index 73f02f7cac9fb8faf88f7ce753ec5def78051f33..a64e6322b7cbd98518e4ee9671cdb2a70aaccd94 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}
+{.$DEFINE aabbtree_use_floats}
unit z_aabbtree;
interface
+uses
+ e_log, g_grid;
+
+
// ////////////////////////////////////////////////////////////////////////// //
type
- Float = Single;
- PFloat = ^Float;
+ {$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
- procedure normalizeDir ();
+ constructor Create (ax, ay: Single; aangle: Single); overload;
+ constructor Create (ax0, ay0, ax1, ay1: Single); overload;
+ constructor Create (var aray: Ray2D); overload;
+
+ 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
- procedure setX0Y0X1Y1 (x0, y0, x1, y1: Float); inline;
- procedure setXYWH (ax, ay, aw, ah: Float); inline;
+ constructor Create (x0, y0, x1, y1: TreeNumber); overload;
+ constructor Create (var aabb: AABB2D); overload;
+ constructor Create (var aabb0, aabb1: AABB2D); overload;
+
+ procedure copyFrom (var aabb: AABB2D); inline;
+ procedure setDims (x0, y0, x1, y1: TreeNumber); inline;
procedure setMergeTwo (var aabb0, aabb1: AABB2D); inline;
- function volume (): Float; inline;
+ function volume (): TreeNumber; inline;
procedure merge (var aabb: AABB2D); inline;
// return true if the current AABB contains the AABB given in parameter
function contains (var aabb: AABB2D): Boolean; inline; overload;
- function contains (ax, ay: Float): 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 (var aabb: AABB2D): Boolean; inline; overload;
// ray direction must be normalized
- function intersects (var ray: Ray2D; tmino: PFloat=nil; tmaxo: PFloat=nil): Boolean; overload;
- function intersects (ax, ay, bx, by: Float): Boolean; 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;
* based on the one from Erin Catto in Box2D as described in the book
* "Introduction to Game Physics with Box2D" by Ian Parberry.
*)
-type
- PDTProxyRec = ^TDTProxyRec;
- TDTProxyRec = record
- private
- mX, mY, mWidth, mHeight: Integer;
- mQueryMark: DWord; // was this object visited at this query?
- mObj: TObject;
- mTag: Integer;
- nextfree: Integer;
-
- private
- procedure setup (aX, aY, aWidth, aHeight: Integer; aObj: TObject; aTag: Integer);
-
- function getx1 (): Integer; inline;
- function gety1 (): Integer; inline;
-
- public
- property x: Integer read mX;
- property y: Integer read mY;
- property width: Integer read mWidth;
- property height: Integer read mHeight;
- property x0: Integer read mX;
- property y0: Integer read mY;
- property x1: Integer read getx1;
- property y1: Integer read gety1;
- property obj: TObject read mObj;
- property tag: Integer read mTag;
- end;
-
// ////////////////////////////////////////////////////////////////////////// //
// Dynamic AABB Tree: can be used to speed up broad phase in various engines
type
//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 ();
+ 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;
+ //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
- const LinearMotionGapMultiplier = Float(1.7);
+ {$IFDEF aabbtree_use_floats}
+ const LinearMotionGapMultiplier = 1.7;
+ {$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}
- 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 (var 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; 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): 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}
+ property nodesVisited: Integer read mNodesVisited;
+ property nodesDeepVisited: Integer read mNodesDeepVisited;
+ {$ELSE}
+ const nodesVisited = 0;
+ const nodesDeepVisited = 0;
+ {$ENDIF}
end;
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: 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;
+
// ////////////////////////////////////////////////////////////////////////// //
-procedure TDTProxyRec.setup (aX, aY, aWidth, aHeight: Integer; aObj: TObject; aTag: Integer);
-begin
- mX := aX;
- mY := aY;
- mWidth := aWidth;
- mHeight := aHeight;
- mQueryMark := 0;
- mObj := aObj;
- mTag := aTag;
- nextfree := -1;
-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;
-function TDTProxyRec.getx1 (): Integer; begin result := mX+mWidth-1; end;
-function TDTProxyRec.gety1 (): Integer; begin result := mY+mHeight-1; end;
+procedure Ray2D.copyFrom (var aray: Ray2D); inline;
+begin
+ origX := aray.origX;
+ origY := aray.origY;
+ dirX := aray.dirX;
+ dirY := aray.dirY;
+end;
-// ////////////////////////////////////////////////////////////////////////// //
-procedure Ray2D.normalizeDir ();
+procedure Ray2D.normalizeDir (); inline;
var
- invlen: Float;
+ invlen: Single;
begin
- invlen := Float(1.0)/sqrt(dirX*dirX+dirY*dirY);
+ invlen := 1.0/sqrt(dirX*dirX+dirY*dirY);
dirX *= invlen;
dirY *= invlen;
end;
-procedure Ray2D.setXYAngle (ax, ay: Float; aangle: Float);
+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);
+procedure Ray2D.setX0Y0X1Y1 (ax0, ay0, ax1, ay1: Single); inline;
begin
origX := ax0;
origY := ay0;
// ////////////////////////////////////////////////////////////////////////// //
-function AABB2D.getvalid (): Boolean; begin result := (minX <= maxX) and (minY <= maxY); end;
-
-function AABB2D.getcenterX (): Float; begin result := (minX+maxX)/2; end;
-function AABB2D.getcenterY (): Float; begin result := (minY+maxY)/2; end;
-function AABB2D.getextentX (): Float; begin result := (maxX-minX)+1; end;
-function AABB2D.getextentY (): Float; begin result := (maxY-minY)+1; end;
+constructor AABB2D.Create (x0, y0, x1, y1: TreeNumber); overload;
+begin
+ setDims(x0, y0, x1, y1);
+end;
+constructor AABB2D.Create (var aabb: AABB2D); overload;
+begin
+ copyFrom(aabb);
+end;
-procedure AABB2D.setX0Y0X1Y1 (x0, y0, x1, y1: Float);
+constructor AABB2D.Create (var aabb0, aabb1: AABB2D); overload;
begin
- if (x0 < x1) then begin minX := x0; maxX := x1; end else begin minX := x1; maxX := x0; end;
- if (y0 < y1) then begin minY := y0; maxY := y1; end else begin minY := y1; maxY := y0; end;
+ setMergeTwo(aabb0, aabb1);
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;
+{$ENDIF}
+function AABB2D.getextentX (): TreeNumber; inline; begin result := (maxX-minX); end;
+function AABB2D.getextentY (): TreeNumber; inline; begin result := (maxY-minY); end;
-procedure AABB2D.setXYWH (ax, ay, aw, ah: Float);
+procedure AABB2D.copyFrom (var aabb: AABB2D); inline;
begin
- if (aw < 0) then aw := 0;
- if (ah < 0) then ah := 0;
- minX := ax;
- minY := ay;
- maxX := ax+aw-1;
- maxY := ay+ah-1;
+ minX := aabb.minX;
+ minY := aabb.minY;
+ maxX := aabb.maxX;
+ maxY := aabb.maxY;
+ {$IF DEFINED(D2F_DEBUG)}
+ if not valid then raise Exception.Create('copyFrom: result is fucked');
+ {$ENDIF}
end;
-procedure AABB2D.setMergeTwo (var aabb0, aabb1: AABB2D);
-var
- x0, y0, x1, y1: Float;
+procedure AABB2D.setDims (x0, y0, x1, y1: TreeNumber); inline;
begin
- if (aabb0.minX < aabb1.minX) then x0 := aabb0.minX else x0 := aabb1.minX;
- if (aabb0.minY < aabb1.minY) then y0 := aabb0.minY else y0 := aabb1.minY;
+ minX := minF(x0, x1);
+ minY := minF(y0, y1);
+ maxX := maxF(x0, x1);
+ maxY := maxF(y0, y1);
+ {$IF DEFINED(D2F_DEBUG)}
+ if not valid then raise Exception.Create('setDims: result is fucked');
+ {$ENDIF}
+end;
- if (aabb0.maxX > aabb1.maxX) then x1 := aabb0.maxX else x1 := aabb1.maxX;
- if (aabb0.maxY > aabb1.maxY) then y1 := aabb0.maxY else y1 := aabb1.maxY;
- minX := x0;
- minY := y0;
- maxX := x1;
- maxY := y1;
+procedure AABB2D.setMergeTwo (var aabb0, aabb1: AABB2D); inline;
+begin
+ {$IF DEFINED(D2F_DEBUG)}
+ if not aabb0.valid then raise Exception.Create('setMergeTwo: aabb0 is fucked');
+ if not aabb1.valid then raise Exception.Create('setMergeTwo: aabb0 is fucked');
+ {$ENDIF}
+ minX := minF(aabb0.minX, aabb1.minX);
+ minY := minF(aabb0.minY, aabb1.minY);
+ maxX := maxF(aabb0.maxX, aabb1.maxX);
+ maxY := maxF(aabb0.maxY, aabb1.maxY);
+ {$IF DEFINED(D2F_DEBUG)}
+ if not valid then raise Exception.Create('setMergeTwo: result is fucked');
+ {$ENDIF}
end;
-function AABB2D.volume (): Float;
-var
- diffX, diffY: Float;
+function AABB2D.volume (): TreeNumber; inline;
begin
- diffX := maxX-minX;
- diffY := maxY-minY;
- result := diffX*diffY;
+ result := (maxX-minX)*(maxY-minY);
end;
-procedure AABB2D.merge (var aabb: AABB2D);
+procedure AABB2D.merge (var aabb: AABB2D); inline;
begin
- if (minX > aabb.minX) then minX := aabb.minX;
- if (minY > aabb.minY) then minY := aabb.minY;
- if (maxX < aabb.maxX) then maxX := aabb.maxX;
- if (maxY < aabb.maxY) then maxY := aabb.maxY;
+ {$IF DEFINED(D2F_DEBUG)}
+ if not aabb.valid then raise Exception.Create('merge: aabb is fucked');
+ {$ENDIF}
+ minX := minF(minX, aabb.minX);
+ minY := minF(minY, aabb.minY);
+ maxX := maxF(maxX, aabb.maxX);
+ maxY := maxF(maxY, aabb.maxY);
+ {$IF DEFINED(D2F_DEBUG)}
+ if not valid then raise Exception.Create('setMergeTwo: result is fucked');
+ {$ENDIF}
end;
-function AABB2D.contains (var aabb: AABB2D): Boolean; 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; 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 (var aabb: AABB2D): Boolean; 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 (var 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;
// do X
if (ray.dirX <> 0.0) then
begin
- dinv := Float(1.0)/ray.dirX;
+ dinv := 1.0/ray.dirX;
t1 := (minX-ray.origX)*dinv;
t2 := (maxX-ray.origX)*dinv;
if (t1 < t2) then tmin := t1 else tmin := t2;
// do Y
if (ray.dirY <> 0.0) then
begin
- dinv := Float(1.0)/ray.dirY;
+ dinv := 1.0/ray.dirY;
t1 := (minY-ray.origY)*dinv;
t2 := (maxY-ray.origY)*dinv;
// tmin
end;
end;
-function AABB2D.intersects (ax, ay, bx, by: Float): Boolean; overload;
+function AABB2D.intersects (ax, ay, bx, by: Single): Boolean; inline; overload;
var
- tmin: Float;
+ tmin: Single;
ray: Ray2D;
begin
result := true;
if (ax >= minX) and (ay >= minY) and (ax <= maxX) and (ay <= maxY) then exit; // a
if (bx >= minX) and (by >= minY) and (bx <= maxX) and (by <= maxY) then exit; // b
// nope, do it hard way
- ray.setX0Y0X1Y1(ax, ay, bx, by);
+ ray := Ray2D.Create(ax, ay, bx, by);
if not intersects(ray, @tmin) then begin result := false; exit; end;
if (tmin < 0) then exit; // inside, just in case
bx := bx-ax;
// ////////////////////////////////////////////////////////////////////////// //
-procedure TDynAABBTree.TSegmentQueryResult.reset (); begin dist := -1; flesh := nil; end;
-function TDynAABBTree.TSegmentQueryResult.valid (): Boolean; begin result := (dist >= 0) and (flesh <> nil); end;
+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;
// ////////////////////////////////////////////////////////////////////////// //
-function TDynAABBTree.TTreeNode.leaf (): Boolean; begin result := (height = 0); end;
-function TDynAABBTree.TTreeNode.free (): Boolean; begin result := (height = -1); end;
+function TDynAABBTree.TTreeNode.leaf (): Boolean; inline; begin result := (height = 0); end;
+function TDynAABBTree.TTreeNode.isfree (): Boolean; inline; begin result := (height = -1); end;
-procedure TDynAABBTree.TTreeNode.clear ();
+procedure TDynAABBTree.TTreeNode.clear (); inline;
begin
parentId := 0;
children[0] := 0;
children[1] := 0;
flesh := nil;
+ tag := 0;
height := 0;
- aabb.setX0Y0X1Y1(0, 0, 0, 0);
+ aabb.minX := 0;
+ aabb.minY := 0;
+ aabb.maxX := 0;
+ aabb.maxY := 0;
+end;
+
+procedure TDynAABBTree.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;
function TDynAABBTree.allocateNode (): Integer;
var
i, newsz, freeNodeId: Integer;
+ node: PTreeNode;
begin
// if there is no more allocated node to use
if (mFreeNodeId = TTreeNode.NullTreeNode) then
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));{$ENDIF}
- mFreeNodeId := mNodes[freeNodeId].nextNodeId;
- mNodes[freeNodeId].parentId := TTreeNode.NullTreeNode;
- mNodes[freeNodeId].height := 0;
+ {$IFDEF aabbtree_many_asserts}assert(freeNodeId < mAllocCount);{$ENDIF}
+ node := @mNodes[freeNodeId];
+ mFreeNodeId := node.nextNodeId;
+ node.clear();
+ node.parentId := TTreeNode.NullTreeNode;
+ node.height := 0;
Inc(mNodeCount);
result := freeNodeId;
+
+ //e_WriteLog(Format('tree: allocated node #%d', [result]), MSG_NOTIFY);
end;
{$IFDEF aabbtree_many_asserts}assert(mNodes[nodeId].height >= 0);{$ENDIF}
mNodes[nodeId].nextNodeId := mFreeNodeId;
mNodes[nodeId].height := -1;
+ mNodes[nodeId].flesh := nil;
mFreeNodeId := nodeId;
Dec(mNodeCount);
+
+ //e_WriteLog(Format('tree: released node #%d', [nodeId]), MSG_NOTIFY);
end;
currentNodeId: Integer;
leftChild, rightChild, siblingNode: Integer;
oldParentNode, newParentNode: Integer;
- volumeAABB, mergedVolume: Float;
- costS, costI, costLeft, costRight: Float;
+ volumeAABB, mergedVolume: TreeNumber;
+ costS, costI, costLeft, costRight: TreeNumber;
begin
// if the tree is empty
if (mRootNodeId = TTreeNode.NullTreeNode) then
{$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
// compute the merged AABB
volumeAABB := mNodes[currentNodeId].aabb.volume;
- mergedAABBs.setMergeTwo(mNodes[currentNodeId].aabb, newNodeAABB);
+ mergedAABBs := AABB2D.Create(mNodes[currentNodeId].aabb, newNodeAABB);
mergedVolume := mergedAABBs.volume;
// compute the cost of making the current node the sibling of the new node
- costS := Float(2.0)*mergedVolume;
+ costS := 2*mergedVolume;
// compute the minimum cost of pushing the new node further down the tree (inheritance cost)
- costI := Float(2.0)*(mergedVolume-volumeAABB);
+ costI := 2*(mergedVolume-volumeAABB);
// compute the cost of descending into the left child
- currentAndLeftAABB.setMergeTwo(newNodeAABB, mNodes[leftChild].aabb);
- if (mNodes[leftChild].leaf) then
- begin
- costLeft := currentAndLeftAABB.volume+costI;
- end
- else
- begin
- costLeft := costI+currentAndLeftAABB.volume-mNodes[leftChild].aabb.volume;
- end;
+ currentAndLeftAABB := AABB2D.Create(newNodeAABB, mNodes[leftChild].aabb);
+ costLeft := currentAndLeftAABB.volume+costI;
+ if not mNodes[leftChild].leaf then costLeft -= mNodes[leftChild].aabb.volume;
// compute the cost of descending into the right child
- currentAndRightAABB.setMergeTwo(newNodeAABB, mNodes[rightChild].aabb);
- if (mNodes[rightChild].leaf) then
- begin
- costRight := currentAndRightAABB.volume+costI;
- end
- else
- begin
- costRight := costI+currentAndRightAABB.volume-mNodes[rightChild].aabb.volume;
- end;
+ currentAndRightAABB := AABB2D.Create(newNodeAABB, mNodes[rightChild].aabb);
+ costRight := currentAndRightAABB.volume+costI;
+ 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;
function TDynAABBTree.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 := 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;
// 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);{$ENDIF}
// return the id of the node
result := nodeId;
for i := 0 to mAllocCount-1 do mNodes[i].clear();
// initialize the allocated nodes
- for i := 0 to mAllocCount-2 do
+ for i := 0 to mAllocCount-1 do
begin
mNodes[i].nextNodeId := i+1;
mNodes[i].height := -1;
end;
mNodes[mAllocCount-1].nextNodeId := TTreeNode.NullTreeNode;
- mNodes[mAllocCount-1].height := -1;
mFreeNodeId := 0;
end;
// get the children nodes
pNode := @mNodes[nodeId];
assert(pNode.height >= 0);
+ if (not pNode.aabb.valid) then
+ begin
+ {$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, 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);
+ {$ENDIF}
+ end;
+ end;
+ assert(pNode.aabb.valid);
assert(pNode.aabb.volume > 0);
// if the current node is a leaf
if (pNode.leaf) then
begin
assert(pNode.height = 0);
- result := dg(pNode.flesh, pNode.aabb);
+ if assigned(dg) then result := dg(pNode.flesh, pNode.aabb);
end
else
begin
height := 1+maxI(mNodes[leftChild].height, mNodes[rightChild].height);
assert(mNodes[nodeId].height = height);
// check the AABB of the node
- aabb.setMergeTwo(mNodes[leftChild].aabb, mNodes[rightChild].aabb);
+ aabb := AABB2D.Create(mNodes[leftChild].aabb, mNodes[rightChild].aabb);
assert(aabb.minX = mNodes[nodeId].aabb.minX);
assert(aabb.minY = mNodes[nodeId].aabb.minY);
assert(aabb.maxX = mNodes[nodeId].aabb.maxX);
end;
begin
- result := false;
- if not assigned(dg) then exit;
// recursively check each node
result := forEachNode(mRootNodeId);
end;
// return `true` from visitor to stop immediately
// checker should check if this node should be considered to further checking
// returns tree node if visitor says stop or -1
-function TDynAABBTree.visit (checker: TVisitCheckerCB; visitor: TVisitVisitorCB): Integer;
+const ModeNoChecks = 0;
+const ModeAABB = 1;
+const ModePoint = 2;
+function TDynAABBTree.visit (var caabb: AABB2D; mode: Integer; checker: TVisitCheckerCB; visitor: TQueryOverlapCB; tagmask: Integer=-1): Integer;
var
- stack: array [0..255] of Integer; // stack with the nodes to visit
+ stack: array [0..2048] of Integer; // stack with the nodes to visit
bigstack: array of Integer = nil;
sp: Integer = 0;
- procedure spush (id: Integer);
+ procedure spush (id: Integer); inline;
var
xsp: Integer;
begin
end;
end;
- function spop (): Integer;
+ function spop (): Integer; inline;
begin
- assert(sp > 0);
+ //{$IFDEF aabbtree_many_asserts}assert(sp > 0);{$ENDIF}
if (sp <= length(stack)) then
begin
// use "small stack"
var
nodeId: Integer;
node: PTreeNode;
+ doNode: Boolean = false;
begin
if not assigned(checker) then begin result := -1; exit; end;
+ if not assigned(visitor) then raise Exception.Create('dyntree: empty visitors aren''t supported');
//if not assigned(visitor) then begin result := -1; exit; end;
- try
+ //try
{$IFDEF aabbtree_query_count}
- nodesVisited := 0;
- nodesDeepVisited := 0;
+ mNodesVisited := 0;
+ mNodesDeepVisited := 0;
{$ENDIF}
// start from root node
while (sp > 0) do
begin
// get the next node id to visit
- nodeId := spop();
+ {$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;
- {$IFDEF aabbtree_query_count}Inc(nodesVisited);{$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 ((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();
@@ -1228,7 +1320,7 @@ function TDynAABBTree.computeTreeHeight (): Integer; begin result := computeHeig
// return the root AABB of the tree
procedure TDynAABBTree.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;
// WARNING: ids of removed objects can be reused on later insertions!
function TDynAABBTree.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;
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 := nil;
end;
// get fat object AABB by nodeid; returns random shit for invalid ids
procedure TDynAABBTree.getNodeFatAABB (var aabb: AABB2D; nodeid: Integer);
begin
- if (nodeid >= 0) and (nodeid < mNodeCount) and (not mNodes[nodeid].free) then aabb := mNodes[nodeid].aabb else aabb.setX0Y0X1Y1(0, 0, -1, -1);
+ 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 TDynAABBTree.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;
+ {$ENDIF}
+ end
+ else
+ begin
+ result := false;
+ x := 0;
+ y := 0;
+ //if (nodeid >= 0) and (nodeid < mAllocCount) then mNodes[nodeid].dumpToLog();
+ end;
end;
// this method creates a new leaf node in the tree and returns the id of the corresponding node or -1 on error
// AABB for static object will not be "fat" (simple optimization)
// WARNING! inserting the same object several times *WILL* break everything!
-function TDynAABBTree.insertObject (flesh: TTreeFlesh; staticObject: Boolean=false): Integer;
+function TDynAABBTree.insertObject (flesh: TTreeFlesh; tag: Integer; staticObject: Boolean=false): Integer;
var
aabb: AABB2D;
- nodeId: Integer;
+ nodeId, fx, fy: Integer;
begin
- if not getFleshAABB(aabb, flesh) then begin result := -1; exit; end;
+ if not getFleshAABB(aabb, flesh, tag) then
+ begin
+ {$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);
+ {$ENDIF}
+ raise Exception.Create('trying to insert invalid aabb in dyntree');
+ result := -1;
+ exit;
+ end;
+ //e_WriteLog(Format('inserting AABB:(%f,%f)-(%f,%f); volume=%f; valid=%d', [aabb.minX, aabb.minY, aabb.maxX, aabb.maxY, aabb.volume, Integer(aabb.valid)]), MSG_NOTIFY);
+ fx := aabb.minX;
+ fy := aabb.minY;
nodeId := insertObjectInternal(aabb, staticObject);
{$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;
// WARNING: ids of removed objects can be reused on later insertions!
procedure TDynAABBTree.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 TDynAABBTree');
// remove the node from the tree
removeLeafNode(nodeId);
releaseNode(nodeId);
end;
-function TDynAABBTree.updateObject (nodeId: Integer; dispX, dispY: Float; forceReinsert: Boolean=false): Boolean;
+function TDynAABBTree.updateObject (nodeId: Integer; forceReinsert: Boolean=false): Boolean; overload;
+var
+ newAABB: AABB2D;
+ dispX, dispY: TreeNumber;
+begin
+ if (nodeId < 0) or (nodeId >= mAllocCount) or (not mNodes[nodeId].leaf) then raise Exception.Create('invalid node id in TDynAABBTree.updateObject');
+
+ if not getFleshAABB(newAABB, mNodes[nodeId].flesh, mNodes[nodeId].tag) then raise Exception.Create('invalid flesh dimensions in TDynAABBTree.updateObject');
+ if not newAABB.valid then raise Exception.Create('invalid flesh aabb in TDynAABBTree.updateObject');
+
+ dispX := newAABB.minX-mNodes[nodeId].fleshX;
+ dispY := newAABB.minY-mNodes[nodeId].fleshY;
+
+ 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 TDynAABBTree.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 >= 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 TDynAABBTree.updateObject');
- if not getFleshAABB(newAABB, mNodes[nodeId].flesh) then raise Exception.Create('invalid node id in TDynAABBTree');
+ if not getFleshAABB(newAABB, mNodes[nodeId].flesh, mNodes[nodeId].tag) then raise Exception.Create('invalid flesh dimensions in TDynAABBTree.updateObject');
+ if not newAABB.valid then raise Exception.Create('invalid flesh aabb in TDynAABBTree.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));{$ENDIF}
// reinsert the node into the tree
insertLeafNode(nodeId);
// report all shapes overlapping with the AABB given in parameter
-procedure TDynAABBTree.aabbQuery (ax, ay, aw, ah: Float; cb: TQueryOverlapCB);
+function TDynAABBTree.aabbQuery (ax, ay, aw, ah: TreeNumber; cb: TQueryOverlapCB; tagmask: Integer=-1): TTreeFlesh;
var
caabb: AABB2D;
function checker (node: PTreeNode): Boolean;
begin
result := caabb.overlaps(node.aabb);
end;
+var
+ nid: Integer;
begin
+ result := nil;
if not assigned(cb) then exit;
- caabb.setXYWH(ax, ay, aw, ah);
- visit(checker, cb);
+ if (aw < 1) or (ah < 1) then exit;
+ //caabb := AABB2D.Create(ax, ay, ax+aw, ay+ah);
+ caabb.minX := ax;
+ caabb.minY := ay;
+ caabb.maxX := ax+aw;
+ caabb.maxY := ay+ah;
+ nid := visit(caabb, ModeAABB, checker, cb, tagmask);
+ if (nid >= 0) then result := mNodes[nid].flesh else result := nil;
end;
// report body that contains the given point, or nil
-function TDynAABBTree.pointQuery (ax, ay: Float; cb: TQueryOverlapCB): TTreeFlesh;
-var
- nid: Integer;
+function TDynAABBTree.pointQuery (ax, ay: TreeNumber; cb: TQueryOverlapCB): TTreeFlesh;
function checker (node: PTreeNode): Boolean;
begin
result := node.aabb.contains(ax, ay);
end;
+ function dummycb (abody: TTreeFlesh; atag: Integer): Boolean; begin result := false; end;
+var
+ nid: Integer;
+ caabb: AABB2D;
begin
- nid := visit(checker, cb);
- {$IFDEF aabbtree_many_asserts}assert((nid < 0) or ((nid >= 0) and (nid < mNodeCount) and (mNodes[nid].leaf)));{$ENDIF}
+ if not assigned(cb) then cb := dummycb;
+ caabb := AABB2D.Create(ax, ay, ax+1, ay+1);
+ nid := visit(caabb, ModePoint, checker, cb);
+ {$IFDEF aabbtree_many_asserts}assert((nid < 0) or ((nid >= 0) and (nid < mAllocCount) 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 := (curbx-curax);
diry := (curby-curay);
// normalize
- invlen := Float(1.0)/sqrt(dirx*dirx+diry*diry);
+ invlen := 1.0/sqrt(dirx*dirx+diry*diry);
dirx *= invlen;
diry *= invlen;
- visit(checker, visitor);
+ caabb := AABB2D.Create(0, 0, 1, 1);
+ visit(caabb, ModeNoChecks, checker, visitor);
result := qr.valid;
end;