=-1): 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}
+ property nodesVisited: Integer read mNodesVisited;
+ property nodesDeepVisited: Integer read mNodesDeepVisited;
+ {$ELSE}
+ const nodesVisited = 0;
+ const nodesDeepVisited = 0;
+ {$ENDIF}
end;
+function dtMinI (a, b: Integer): Integer; inline;
+function dtMaxI (a, b: Integer): Integer; inline;
+
+function dtMinF (a, b: TreeNumber): TreeNumber; inline;
+function dtMaxF (a, b: TreeNumber): TreeNumber; inline;
+
+
implementation
uses
// ////////////////////////////////////////////////////////////////////////// //
-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 dtMinI (a, b: Integer): Integer; inline; begin if (a < b) then result := a else result := b; end;
+function dtMaxI (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 dtMinF (a, b: TreeNumber): TreeNumber; inline; begin if (a < b) then result := a else result := b; end;
+function dtMaxF (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;
+constructor AABB2D.CreateWH (ax, ay, w, h: TreeNumber);
+begin
+ minX := ax;
+ minY := ay;
+ maxX := ax+w-1;
+ maxY := ay+h-1;
+end;
-function AABB2D.getcenterX (): Float; inline; begin result := (minX+maxX)/2; end;
-function AABB2D.getcenterY (): Float; inline; begin result := (minY+maxY)/2; end;
-function AABB2D.getextentX (): Float; inline; begin result := (maxX-minX)+1; end;
-function AABB2D.getextentY (): Float; inline; begin result := (maxY-minY)+1; end;
+function AABB2D.getvalid (): Boolean; inline; begin result := (minX <= maxX) and (minY <= maxY); end;
+{$IFDEF aabbtree_use_floats}
+function AABB2D.getcenterX (): TreeNumber; inline; begin result := (minX+maxX)/2.0; end;
+function AABB2D.getcenterY (): TreeNumber; inline; begin result := (minY+maxY)/2.0; end;
+{$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;
+{$ENDIF}
+function AABB2D.getextentX (): TreeNumber; inline; begin result := maxX-minX+1; end;
+function AABB2D.getextentY (): TreeNumber; inline; begin result := maxY-minY+1; end;
-procedure AABB2D.copyFrom (const aabb: AABB2D); inline;
+procedure AABB2D.copyFrom (var aabb: AABB2D); inline;
begin
minX := aabb.minX;
minY := aabb.minY;
maxX := aabb.maxX;
maxY := aabb.maxY;
+ {$IF DEFINED(D2F_DEBUG)}
+ if not valid then raise Exception.Create('copyFrom: result is fucked');
+ {$ENDIF}
end;
-procedure AABB2D.setDims (x0, y0, x1, y1: Float); inline;
+procedure AABB2D.setDims (x0, y0, x1, y1: TreeNumber); inline;
begin
- minX := minF(x0, x1);
- minY := minF(y0, y1);
- maxX := maxF(x0, x1);
- maxY := maxF(y0, y1);
+ minX := dtMinF(x0, x1);
+ minY := dtMinF(y0, y1);
+ maxX := dtMaxF(x0, x1);
+ maxY := dtMaxF(y0, y1);
+ {$IF DEFINED(D2F_DEBUG)}
+ if not valid then raise Exception.Create('setDims: result is fucked');
+ {$ENDIF}
end;
-procedure AABB2D.setMergeTwo (const aabb0, aabb1: AABB2D); inline;
+procedure AABB2D.setMergeTwo (var aabb0, aabb1: AABB2D); inline;
begin
- minX := minF(aabb0.minX, aabb1.minX);
- minY := minF(aabb0.minY, aabb1.minY);
- maxX := maxF(aabb0.maxX, aabb1.maxX);
- maxY := maxF(aabb0.maxY, aabb1.maxY);
+ {$IF DEFINED(D2F_DEBUG)}
+ if not aabb0.valid then raise Exception.Create('setMergeTwo: aabb0 is fucked');
+ if not aabb1.valid then raise Exception.Create('setMergeTwo: aabb0 is fucked');
+ {$ENDIF}
+ minX := dtMinF(aabb0.minX, aabb1.minX);
+ minY := dtMinF(aabb0.minY, aabb1.minY);
+ maxX := dtMaxF(aabb0.maxX, aabb1.maxX);
+ maxY := dtMaxF(aabb0.maxY, aabb1.maxY);
+ {$IF DEFINED(D2F_DEBUG)}
+ if not valid then raise Exception.Create('setMergeTwo: result is fucked');
+ {$ENDIF}
end;
-function AABB2D.volume (): Float; inline;
+function AABB2D.volume (): TreeNumber; inline;
begin
- result := (maxX-minX)*(maxY-minY);
+ result := (maxX-minX+1)*(maxY-minY+1);
end;
-procedure AABB2D.merge (const aabb: AABB2D); inline;
+procedure AABB2D.merge (var aabb: AABB2D); inline;
begin
- minX := minF(minX, aabb.minX);
- minY := minF(minY, aabb.minY);
- maxX := maxF(maxX, aabb.maxX);
- maxY := maxF(maxY, aabb.maxY);
+ {$IF DEFINED(D2F_DEBUG)}
+ if not aabb.valid then raise Exception.Create('merge: aabb is fucked');
+ {$ENDIF}
+ minX := dtMinF(minX, aabb.minX);
+ minY := dtMinF(minY, aabb.minY);
+ maxX := dtMaxF(maxX, aabb.maxX);
+ maxY := dtMaxF(maxY, aabb.maxY);
+ {$IF DEFINED(D2F_DEBUG)}
+ if not valid then raise Exception.Create('setMergeTwo: result is fucked');
+ {$ENDIF}
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;
// ////////////////////////////////////////////////////////////////////////// //
-procedure TDynAABBTree.TSegmentQueryResult.reset (); inline; begin dist := -1; flesh := nil; end;
-function TDynAABBTree.TSegmentQueryResult.valid (): Boolean; inline; begin result := (dist >= 0) and (flesh <> nil); end;
+procedure TDynAABBTreeBase.TSegmentQueryResult.reset (); inline; begin dist := -1; flesh := Default(ITP); end;
+function TDynAABBTreeBase.TSegmentQueryResult.valid (): Boolean; inline; begin result := (dist >= 0) and (flesh <> Default(ITP)); end;
// ////////////////////////////////////////////////////////////////////////// //
-function TDynAABBTree.TTreeNode.leaf (): Boolean; inline; begin result := (height = 0); end;
-function TDynAABBTree.TTreeNode.free (): Boolean; inline; begin result := (height = -1); end;
+function TDynAABBTreeBase.TTreeNode.leaf (): Boolean; inline; begin result := (height = 0); end;
+function TDynAABBTreeBase.TTreeNode.isfree (): Boolean; inline; begin result := (height = -1); end;
-procedure TDynAABBTree.TTreeNode.clear (); inline;
+procedure TDynAABBTreeBase.TTreeNode.clear (); inline;
begin
parentId := 0;
children[0] := 0;
children[1] := 0;
- flesh := nil;
+ flesh := Default(ITP);
+ tag := 0;
height := 0;
- //aabb.setX0Y0X1Y1(0, 0, 0, 0);
aabb.minX := 0;
aabb.minY := 0;
- aabb.maxX := -1;
- aabb.maxY := -1;
+ aabb.maxX := 0;
+ aabb.maxY := 0;
+end;
+
+procedure TDynAABBTreeBase.TTreeNode.dumpToLog ();
+begin
+ e_WriteLog(Format('NODE: parentId=%d; children=[%d,%d]; height=%d; tag=%d; fleshX=%d; fleshY=%d; aabb=(%d,%d)-(%d,%d)',
+ [parentId, children[0], children[1], Integer(height), tag, fleshX, fleshY, aabb.minX, aabb.minY, aabb.maxX, aabb.maxY]),
+ MSG_NOTIFY);
end;
// ////////////////////////////////////////////////////////////////////////// //
// allocate and return a node to use in the tree
-function TDynAABBTree.allocateNode (): Integer;
+function TDynAABBTreeBase.allocateNode (): Integer;
var
i, newsz, freeNodeId: Integer;
node: PTreeNode;
begin
{$IFDEF aabbtree_many_asserts}assert(mNodeCount = mAllocCount);{$ENDIF}
// allocate more nodes in the tree
- if (mAllocCount < 8192) then newsz := mAllocCount*2 else newsz := mAllocCount+8192;
+ if (mAllocCount <= 16384) then newsz := mAllocCount*2 else newsz := mAllocCount+16384;
SetLength(mNodes, newsz);
mAllocCount := newsz;
// initialize the allocated nodes
- for i := mNodeCount to mAllocCount-2 do
+ for i := mNodeCount to mAllocCount-1 do
begin
mNodes[i].nextNodeId := i+1;
mNodes[i].height := -1;
end;
mNodes[mAllocCount-1].nextNodeId := TTreeNode.NullTreeNode;
- mNodes[mAllocCount-1].height := -1;
mFreeNodeId := mNodeCount;
end;
// get the next free node
freeNodeId := mFreeNodeId;
- {$IFDEF aabbtree_many_asserts}assert((freeNodeId >= mNodeCount) and (freeNodeId < mAllocCount));{$ENDIF}
+ {$IFDEF aabbtree_many_asserts}assert(freeNodeId < mAllocCount);{$ENDIF}
node := @mNodes[freeNodeId];
mFreeNodeId := node.nextNodeId;
node.clear();
node.height := 0;
Inc(mNodeCount);
result := freeNodeId;
+
+ //e_WriteLog(Format('tree: allocated node #%d', [result]), MSG_NOTIFY);
end;
// release a node
-procedure TDynAABBTree.releaseNode (nodeId: Integer);
+procedure TDynAABBTreeBase.releaseNode (nodeId: Integer);
begin
{$IFDEF aabbtree_many_asserts}assert(mNodeCount > 0);{$ENDIF}
{$IFDEF aabbtree_many_asserts}assert((nodeId >= 0) and (nodeId < mAllocCount));{$ENDIF}
{$IFDEF aabbtree_many_asserts}assert(mNodes[nodeId].height >= 0);{$ENDIF}
mNodes[nodeId].nextNodeId := mFreeNodeId;
mNodes[nodeId].height := -1;
+ mNodes[nodeId].flesh := Default(ITP);
mFreeNodeId := nodeId;
Dec(mNodeCount);
+
+ //e_WriteLog(Format('tree: released node #%d', [nodeId]), MSG_NOTIFY);
end;
// insert a leaf node in the tree
// the process of inserting a new leaf node in the dynamic tree is described in the book "Introduction to Game Physics with Box2D" by Ian Parberry
-procedure TDynAABBTree.insertLeafNode (nodeId: Integer);
+procedure TDynAABBTreeBase.insertLeafNode (nodeId: Integer);
var
newNodeAABB, mergedAABBs, currentAndLeftAABB, currentAndRightAABB: AABB2D;
currentNodeId: Integer;
leftChild, rightChild, siblingNode: Integer;
oldParentNode, newParentNode: Integer;
- volumeAABB, mergedVolume: Float;
- costS, costI, costLeft, costRight: Float;
+ volumeAABB, mergedVolume: TreeNumber;
+ costS, costI, costLeft, costRight: TreeNumber;
begin
// if the tree is empty
if (mRootNodeId = TTreeNode.NullTreeNode) then
{$IFDEF aabbtree_many_asserts}assert(mRootNodeId <> TTreeNode.NullTreeNode);{$ENDIF}
// find the best sibling node for the new node
- newNodeAABB := mNodes[nodeId].aabb;
+ newNodeAABB := AABB2D.Create(mNodes[nodeId].aabb);
currentNodeId := mRootNodeId;
while not mNodes[currentNodeId].leaf do
begin
mergedVolume := mergedAABBs.volume;
// compute the cost of making the current node the sibling of the new node
- costS := 2.0*mergedVolume;
+ costS := 2*mergedVolume;
// compute the minimum cost of pushing the new node further down the tree (inheritance cost)
- costI := 2.0*(mergedVolume-volumeAABB);
+ costI := 2*(mergedVolume-volumeAABB);
// compute the cost of descending into the left child
currentAndLeftAABB := AABB2D.Create(newNodeAABB, mNodes[leftChild].aabb);
costLeft := currentAndLeftAABB.volume+costI;
- if not mNodes[leftChild].leaf then costLeft := costLeft-mNodes[leftChild].aabb.volume;
+ if not mNodes[leftChild].leaf then costLeft -= mNodes[leftChild].aabb.volume;
// compute the cost of descending into the right child
currentAndRightAABB := AABB2D.Create(newNodeAABB, mNodes[rightChild].aabb);
costRight := currentAndRightAABB.volume+costI;
- if not mNodes[rightChild].leaf then costRight := costRight-mNodes[rightChild].aabb.volume;
+ if not mNodes[rightChild].leaf then costRight -= mNodes[rightChild].aabb.volume;
// if the cost of making the current node a sibling of the new node is smaller than the cost of going down into the left or right child
if (costS < costLeft) and (costS < costRight) then break;
{$IFDEF aabbtree_many_asserts}assert(rightChild <> TTreeNode.NullTreeNode);{$ENDIF}
// recompute the height of the node in the tree
- mNodes[currentNodeId].height := maxI(mNodes[leftChild].height, mNodes[rightChild].height)+1;
+ mNodes[currentNodeId].height := dtMaxI(mNodes[leftChild].height, mNodes[rightChild].height)+1;
{$IFDEF aabbtree_many_asserts}assert(mNodes[currentNodeId].height > 0);{$ENDIF}
// recompute the AABB of the node
// remove a leaf node from the tree
-procedure TDynAABBTree.removeLeafNode (nodeId: Integer);
+procedure TDynAABBTreeBase.removeLeafNode (nodeId: Integer);
var
currentNodeId, parentNodeId, grandParentNodeId, siblingNodeId: Integer;
leftChildId, rightChildId: Integer;
// recompute the AABB and the height of the current node
mNodes[currentNodeId].aabb.setMergeTwo(mNodes[leftChildId].aabb, mNodes[rightChildId].aabb);
- mNodes[currentNodeId].height := maxI(mNodes[leftChildId].height, mNodes[rightChildId].height)+1;
+ mNodes[currentNodeId].height := dtMaxI(mNodes[leftChildId].height, mNodes[rightChildId].height)+1;
{$IFDEF aabbtree_many_asserts}assert(mNodes[currentNodeId].height > 0);{$ENDIF}
currentNodeId := mNodes[currentNodeId].parentId;
// balance the sub-tree of a given node using left or right rotations
// the rotation schemes are described in the book "Introduction to Game Physics with Box2D" by Ian Parberry
// this method returns the new root node id
-function TDynAABBTree.balanceSubTreeAtNode (nodeId: Integer): Integer;
+function TDynAABBTreeBase.balanceSubTreeAtNode (nodeId: Integer): Integer;
var
nodeA, nodeB, nodeC, nodeF, nodeG: PTreeNode;
nodeBId, nodeCId, nodeFId, nodeGId: Integer;
balanceFactor := nodeC.height-nodeB.height;
// if the right node C is 2 higher than left node B
- if (balanceFactor > 1.0) then
+ if (balanceFactor > 1) then
begin
{$IFDEF aabbtree_many_asserts}assert(not nodeC.leaf);{$ENDIF}
nodeC.aabb.setMergeTwo(nodeA.aabb, nodeF.aabb);
// recompute the height of node A and C
- nodeA.height := maxI(nodeB.height, nodeG.height)+1;
- nodeC.height := maxI(nodeA.height, nodeF.height)+1;
+ nodeA.height := dtMaxI(nodeB.height, nodeG.height)+1;
+ nodeC.height := dtMaxI(nodeA.height, nodeF.height)+1;
{$IFDEF aabbtree_many_asserts}assert(nodeA.height > 0);{$ENDIF}
{$IFDEF aabbtree_many_asserts}assert(nodeC.height > 0);{$ENDIF}
end
nodeC.aabb.setMergeTwo(nodeA.aabb, nodeG.aabb);
// recompute the height of node A and C
- nodeA.height := maxI(nodeB.height, nodeF.height)+1;
- nodeC.height := maxI(nodeA.height, nodeG.height)+1;
+ nodeA.height := dtMaxI(nodeB.height, nodeF.height)+1;
+ nodeC.height := dtMaxI(nodeA.height, nodeG.height)+1;
{$IFDEF aabbtree_many_asserts}assert(nodeA.height > 0);{$ENDIF}
{$IFDEF aabbtree_many_asserts}assert(nodeC.height > 0);{$ENDIF}
end;
nodeB.aabb.setMergeTwo(nodeA.aabb, nodeF.aabb);
// recompute the height of node A and B
- nodeA.height := maxI(nodeC.height, nodeG.height)+1;
- nodeB.height := maxI(nodeA.height, nodeF.height)+1;
+ nodeA.height := dtMaxI(nodeC.height, nodeG.height)+1;
+ nodeB.height := dtMaxI(nodeA.height, nodeF.height)+1;
{$IFDEF aabbtree_many_asserts}assert(nodeA.height > 0);{$ENDIF}
{$IFDEF aabbtree_many_asserts}assert(nodeB.height > 0);{$ENDIF}
end
nodeB.aabb.setMergeTwo(nodeA.aabb, nodeG.aabb);
// recompute the height of node A and B
- nodeA.height := maxI(nodeC.height, nodeF.height)+1;
- nodeB.height := maxI(nodeA.height, nodeG.height)+1;
+ nodeA.height := dtMaxI(nodeC.height, nodeF.height)+1;
+ nodeB.height := dtMaxI(nodeA.height, nodeG.height)+1;
{$IFDEF aabbtree_many_asserts}assert(nodeA.height > 0);{$ENDIF}
{$IFDEF aabbtree_many_asserts}assert(nodeB.height > 0);{$ENDIF}
end;
// compute the height of a given node in the tree
-function TDynAABBTree.computeHeight (nodeId: Integer): Integer;
+function TDynAABBTreeBase.computeHeight (nodeId: Integer): Integer;
var
node: PTreeNode;
leftHeight, rightHeight: Integer;
rightHeight := computeHeight(node.children[TTreeNode.Right]);
// return the height of the node
- result := 1+maxI(leftHeight, rightHeight);
+ result := 1+dtMaxI(leftHeight, rightHeight);
end;
// internally add an object into the tree
-function TDynAABBTree.insertObjectInternal (var aabb: AABB2D; staticObject: Boolean): Integer;
+function TDynAABBTreeBase.insertObjectInternal (var aabb: AABB2D; staticObject: Boolean): Integer;
var
nodeId: Integer;
+ node: PTreeNode;
begin
// get the next available node (or allocate new ones if necessary)
nodeId := allocateNode();
+ node := @mNodes[nodeId];
+
// create the fat aabb to use in the tree
- mNodes[nodeId].aabb := aabb;
+ node.aabb := AABB2D.Create(aabb);
if (not staticObject) then
begin
- mNodes[nodeId].aabb.minX -= mExtraGap;
- mNodes[nodeId].aabb.minY -= mExtraGap;
- mNodes[nodeId].aabb.maxX += mExtraGap;
- mNodes[nodeId].aabb.maxY += mExtraGap;
+ node.aabb.minX -= mExtraGap;
+ node.aabb.minY -= mExtraGap;
+ node.aabb.maxX += mExtraGap;
+ node.aabb.maxY += mExtraGap;
end;
// set the height of the node in the tree
- mNodes[nodeId].height := 0;
+ node.height := 0;
// insert the new leaf node in the tree
insertLeafNode(nodeId);
- {$IFDEF aabbtree_many_asserts}assert(mNodes[nodeId].leaf);{$ENDIF}
- {$IFDEF aabbtree_many_asserts}assert(nodeId >= 0);{$ENDIF}
+ {$IFDEF aabbtree_many_asserts}node := @mNodes[nodeId];{$ENDIF}
+ {$IFDEF aabbtree_many_asserts}assert(node.leaf);{$ENDIF}
// return the id of the node
result := nodeId;
// initialize the tree
-procedure TDynAABBTree.setup ();
+procedure TDynAABBTreeBase.setup ();
var
i: Integer;
begin
for i := 0 to mAllocCount-1 do mNodes[i].clear();
// initialize the allocated nodes
- for i := 0 to mAllocCount-2 do
+ for i := 0 to mAllocCount-1 do
begin
mNodes[i].nextNodeId := i+1;
mNodes[i].height := -1;
end;
mNodes[mAllocCount-1].nextNodeId := TTreeNode.NullTreeNode;
- mNodes[mAllocCount-1].height := -1;
mFreeNodeId := 0;
end;
// also, checks if the tree structure is valid (for debugging purpose)
-function TDynAABBTree.forEachLeaf (dg: TForEachLeafCB): Boolean;
- function forEachNode (nodeId: Integer): Boolean;
- var
- pNode: PTreeNode;
- leftChild, rightChild, height: Integer;
- aabb: AABB2D;
+function TDynAABBTreeBase.forEachNode (nodeId: Integer; dg: TForEachLeafCB): Boolean;
+var
+ pNode: PTreeNode;
+ leftChild, rightChild, height: Integer;
+ aabb: AABB2D;
+begin
+ result := false;
+ if (nodeId = TTreeNode.NullTreeNode) then exit;
+ // if it is the root
+ if (nodeId = mRootNodeId) then assert(mNodes[nodeId].parentId = TTreeNode.NullTreeNode);
+ // get the children nodes
+ pNode := @mNodes[nodeId];
+ assert(pNode.height >= 0);
+ if (not pNode.aabb.valid) then
begin
- result := false;
- if (nodeId = TTreeNode.NullTreeNode) then exit;
- // if it is the root
- if (nodeId = mRootNodeId) then assert(mNodes[nodeId].parentId = TTreeNode.NullTreeNode);
- // get the children nodes
- pNode := @mNodes[nodeId];
- assert(pNode.height >= 0);
- e_WriteLog(Format('AABB:(%f,%f)-(%f,%f); volume=%f; valid=%d', [pNode.aabb.minX, pNode.aabb.minY, pNode.aabb.maxX, pNode.aabb.maxY, pNode.aabb.volume, Integer(pNode.aabb.valid)]), MSG_NOTIFY);
- assert(pNode.aabb.valid);
- assert(pNode.aabb.volume > 0);
- // if the current node is a leaf
- if (pNode.leaf) then
- begin
- assert(pNode.height = 0);
- if assigned(dg) then result := dg(pNode.flesh, pNode.aabb);
- end
- else
+ {$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
- leftChild := pNode.children[TTreeNode.Left];
- rightChild := pNode.children[TTreeNode.Right];
- // check that the children node Ids are valid
- assert((0 <= leftChild) and (leftChild < mAllocCount));
- assert((0 <= rightChild) and (rightChild < mAllocCount));
- // check that the children nodes have the correct parent node
- assert(mNodes[leftChild].parentId = nodeId);
- assert(mNodes[rightChild].parentId = nodeId);
- // check the height of node
- height := 1+maxI(mNodes[leftChild].height, mNodes[rightChild].height);
- assert(mNodes[nodeId].height = height);
- // check the AABB of the node
- aabb := AABB2D.Create(mNodes[leftChild].aabb, mNodes[rightChild].aabb);
- assert(aabb.minX = mNodes[nodeId].aabb.minX);
- assert(aabb.minY = mNodes[nodeId].aabb.minY);
- assert(aabb.maxX = mNodes[nodeId].aabb.maxX);
- assert(aabb.maxY = mNodes[nodeId].aabb.maxY);
- // recursively check the children nodes
- result := forEachNode(leftChild);
- if not result then result := forEachNode(rightChild);
+ getFleshAABB(aabb, pNode.flesh, pNode.tag);
+ {$IFDEF aabbtree_use_floats}
+ e_WriteLog(Format(' LEAF AABB:(%f,%f)-(%f,%f); valid=%d; volume=%f', [aabb.minX, aabb.minY, aabb.maxX, aabb.maxY, Integer(aabb.valid), aabb.volume]), MSG_NOTIFY);
+ {$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);
+ assert(pNode.aabb.volume > 0);
+ // if the current node is a leaf
+ if (pNode.leaf) then
+ begin
+ assert(pNode.height = 0);
+ if assigned(dg) then result := dg(pNode.flesh, pNode.aabb);
+ end
+ else
+ begin
+ leftChild := pNode.children[TTreeNode.Left];
+ rightChild := pNode.children[TTreeNode.Right];
+ // check that the children node Ids are valid
+ assert((0 <= leftChild) and (leftChild < mAllocCount));
+ assert((0 <= rightChild) and (rightChild < mAllocCount));
+ // check that the children nodes have the correct parent node
+ assert(mNodes[leftChild].parentId = nodeId);
+ assert(mNodes[rightChild].parentId = nodeId);
+ // check the height of node
+ height := 1+dtMaxI(mNodes[leftChild].height, mNodes[rightChild].height);
+ assert(mNodes[nodeId].height = height);
+ // check the AABB of the node
+ aabb := AABB2D.Create(mNodes[leftChild].aabb, mNodes[rightChild].aabb);
+ assert(aabb.minX = mNodes[nodeId].aabb.minX);
+ assert(aabb.minY = mNodes[nodeId].aabb.minY);
+ assert(aabb.maxX = mNodes[nodeId].aabb.maxX);
+ assert(aabb.maxY = mNodes[nodeId].aabb.maxY);
+ // recursively check the children nodes
+ result := forEachNode(leftChild, dg);
+ if not result then result := forEachNode(rightChild, dg);
+ end;
+end;
+
+// also, checks if the tree structure is valid (for debugging purpose)
+function TDynAABBTreeBase.forEachLeaf (dg: TForEachLeafCB): Boolean;
begin
// recursively check each node
- result := forEachNode(mRootNodeId);
+ result := forEachNode(mRootNodeId, dg);
end;
// 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;
+function TDynAABBTreeBase.visit (var caabb: AABB2D; mode: Integer; checker: TVisitCheckerCB; visitor: TQueryOverlapCB; visdg: TQueryOverlapDg; tagmask: Integer): 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;
- procedure spush (id: Integer);
+ (*
+ procedure spush (id: Integer); inline;
var
xsp: Integer;
begin
end;
end;
- function spop (): Integer;
+ function spop (): Integer; inline;
begin
- assert(sp > 0);
+ //{$IFDEF aabbtree_many_asserts}assert(sp > 0);{$ENDIF}
if (sp <= length(stack)) then
begin
// use "small stack"
result := bigstack[sp-length(stack)];
end;
end;
+ *)
var
nodeId: Integer;
node: PTreeNode;
+ doNode: Boolean = false;
+ xsp: Integer;
begin
if not assigned(checker) then begin result := -1; exit; end;
- //if not assigned(visitor) then begin result := -1; exit; end;
- try
+ //if not assigned(visitor) and not assigned(visdg) then raise Exception.Create('dyntree: empty visitors aren''t supported');
+ //try
{$IFDEF aabbtree_query_count}
- nodesVisited := 0;
- nodesDeepVisited := 0;
+ mNodesVisited := 0;
+ mNodesDeepVisited := 0;
{$ENDIF}
// start from root node
- spush(mRootNodeId);
+ {$IF FALSE}
+ spush(mRootNodeId);
+ {$ELSE}
+ if (sp < length(stack)) then begin stack[sp] := mRootNodeId; Inc(sp); end
+ else begin xsp := sp-length(stack); if (xsp < length(bigstack)) then bigstack[xsp] := mRootNodeId
+ else begin SetLength(bigstack, length(bigstack)+1); bigstack[high(bigstack)] := mRootNodeId; end;
+ end;
+ Inc(sp);
+ {$ENDIF}
// while there are still nodes to visit
while (sp > 0) do
begin
// get the next node id to visit
- nodeId := spop();
+ {$IF FALSE}
+ nodeId := spop();
+ {$ELSE}
+ if (sp <= length(stack)) then begin Dec(sp); nodeId := stack[sp]; end
+ else begin 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(nodesVisited);{$ENDIF}
+ {$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(nodesDeepVisited);{$ENDIF}
- if assigned(visitor) then
+ {$IFDEF aabbtree_query_count}Inc(mNodesDeepVisited);{$ENDIF}
+ if (tagmask = -1) or ((node.tag and tagmask) <> 0) then
begin
- if (visitor(node.flesh)) then begin result := nodeId; exit; end;
+ if assigned(visitor) then
+ begin
+ if (visitor(node.flesh, node.tag)) then begin result := nodeId; bigstack := nil; exit; end;
+ end;
+ if assigned(visdg) then
+ begin
+ if (visdg(node.flesh, node.tag)) then begin result := nodeId; bigstack := nil; exit; end;
+ end;
end;
end
else
begin
// if the node is not a leaf, we need to visit its children
- spush(node.children[TTreeNode.Left]);
- spush(node.children[TTreeNode.Right]);
+ {$IF FALSE}
+ spush(node.children[TTreeNode.Left]);
+ spush(node.children[TTreeNode.Right]);
+ {$ELSE}
+ if (sp < length(stack)) then begin stack[sp] := node.children[TTreeNode.Left]; Inc(sp); end
+ else begin xsp := sp-length(stack); if (xsp < length(bigstack)) then bigstack[xsp] := node.children[TTreeNode.Left]
+ else begin SetLength(bigstack, length(bigstack)+1); bigstack[high(bigstack)] := node.children[TTreeNode.Left]; end;
+ end;
+ Inc(sp);
+
+ if (sp < length(stack)) then begin stack[sp] := node.children[TTreeNode.Right]; Inc(sp); end
+ else begin xsp := sp-length(stack); if (xsp < length(bigstack)) then bigstack[xsp] := node.children[TTreeNode.Right]
+ else begin SetLength(bigstack, length(bigstack)+1); bigstack[high(bigstack)] := node.children[TTreeNode.Right]; end;
+ end;
+ Inc(sp);
+
+ {$ENDIF}
end;
end;
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 TDynAABBTreeBase.Create (extraAABBGap: TreeNumber=0);
begin
mExtraGap := extraAABBGap;
setup();
end;
-destructor TDynAABBTree.Destroy ();
+destructor TDynAABBTreeBase.Destroy ();
begin
mNodes := nil;
inherited;
// clear all the nodes and reset the tree
-procedure TDynAABBTree.reset ();
+procedure TDynAABBTreeBase.reset ();
begin
mNodes := nil;
setup();
end;
-function TDynAABBTree.computeTreeHeight (): Integer; begin result := computeHeight(mRootNodeId); end;
+function TDynAABBTreeBase.computeTreeHeight (): Integer; begin result := computeHeight(mRootNodeId); end;
// return the root AABB of the tree
-procedure TDynAABBTree.getRootAABB (var aabb: AABB2D);
+procedure TDynAABBTreeBase.getRootAABB (var aabb: AABB2D);
begin
- {$IFDEF aabbtree_many_asserts}assert((mRootNodeId >= 0) and (mRootNodeId < mNodeCount));{$ENDIF}
+ {$IFDEF aabbtree_many_asserts}assert((mRootNodeId >= 0) and (mRootNodeId < mAllocCount));{$ENDIF}
aabb := mNodes[mRootNodeId].aabb;
end;
// does the given id represents a valid object?
// WARNING: ids of removed objects can be reused on later insertions!
-function TDynAABBTree.isValidId (id: Integer): Boolean;
+function TDynAABBTreeBase.isValidId (id: Integer): Boolean;
begin
- result := (id >= 0) and (id < mNodeCount) and (mNodes[id].leaf);
+ result := (id >= 0) and (id < mAllocCount) and (mNodes[id].leaf);
end;
// get object by nodeid; can return nil for invalid ids
-function TDynAABBTree.getNodeObjectId (nodeid: Integer): TTreeFlesh;
+function TDynAABBTreeBase.getNodeObjectId (nodeid: Integer): TTreeFlesh;
begin
- if (nodeid >= 0) and (nodeid < mNodeCount) and (mNodes[nodeid].leaf) then result := mNodes[nodeid].flesh else result := nil;
+ if (nodeid >= 0) and (nodeid < mAllocCount) and (mNodes[nodeid].leaf) then result := mNodes[nodeid].flesh else result := Default(ITP);
end;
// get fat object AABB by nodeid; returns random shit for invalid ids
-procedure TDynAABBTree.getNodeFatAABB (var aabb: AABB2D; nodeid: Integer);
+procedure TDynAABBTreeBase.getNodeFatAABB (var aabb: AABB2D; nodeid: Integer);
begin
- if (nodeid >= 0) and (nodeid < mNodeCount) and (not mNodes[nodeid].free) then aabb.copyFrom(mNodes[nodeid].aabb) else aabb.setDims(0, 0, 0, 0);
+ if (nodeid >= 0) and (nodeid < mAllocCount) and (not mNodes[nodeid].isfree) then aabb.copyFrom(mNodes[nodeid].aabb) else aabb.setDims(0, 0, 0, 0);
+end;
+
+function TDynAABBTreeBase.getNodeXY (nodeid: Integer; out x, y: Integer): Boolean; inline;
+begin
+ if (nodeid >= 0) and (nodeid < mAllocCount) and (mNodes[nodeid].leaf) then
+ begin
+ result := true;
+ {$IFDEF aabbtree_use_floats}
+ x := round(mNodes[nodeid].fleshX);
+ y := round(mNodes[nodeid].fleshY);
+ {$ELSE}
+ x := mNodes[nodeid].fleshX;
+ y := mNodes[nodeid].fleshY;
+ {$ENDIF}
+ end
+ else
+ begin
+ result := false;
+ x := 0;
+ y := 0;
+ //if (nodeid >= 0) and (nodeid < mAllocCount) then mNodes[nodeid].dumpToLog();
+ end;
end;
// this method creates a new leaf node in the tree and returns the id of the corresponding node or -1 on error
// AABB for static object will not be "fat" (simple optimization)
// WARNING! inserting the same object several times *WILL* break everything!
-function TDynAABBTree.insertObject (flesh: TTreeFlesh; staticObject: Boolean=false): Integer;
+function TDynAABBTreeBase.insertObject (flesh: TTreeFlesh; tag: Integer; staticObject: Boolean=false): Integer;
var
aabb: AABB2D;
- nodeId: Integer;
+ nodeId, fx, fy: Integer;
begin
- if not getFleshAABB(aabb, flesh) then
+ if not getFleshAABB(aabb, flesh, tag) then
begin
+ {$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);
+ {$ENDIF}
+ raise Exception.Create('trying to insert invalid aabb in dyntree');
result := -1;
exit;
end;
- e_WriteLog(Format('inserting AABB:(%f,%f)-(%f,%f); volume=%f; valid=%d', [aabb.minX, aabb.minY, aabb.maxX, aabb.maxY, aabb.volume, Integer(aabb.valid)]), MSG_NOTIFY);
+ //e_WriteLog(Format('inserting AABB:(%f,%f)-(%f,%f); volume=%f; valid=%d', [aabb.minX, aabb.minY, aabb.maxX, aabb.maxY, aabb.volume, Integer(aabb.valid)]), MSG_NOTIFY);
+ fx := aabb.minX;
+ fy := aabb.minY;
nodeId := insertObjectInternal(aabb, staticObject);
{$IFDEF aabbtree_many_asserts}assert(mNodes[nodeId].leaf);{$ENDIF}
mNodes[nodeId].flesh := flesh;
+ mNodes[nodeId].tag := tag;
+ mNodes[nodeId].fleshX := fx;
+ mNodes[nodeId].fleshY := fy;
result := nodeId;
end;
// remove an object from the tree
// WARNING: ids of removed objects can be reused on later insertions!
-procedure TDynAABBTree.removeObject (nodeId: Integer);
+procedure TDynAABBTreeBase.removeObject (nodeId: Integer);
begin
- if (nodeId < 0) or (nodeId >= mNodeCount) or (not mNodes[nodeId].leaf) then raise Exception.Create('invalid node id in TDynAABBTree');
+ if (nodeId < 0) or (nodeId >= mAllocCount) or (not mNodes[nodeId].leaf) then raise Exception.Create('invalid node id in TDynAABBTreeBase');
// remove the node from the tree
removeLeafNode(nodeId);
releaseNode(nodeId);
end;
-function TDynAABBTree.updateObject (nodeId: Integer; dispX, dispY: Float; forceReinsert: Boolean=false): Boolean;
+function TDynAABBTreeBase.updateObject (nodeId: Integer; forceReinsert: Boolean=false): Boolean; overload;
var
newAABB: AABB2D;
+ dispX, dispY: TreeNumber;
begin
- if (nodeId < 0) or (nodeId >= mNodeCount) or (not mNodes[nodeId].leaf) then raise Exception.Create('invalid node id in TDynAABBTree');
+ if (nodeId < 0) or (nodeId >= mAllocCount) or (not mNodes[nodeId].leaf) then raise Exception.Create('invalid node id in TDynAABBTreeBase.updateObject');
+
+ if not getFleshAABB(newAABB, mNodes[nodeId].flesh, mNodes[nodeId].tag) then raise Exception.Create('invalid flesh dimensions in TDynAABBTreeBase.updateObject');
+ if not newAABB.valid then raise Exception.Create('invalid flesh aabb in TDynAABBTreeBase.updateObject');
+
+ dispX := newAABB.minX-mNodes[nodeId].fleshX;
+ dispY := newAABB.minY-mNodes[nodeId].fleshY;
- if not getFleshAABB(newAABB, mNodes[nodeId].flesh) then raise Exception.Create('invalid node id in TDynAABBTree');
+ if (dispX < -16) then dispX := -16 else if (dispX > 16) then dispX := 16;
+ if (dispY < -16) then dispY := -16 else if (dispY > 16) then dispY := 16;
+
+ result := updateObject(nodeId, dispX, dispY, forceReinsert);
+end;
+
+function TDynAABBTreeBase.updateObject (nodeId: Integer; dispX, dispY: TreeNumber; forceReinsert: Boolean=false): Boolean; overload;
+var
+ newAABB: AABB2D;
+ fx, fy: Integer;
+ node: PTreeNode;
+begin
+ if (nodeId < 0) or (nodeId >= mAllocCount) or (not mNodes[nodeId].leaf) then raise Exception.Create('invalid node id in TDynAABBTreeBase.updateObject');
+
+ if not getFleshAABB(newAABB, mNodes[nodeId].flesh, mNodes[nodeId].tag) then raise Exception.Create('invalid flesh dimensions in TDynAABBTreeBase.updateObject');
+ if not newAABB.valid then raise Exception.Create('invalid flesh aabb in TDynAABBTreeBase.updateObject');
+
+ fx := newAABB.minX;
+ fy := newAABB.minY;
// if the new AABB is still inside the fat AABB of the node
- if (not forceReinsert) and (mNodes[nodeId].aabb.contains(newAABB)) then begin result := false; exit; end;
+ if (not forceReinsert) and (mNodes[nodeId].aabb.contains(newAABB)) then
+ begin
+ node := @mNodes[nodeId];
+ node.fleshX := fx;
+ node.fleshY := fy;
+ result := false;
+ exit;
+ end;
// if the new AABB is outside the fat AABB, we remove the corresponding node
removeLeafNode(nodeId);
+ node := @mNodes[nodeId];
+
// compute the fat AABB by inflating the AABB with a constant gap
- mNodes[nodeId].aabb := newAABB;
- if not forceReinsert and ((dispX <> 0) or (dispY <> 0)) then
+ node.aabb.copyFrom(newAABB);
+ node.fleshX := fx;
+ node.fleshY := fy;
+
+ if (not forceReinsert) and ((dispX <> 0) or (dispY <> 0)) then
begin
- mNodes[nodeId].aabb.minX := mNodes[nodeId].aabb.minX-mExtraGap;
- mNodes[nodeId].aabb.minY := mNodes[nodeId].aabb.minY-mExtraGap;
- mNodes[nodeId].aabb.maxX := mNodes[nodeId].aabb.maxX+mExtraGap;
- mNodes[nodeId].aabb.maxY := mNodes[nodeId].aabb.maxY+mExtraGap;
+ node.aabb.minX -= mExtraGap;
+ node.aabb.minY += mExtraGap;
+ node.aabb.maxX += mExtraGap;
+ node.aabb.maxY += mExtraGap;
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;
+ node.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;
+ node.aabb.maxX += LinearMotionGapMultiplier*dispX {$IFDEF aabbtree_use_floats}{$ELSE}div 10{$ENDIF};
end;
- if (dispY < 0.0) then
+
+ if (dispY < 0) then
begin
- mNodes[nodeId].aabb.minY := mNodes[nodeId].aabb.minY+LinearMotionGapMultiplier*dispY;
+ node.aabb.minY += LinearMotionGapMultiplier*dispY {$IFDEF aabbtree_use_floats}{$ELSE}div 10{$ENDIF};
end
else
begin
- mNodes[nodeId].aabb.maxY := mNodes[nodeId].aabb.maxY+LinearMotionGapMultiplier*dispY;
+ node.aabb.maxY += LinearMotionGapMultiplier*dispY {$IFDEF aabbtree_use_floats}{$ELSE}div 10{$ENDIF};
end;
- {$IFDEF aabbtree_many_asserts}assert(mNodes[nodeId].aabb.contains(newAABB));{$ENDIF}
+ {$IFDEF aabbtree_many_asserts}assert(node.aabb.contains(newAABB));{$ENDIF}
// reinsert the node into the tree
insertLeafNode(nodeId);
end;
+function TDynAABBTreeBase.checkerAABB (node: PTreeNode): Boolean;
+begin
+ result := chkAABB.overlaps(node.aabb);
+end;
+
+
// report all shapes overlapping with the AABB given in parameter
-procedure TDynAABBTree.aabbQuery (ax, ay, aw, ah: Float; cb: TQueryOverlapCB);
+function TDynAABBTreeBase.aabbQuery (ax, ay, aw, ah: TreeNumber; cb: TQueryOverlapCB; tagmask: Integer=-1): TTreeFlesh;
var
- caabb: AABB2D;
- function checker (node: PTreeNode): Boolean;
- begin
- result := caabb.overlaps(node.aabb);
- end;
+ nid: Integer;
+ oldaabb: AABB2D;
begin
+ result := Default(ITP);
if not assigned(cb) then exit;
if (aw < 1) or (ah < 1) then exit;
- caabb := AABB2D.Create(ax, ay, ax+aw-1, ay+ah-1);
- visit(checker, cb);
+ //chkAABB := AABB2D.Create(ax, ay, ax+aw, ay+ah);
+ oldaabb := chkAABB;
+ chkAABB.minX := ax;
+ chkAABB.minY := ay;
+ chkAABB.maxX := ax+aw;
+ chkAABB.maxY := ay+ah;
+ nid := visit(chkAABB, ModeAABB, checkerAABB, cb, nil, tagmask);
+ chkAABB := oldaabb;
+ if (nid >= 0) then result := mNodes[nid].flesh else result := Default(ITP);
+end;
+
+
+function TDynAABBTreeBase.checkerPoint (node: PTreeNode): Boolean;
+begin
+ result := node.aabb.contains(chkAABB.minX, chkAABB.minY);
end;
// report body that contains the given point, or nil
-function TDynAABBTree.pointQuery (ax, ay: Float; cb: TQueryOverlapCB): TTreeFlesh;
+function TDynAABBTreeBase.pointQuery (ax, ay: TreeNumber; cb: TQueryOverlapCB; tagmask: Integer=-1): TTreeFlesh;
var
nid: Integer;
- function checker (node: PTreeNode): Boolean;
- begin
- result := node.aabb.contains(ax, ay);
- end;
+ oldaabb: AABB2D;
begin
- nid := visit(checker, cb);
- {$IFDEF aabbtree_many_asserts}assert((nid < 0) or ((nid >= 0) and (nid < mNodeCount) and (mNodes[nid].leaf)));{$ENDIF}
- if (nid >= 0) then result := mNodes[nid].flesh else result := nil;
+ oldaabb := chkAABB;
+ chkAABB := AABB2D.Create(ax, ay, ax+1, ay+1);
+ nid := visit(chkAABB, ModePoint, checkerPoint, cb, nil, tagmask);
+ {$IFDEF aabbtree_many_asserts}assert((nid < 0) or ((nid >= 0) and (nid < mAllocCount) and (mNodes[nid].leaf)));{$ENDIF}
+ chkAABB := oldaabb;
+ if (nid >= 0) then result := mNodes[nid].flesh else result := Default(ITP);
end;
-// segment querying method
-function TDynAABBTree.segmentQuery (var qr: TSegmentQueryResult; ax, ay, bx, by: Float; cb: TSegQueryCallback): Boolean;
-var
- maxFraction: Float = 1.0e100; // infinity
- curax, curay: Float;
- curbx, curby: Float;
- dirx, diry: Float;
- invlen: Float;
+function TDynAABBTreeBase.checkerRay (node: PTreeNode): Boolean;
+begin
+ result := node.aabb.intersects(curax, curay, curbx, curby);
+end;
- function checker (node: PTreeNode): Boolean;
+function TDynAABBTreeBase.visitorRay (flesh: TTreeFlesh; tag: Integer): Boolean;
+var
+ hitFraction: Single;
+begin
+ hitFraction := sqcb(flesh, curax, curay, curbx, curby);
+ // if the user returned a hitFraction of zero, it means that the raycasting should stop here
+ if (hitFraction = 0.0) then
begin
- result := node.aabb.intersects(curax, curay, curbx, curby);
+ qSRes.dist := 0;
+ qSRes.flesh := flesh;
+ result := true;
+ exit;
end;
-
- function visitor (flesh: TTreeFlesh): Boolean;
- var
- hitFraction: Float;
+ // if the user returned a positive fraction
+ if (hitFraction > 0.0) then
begin
- hitFraction := cb(flesh, curax, curay, curbx, curby);
- // if the user returned a hitFraction of zero, it means that the raycasting should stop here
- if (hitFraction = 0.0) then
+ // we update the maxFraction value and the ray AABB using the new maximum fraction
+ if (hitFraction < maxFraction) then
begin
- qr.dist := 0;
- qr.flesh := flesh;
- result := true;
- exit;
+ maxFraction := hitFraction;
+ qSRes.dist := hitFraction;
+ qSRes.flesh := flesh;
+ // fix curb here
+ //curb := cura+dir*hitFraction;
+ curbx := curax+dirx*hitFraction;
+ curby := curay+diry*hitFraction;
end;
- // if the user returned a positive fraction
- if (hitFraction > 0.0) then
- begin
- // we update the maxFraction value and the ray AABB using the new maximum fraction
- if (hitFraction < maxFraction) then
- begin
- maxFraction := hitFraction;
- qr.dist := hitFraction;
- qr.flesh := flesh;
- // fix curb here
- //curb := cura+dir*hitFraction;
- curbx := curax+dirx*hitFraction;
- curby := curay+diry*hitFraction;
- end;
- end;
- result := false; // continue
end;
+ result := false; // continue
+end;
+
+// segment querying method
+function TDynAABBTreeBase.segmentQuery (var qr: TSegmentQueryResult; ax, ay, bx, by: TreeNumber; cb: TSegQueryCallback; tagmask: Integer=-1): Boolean;
+var
+ oldmaxFraction: Single;
+ oldcurax, oldcuray: Single;
+ oldcurbx, oldcurby: Single;
+ olddirx, olddiry: Single;
+ invlen: Single;
+ osres: PSegmentQueryResult;
+ osqcb: TSegQueryCallback;
begin
qr.reset();
if (ax >= bx) or (ay >= by) then begin result := false; exit; end;
+ oldmaxFraction := maxFraction;
+ oldcurax := curax;
+ oldcuray := curay;
+ oldcurbx := curbx;
+ oldcurby := curby;
+ olddirx := dirx;
+ olddiry := diry;
+
+ maxFraction := 1.0e100; // infinity
curax := ax;
curay := ay;
curbx := bx;
curby := by;
- dirx := (curbx-curax);
- diry := (curby-curay);
+ dirx := curbx-curax;
+ diry := curby-curay;
// normalize
invlen := 1.0/sqrt(dirx*dirx+diry*diry);
dirx *= invlen;
diry *= invlen;
- visit(checker, visitor);
+ //chkAABB := AABB2D.Create(0, 0, 1, 1);
+ osres := qSRes;
+ qSRes := @qr;
+ osqcb := sqcb;
+ sqcb := cb;
+ visit(chkAABB, ModeNoChecks, checkerRay, nil, visitorRay, tagmask);
+ qSRes := osres;
+ sqcb := osqcb;
+
+ curax := oldcurax;
+ curay := oldcuray;
+ curbx := oldcurbx;
+ curby := oldcurby;
+ dirx := olddirx;
+ diry := olddiry;
+ maxFraction := oldmaxFraction;
result := qr.valid;
end;