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Add non-topological WQuadtree update.

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This commit is contained in:
Crozet Sébastien
2020-09-22 15:29:29 +02:00
parent 56f6051b04
commit a7d77a0144
5 changed files with 151 additions and 25 deletions
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93
src/geometry/wquadtree.rs
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@@ -4,6 +4,7 @@ use crate::math::{Point, Vector};
use crate::simd::{SimdFloat, SIMD_WIDTH};
use ncollide::bounding_volume::BoundingVolume;
use simba::simd::{SimdBool, SimdValue};
use std::collections::VecDeque;
use std::ops::Range;
#[derive(Copy, Clone, Debug, PartialEq, Eq)]
@@ -32,16 +33,17 @@ struct WQuadtreeNode {
// If this is a leaf, it contains the proxy ids instead.
children: [u32; 4],
parent: NodeIndex,
leaf: bool, // TODO: pack this with the NodexIndex.lane?
leaf: bool, // TODO: pack this with the NodexIndex.lane?
dirty: bool, // TODO: move this to a separate bitvec?
}
#[derive(Copy, Clone, Debug, PartialEq, Eq)]
struct ColliderNodeIndex {
struct WQuadtreeProxy {
node: NodeIndex,
handle: ColliderHandle, // The collider handle. TODO: only set the collider generation here?
}
impl ColliderNodeIndex {
impl WQuadtreeProxy {
fn invalid() -> Self {
Self {
node: NodeIndex::invalid(),
@@ -52,32 +54,77 @@ impl ColliderNodeIndex {
pub struct WQuadtree {
nodes: Vec<WQuadtreeNode>,
dirty: Vec<bool>, // TODO: use a bitvec/Vob and check it does not break cross-platform determinism.
proxies: Vec<ColliderNodeIndex>,
dirty_nodes: VecDeque<u32>,
proxies: Vec<WQuadtreeProxy>,
}
impl WQuadtree {
pub fn new() -> Self {
WQuadtree {
nodes: Vec::new(),
dirty: Vec::new(),
dirty_nodes: VecDeque::new(),
proxies: Vec::new(),
}
}
pub fn clear_and_rebuild(&mut self, colliders: &ColliderSet) {
pub fn pre_update(&mut self, handle: ColliderHandle) {
let id = handle.into_raw_parts().0;
let node_id = self.proxies[id].node.index;
let node = &mut self.nodes[node_id as usize];
if !node.dirty {
node.dirty = true;
self.dirty_nodes.push_back(node_id);
}
}
pub fn update(&mut self, colliders: &ColliderSet, dilation_factor: f32) {
// Loop on the dirty leaves.
let dilation_factor = SimdFloat::splat(dilation_factor);
while let Some(id) = self.dirty_nodes.pop_front() {
// NOTE: this will handle the case where we reach the root of the tree.
if let Some(node) = self.nodes.get(id as usize) {
// Compute the new WAABB.
let mut new_aabbs = [AABB::new_invalid(); SIMD_WIDTH];
for (child_id, new_aabb) in node.children.iter().zip(new_aabbs.iter_mut()) {
if node.leaf {
// We are in a leaf: compute the colliders' AABBs.
if let Some(proxy) = self.proxies.get(*child_id as usize) {
let collider = &colliders[proxy.handle];
*new_aabb = collider.compute_aabb();
}
} else {
// We are in an internal node: compute the children's AABBs.
if let Some(node) = self.nodes.get(*child_id as usize) {
*new_aabb = node.waabb.to_merged_aabb();
}
}
}
let node = &mut self.nodes[id as usize];
let new_waabb = WAABB::from(new_aabbs);
if !node.waabb.contains_lanewise(&new_waabb).all() {
node.waabb = new_waabb;
node.waabb.dilate_by_factor(dilation_factor);
self.dirty_nodes.push_back(node.parent.index);
}
node.dirty = false;
}
}
}
pub fn clear_and_rebuild(&mut self, colliders: &ColliderSet, dilation_factor: f32) {
self.nodes.clear();
self.dirty.clear();
self.proxies.clear();
// Create proxies.
let mut indices = Vec::with_capacity(colliders.len());
self.proxies = vec![ColliderNodeIndex::invalid(); colliders.len()];
self.proxies = vec![WQuadtreeProxy::invalid(); colliders.len()];
for (handle, collider) in colliders.iter() {
let index = handle.into_raw_parts().0;
if self.proxies.len() < index {
self.proxies.resize(index + 1, ColliderNodeIndex::invalid());
self.proxies.resize(index + 1, WQuadtreeProxy::invalid());
}
self.proxies[index].handle = handle;
@@ -98,11 +145,12 @@ impl WQuadtree {
children: [1, u32::MAX, u32::MAX, u32::MAX],
parent: NodeIndex::invalid(),
leaf: false,
dirty: false,
};
self.nodes.push(root_node);
let root_id = NodeIndex::new(0, 0);
let (_, aabb) = self.do_recurse_build(&mut indices, &aabbs, root_id);
let (_, aabb) = self.do_recurse_build(&mut indices, &aabbs, root_id, dilation_factor);
self.nodes[0].waabb = WAABB::from([
aabb,
AABB::new_invalid(),
@@ -116,9 +164,10 @@ impl WQuadtree {
indices: &mut [usize],
aabbs: &[AABB],
parent: NodeIndex,
dilation_factor: f32,
) -> (u32, AABB) {
// Leaf case.
if indices.len() <= 4 {
// Leaf case.
let my_id = self.nodes.len();
let mut my_aabb = AABB::new_invalid();
let mut leaf_aabbs = [AABB::new_invalid(); 4];
@@ -128,15 +177,19 @@ impl WQuadtree {
my_aabb.merge(&aabbs[*id]);
leaf_aabbs[k] = aabbs[*id];
proxy_ids[k] = *id as u32;
self.proxies[*id].node = NodeIndex::new(my_id as u32, k as u8);
}
let node = WQuadtreeNode {
let mut node = WQuadtreeNode {
waabb: WAABB::from(leaf_aabbs),
children: proxy_ids,
parent,
leaf: true,
dirty: false,
};
node.waabb
.dilate_by_factor(SimdFloat::splat(dilation_factor));
self.nodes.push(node);
return (my_id as u32, my_aabb);
}
@@ -198,20 +251,24 @@ impl WQuadtree {
children: [0; 4], // Will be set after the recursive call
parent,
leaf: false,
dirty: false,
};
let id = self.nodes.len() as u32;
self.nodes.push(node);
// Recurse!
let a = self.do_recurse_build(left_bottom, aabbs, NodeIndex::new(id, 0));
let b = self.do_recurse_build(left_top, aabbs, NodeIndex::new(id, 1));
let c = self.do_recurse_build(right_bottom, aabbs, NodeIndex::new(id, 2));
let d = self.do_recurse_build(right_top, aabbs, NodeIndex::new(id, 3));
let a = self.do_recurse_build(left_bottom, aabbs, NodeIndex::new(id, 0), dilation_factor);
let b = self.do_recurse_build(left_top, aabbs, NodeIndex::new(id, 1), dilation_factor);
let c = self.do_recurse_build(right_bottom, aabbs, NodeIndex::new(id, 2), dilation_factor);
let d = self.do_recurse_build(right_top, aabbs, NodeIndex::new(id, 3), dilation_factor);
// Now we know the indices of the grand-nodes.
self.nodes[id as usize].children = [a.0, b.0, c.0, d.0];
self.nodes[id as usize].waabb = WAABB::from([a.1, b.1, c.1, d.1]);
self.nodes[id as usize]
.waabb
.dilate_by_factor(SimdFloat::splat(dilation_factor));
// TODO: will this chain of .merged be properly optimized?
let my_aabb = a.1.merged(&b.1).merged(&c.1).merged(&d.1);
@@ -302,6 +359,7 @@ impl WQuadtreeIncrementalBuilder {
children: proxy_ids,
parent: to_insert.parent,
leaf: true,
dirty: false,
};
self.quadtree.nodes[to_insert.parent.index as usize].children
@@ -366,6 +424,7 @@ impl WQuadtreeIncrementalBuilder {
children: [0; 4], // Will be set after the recursive call
parent: to_insert.parent,
leaf: false,
dirty: false,
};
let id = self.quadtree.nodes.len() as u32;