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use crate::bounding_volume::{Aabb, SimdAabb};
use crate::math::{Real, Vector};
use bitflags::bitflags;
use na::SimdValue;
#[cfg(feature = "rkyv")]
use rkyv::{bytecheck, CheckBytes};
/// A data to which an index is associated.
pub trait IndexedData: Copy {
/// Creates a new default instance of `Self`.
fn default() -> Self;
/// Gets the index associated to `self`.
fn index(&self) -> usize;
}
impl IndexedData for usize {
fn default() -> Self {
// NOTE: we use u32::MAX for compatibility
// between 32 and 64 bit platforms.
u32::MAX as usize
}
fn index(&self) -> usize {
*self
}
}
impl IndexedData for u32 {
fn default() -> Self {
u32::MAX
}
fn index(&self) -> usize {
*self as usize
}
}
impl IndexedData for u64 {
fn default() -> Self {
u64::MAX
}
fn index(&self) -> usize {
*self as usize
}
}
/// The index of an internal SIMD node of a Qbvh.
pub type SimdNodeIndex = u32;
/// The index of a node part of a Qbvh.
#[derive(Copy, Clone, Debug, PartialEq, Eq)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[cfg_attr(
feature = "rkyv",
derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize, CheckBytes),
archive(as = "Self")
)]
/// The index of one specific node of a Qbvh.
pub struct NodeIndex {
/// The index of the SIMD node containing the addressed node.
pub index: SimdNodeIndex, // Index of the addressed node in the `nodes` array.
/// The SIMD lane the addressed node is associated to.
pub lane: u8, // SIMD lane of the addressed node.
}
impl NodeIndex {
pub(super) fn new(index: u32, lane: u8) -> Self {
Self { index, lane }
}
pub(super) fn invalid() -> Self {
Self {
index: u32::MAX,
lane: 0,
}
}
pub(super) fn is_invalid(&self) -> bool {
self.index == u32::MAX
}
}
bitflags! {
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
#[cfg_attr(
feature = "rkyv",
derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
archive(as = "Self")
)]
#[derive(Default)]
/// The status of a QBVH node.
pub struct QbvhNodeFlags: u8 {
/// If this bit is set, the node is a leaf.
const LEAF = 0b0001;
/// If this bit is set, this node was recently changed.
const CHANGED = 0b0010;
/// Does this node need an update?
const DIRTY = 0b0100;
}
}
/// A SIMD node of an SIMD Qbvh.
///
/// This groups four nodes of the Qbvh.
#[derive(Copy, Clone, Debug)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[cfg_attr(
feature = "rkyv",
derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
archive(check_bytes)
)]
pub struct QbvhNode {
/// The Aabbs of the qbvh nodes represented by this node.
pub simd_aabb: SimdAabb,
/// Index of the nodes of the 4 nodes represented by `self`.
/// If this is a leaf, it contains the proxy ids instead.
pub children: [u32; 4],
/// The index of the node parent to the 4 nodes represented by `self`.
pub parent: NodeIndex,
/// Status flags for this node.
pub flags: QbvhNodeFlags,
}
impl QbvhNode {
#[inline]
/// Is this node a leaf?
pub fn is_leaf(&self) -> bool {
self.flags.contains(QbvhNodeFlags::LEAF)
}
#[inline]
/// Does the AABB of this node needs to be updated?
pub fn is_dirty(&self) -> bool {
self.flags.contains(QbvhNodeFlags::DIRTY)
}
#[inline]
/// Sets if the AABB of this node needs to be updated.
pub fn set_dirty(&mut self, dirty: bool) {
self.flags.set(QbvhNodeFlags::DIRTY, dirty);
}
#[inline]
/// Was the AABB of this node changed since the last rebalancing?
pub fn is_changed(&self) -> bool {
self.flags.contains(QbvhNodeFlags::CHANGED)
}
#[inline]
/// Sets if the AABB of this node changed since the last rebalancing.
pub fn set_changed(&mut self, changed: bool) {
self.flags.set(QbvhNodeFlags::CHANGED, changed);
}
#[inline]
/// An empty internal node.
pub fn empty() -> Self {
Self {
simd_aabb: SimdAabb::new_invalid(),
children: [u32::MAX; 4],
parent: NodeIndex::invalid(),
flags: QbvhNodeFlags::default(),
}
}
#[inline]
/// An empty leaf.
pub fn empty_leaf_with_parent(parent: NodeIndex) -> Self {
Self {
simd_aabb: SimdAabb::new_invalid(),
children: [u32::MAX; 4],
parent,
flags: QbvhNodeFlags::LEAF,
}
}
}
#[derive(Copy, Clone, Debug, PartialEq, Eq)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[cfg_attr(
feature = "rkyv",
derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
archive(check_bytes)
)]
/// Combination of a leaf data and its associated node’s index.
pub struct QbvhProxy<LeafData> {
/// Index of the leaf node the leaf data is associated to.
pub node: NodeIndex,
/// The data contained in this node.
pub data: LeafData, // The collider data. TODO: only set the collider generation here?
}
impl<LeafData> QbvhProxy<LeafData> {
pub(super) fn invalid() -> Self
where
LeafData: IndexedData,
{
Self {
node: NodeIndex::invalid(),
data: LeafData::default(),
}
}
pub(super) fn detached(data: LeafData) -> Self {
Self {
node: NodeIndex::invalid(),
data,
}
}
pub(super) fn is_detached(&self) -> bool {
self.node.is_invalid()
}
}
/// A quaternary bounding-volume-hierarchy.
///
/// This is a bounding-volume-hierarchy where each node has either four children or none.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[cfg_attr(
feature = "rkyv",
derive(rkyv::Archive, rkyv::Deserialize, rkyv::Serialize),
archive(check_bytes)
)]
#[repr(C)]
#[derive(Debug, Clone)]
pub struct Qbvh<LeafData> {
pub(super) root_aabb: Aabb,
pub(super) nodes: Vec<QbvhNode>,
pub(super) dirty_nodes: Vec<u32>,
pub(super) free_list: Vec<u32>,
pub(super) proxies: Vec<QbvhProxy<LeafData>>,
}
impl<LeafData: IndexedData> Default for Qbvh<LeafData> {
fn default() -> Self {
Self::new()
}
}
impl<LeafData: IndexedData> Qbvh<LeafData> {
/// Initialize an empty Qbvh.
pub fn new() -> Self {
Qbvh {
root_aabb: Aabb::new_invalid(),
nodes: Vec::new(),
dirty_nodes: Vec::new(),
free_list: Vec::new(),
proxies: Vec::new(),
}
}
/// Iterates mutably through all the leaf data in this Qbvh.
pub fn iter_data_mut(&mut self) -> impl Iterator<Item = (NodeIndex, &mut LeafData)> {
self.proxies.iter_mut().map(|p| (p.node, &mut p.data))
}
/// Iterate through all the leaf data in this Qbvh.
pub fn iter_data(&self) -> impl Iterator<Item = (NodeIndex, &LeafData)> {
self.proxies.iter().map(|p| (p.node, &p.data))
}
/// The Aabb of the given node.
pub fn node_aabb(&self, node_id: NodeIndex) -> Option<Aabb> {
self.nodes
.get(node_id.index as usize)
.map(|n| n.simd_aabb.extract(node_id.lane as usize))
}
/// Returns the data associated to a given leaf.
///
/// Returns `None` if the provided node ID does not identify a leaf.
pub fn leaf_data(&self, node_id: NodeIndex) -> Option<LeafData> {
let node = self.nodes.get(node_id.index as usize)?;
if !node.is_leaf() {
return None;
}
let proxy = self
.proxies
.get(node.children[node_id.lane as usize] as usize)?;
Some(proxy.data)
}
/// The raw nodes of this BVH.
///
/// If this Qbvh isn’t empty, the first element of the returned slice is the root of the
/// tree. The other elements are not arranged in any particular order.
/// The more high-level traversal methods should be used instead of this.
pub fn raw_nodes(&self) -> &[QbvhNode] {
&self.nodes
}
/// The raw proxies of this BVH.
///
/// If this Qbvh isn’t empty, the first element of the returned slice is the root of the
/// tree. The other elements are not arranged in any particular order.
/// The more high-level traversal methods should be used instead of this.
pub fn raw_proxies(&self) -> &[QbvhProxy<LeafData>] {
&self.proxies
}
/// Computes a scaled version of this Qbvh.
///
/// This will apply the scale to each Aabb on this BVH.
pub fn scaled(mut self, scale: &Vector<Real>) -> Self {
self.root_aabb = self.root_aabb.scaled(scale);
for node in &mut self.nodes {
node.simd_aabb = node.simd_aabb.scaled(&Vector::splat(*scale));
}
self
}
}
impl<LeafData: IndexedData> Qbvh<LeafData> {
/// The Aabb of the root of this tree.
pub fn root_aabb(&self) -> &Aabb {
&self.root_aabb
}
}
#[cfg(test)]
mod test {
use crate::bounding_volume::Aabb;
use crate::math::{Point, Vector};
use crate::partitioning::Qbvh;
#[test]
fn multiple_identical_aabb_stack_overflow() {
// A stack overflow was caused during the construction of the
// Qbvh with more than four Aabb with the same center.
let aabb = Aabb::new(Point::origin(), Vector::repeat(1.0).into());
for k in 0u32..20 {
let mut tree = Qbvh::new();
tree.clear_and_rebuild((0..k).map(|i| (i, aabb)), 0.0);
}
}
}