Can add any objects that inherit from AABB into the Octree.

include/Engine/Collision/CollidableOctreeSystem.h

@@ -8,7 +8,7 @@
 class CollidableOctreeSystem : public ImpureSystem, public PureSystem
 {
 public:
-    CollidableOctreeSystem(EventBroker* eventBroker, Octree* octree)
+    CollidableOctreeSystem(EventBroker* eventBroker, Octree<AABB>* octree)
         : System(eventBroker)
         , PureSystem("Collidable")
         , m_Octree(octree)
@@ -18,7 +18,7 @@ public:
     virtual void UpdateComponent(World* world, EntityWrapper& entity, ComponentWrapper& component, double dt) override;
 
 private:
-    Octree* m_Octree;
+    Octree<AABB>* m_Octree;
 };
 
 #endif

include/Engine/Collision/CollisionSystem.h

@@ -13,7 +13,7 @@
 class CollisionSystem : public PureSystem
 {
 public:
-    CollisionSystem(EventBroker* eventBroker, Octree* octree)
+    CollisionSystem(EventBroker* eventBroker, Octree<AABB>* octree)
         : System(eventBroker)
         , PureSystem("Collidable")
         , m_Octree(octree)
@@ -26,7 +26,7 @@ public:
     virtual void UpdateComponent(World* world, EntityWrapper& entity, ComponentWrapper& component, double dt) override;
 
 private:
-    Octree* m_Octree;
+    Octree<AABB>* m_Octree;
     bool zPress;
 
     EventRelay<CollisionSystem, Events::KeyUp> m_EKeyUp;

include/Engine/Collision/TriggerSystem.h

@@ -14,7 +14,7 @@ class AABB;
 class TriggerSystem : public PureSystem
 {
 public:
-    TriggerSystem(EventBroker* eventBroker, Octree* octree)
+    TriggerSystem(EventBroker* eventBroker, Octree<AABB>* octree)
         : System(eventBroker)
         , PureSystem("Trigger")
         , m_Octree(octree)
@@ -27,7 +27,7 @@ public:
     virtual void UpdateComponent(World* world, EntityWrapper& entity, ComponentWrapper& component, double dt) override;
 
 private:
-    Octree* m_Octree;
+    Octree<AABB>* m_Octree;
     std::unordered_map<EntityID, std::unordered_set<EntityID>> m_EntitiesTouchingTrigger;
     std::unordered_map<EntityID, std::unordered_set<EntityID>> m_EntitiesCompletelyInTrigger;
 

include/Engine/Core/Octree.h

@@ -1,19 +1,27 @@
 #ifndef Octree_h__
 #define Octree_h__
 
+#include <type_traits>
+
 #include "../Common.h"
 #include "AABB.h"
 
+//Fwd declarations.
 class Ray;
 
+namespace OctSpace
+{
+struct Output;
+struct ContainedObject;
+struct Child;
+}
+
+//T needs to be AABB, or inherit from AABB.
+//T also needs to have a default constructor.
+template<typename T>
 class Octree
 {
 public:
-    struct Output
-    {
-        float CollideDistance;
-    };
-
     Octree() = delete;
     ~Octree();
     //For the root Octree, [octreeBounds] should be a box containing the entire level.
@@ -25,81 +33,201 @@ public:
     Octree(const Octree&& other) = delete;
     Octree& operator= (const Octree& other) = delete;
     //Add a dynamic object (one that moves around) into the tree.
-    void AddDynamicObject(const AABB& box);
+    void AddDynamicObject(const T& object);
     //Add a static object (that does not move) into the tree.
-    void AddStaticObject(const AABB& box);
+    void AddStaticObject(const T& object);
-    //Get the boxes that are in the same area as the input [box], the boxes are put in [outBoxes].
+    //Get the objects that are in the same area as the input [box], the objects are put in [outObjects].
-    void BoxesInSameRegion(const AABB& box, std::vector<AABB>& outBoxes);
+    //The type Box must be AABB, or inherit from AABB.
+    template<typename Box>
+    void ObjectsInSameRegion(const Box& box, std::vector<T>& outObjects);
     //Empty the tree of all objects, static and dynamic.
     void ClearObjects();
     //Empty the tree of all dynamic objects. Static objects remain in the tree.
     void ClearDynamicObjects();
 
     //Returns true if the ray collides with something in the tree. Result is written to [data].
-    bool RayCollides(const Ray& ray, Output& data);
+    bool RayCollides(const Ray& ray, OctSpace::Output& data);
     //Returns true if the box collides with something in the tree. 
     //On collision with a box, that box is written to [outBoxIntersected].
-    //Note: More efficient than calling BoxesInSameRegion from outside and testing there.
+    //Note: More efficient than calling ObjectsInSameRegion from outside and testing there.
     bool BoxCollides(const AABB& boxToTest, AABB& outBoxIntersected);
 
 private:
-    struct Child;    //Fwd declaration;
+    OctSpace::Child* m_Root;
-    struct ContainedObject
+    std::vector<OctSpace::ContainedObject> m_StaticObjects;
-    {
+    std::vector<OctSpace::ContainedObject> m_DynamicObjects;
-        ContainedObject()
-            : Box(AABB())
-            , Checked(false)
-        {}
-        ContainedObject(AABB box)
-            : Box(box)
-            , Checked(false)
-        {}
-        AABB Box;
-        bool Checked;
-    };
-    Child* m_Root;
-    std::vector<ContainedObject> m_StaticObjects;
-    std::vector<ContainedObject> m_DynamicObjects;
-
-    bool m_UpdatedOnce;
-    unsigned int m_BoxID;
-    glm::vec3 m_PrevPos;
-    glm::quat m_PrevOri;
 
     void falsifyObjectChecks();
-
-    struct Child
-    {
-        ~Child();
-        Child(const AABB& octTreeBounds, 
-            int subDivisions, 
-            std::vector<Octree::ContainedObject>& staticObjects, 
-            std::vector<Octree::ContainedObject>& dynamicObjects);
-        Child(const Child& other) = delete;
-        Child(const Child&& other) = delete;
-        Child& operator= (const Child& other) = delete;
-        void AddDynamicObject(const AABB& box);
-        void AddStaticObject(const AABB& box);
-        void BoxesInSameRegion(const AABB& box, std::vector<AABB>& outBoxes) const;
-        void ClearObjects();
-        void ClearDynamicObjects();
-        bool RayCollides(const Ray& ray, Output& data) const;
-        bool BoxCollides(const AABB& boxToTest, AABB& outBoxIntersected) const;
-
-        Child* m_Children[8];
-        //Indices into the lists in Octree.
-        std::vector<int> m_StaticObjIndices;
-        std::vector<int> m_DynamicObjIndices;
-        AABB m_Box;
-        //Reference to the lists in Octree.
-        std::vector<Octree::ContainedObject>& m_StaticObjectsRef;
-        std::vector<Octree::ContainedObject>& m_DynamicObjectsRef;
-
-        inline bool hasChildren() const;
-        int childIndexContainingPoint(const glm::vec3& point) const;
-        std::vector<int> childIndicesContainingBox(const AABB& box) const;
-    };
 };
 
+namespace OctSpace
+{
+
+struct Output
+{
+    float CollideDistance;
+};
+
+struct ContainedObject
+{
+    ContainedObject()
+        : Box(nullptr)
+        , Checked(false)
+    {}
+    template<typename BoxlikeObject>
+    ContainedObject(const BoxlikeObject& box)
+        : Box(new BoxlikeObject(box))
+        , Checked(false)
+    {}
+    std::unique_ptr<AABB> Box;
+    bool Checked;
+};
+
+struct Child
+{
+    ~Child();
+    Child(const AABB& octTreeBounds,
+        int subDivisions,
+        std::vector<ContainedObject>& staticObjects,
+        std::vector<ContainedObject>& dynamicObjects);
+    Child(const Child& other) = delete;
+    Child(const Child&& other) = delete;
+    Child& operator= (const Child& other) = delete;
+    void AddDynamicObject(const AABB& box);
+    void AddStaticObject(const AABB& box);
+    template<typename T, typename Box>
+    void ObjectsInSameRegion(const Box& box, std::vector<T>& outObjects) const;
+    void ClearObjects();
+    void ClearDynamicObjects();
+    bool RayCollides(const Ray& ray, Output& data) const;
+    bool BoxCollides(const AABB& boxToTest, AABB& outBoxIntersected) const;
+
+    Child* m_Children[8];
+    //Indices into the lists in Octree.
+    std::vector<int> m_StaticObjIndices;
+    std::vector<int> m_DynamicObjIndices;
+    AABB m_Box;
+    //Reference to the lists in Octree.
+    std::vector<ContainedObject>& m_StaticObjectsRef;
+    std::vector<ContainedObject>& m_DynamicObjectsRef;
+
+    inline bool hasChildren() const;
+    int childIndexContainingPoint(const glm::vec3& point) const;
+    std::vector<int> childIndicesContainingBox(const AABB& box) const;
+};
+
+}
+
+template<typename T>
+Octree<T>::Octree(const AABB& octTreeBounds, int subDivisions)
+    : m_Root(new OctSpace::Child(octTreeBounds, subDivisions, m_StaticObjects, m_DynamicObjects))
+{
+    static_assert(std::is_base_of<AABB, T>::value, "template argument type T in Octree must be a subclass of AABB.");
+}
+
+template<typename T>
+Octree<T>::~Octree()
+{
+    delete m_Root;
+}
+
+template<typename T>
+void Octree<T>::AddDynamicObject(const T& object)
+{
+    m_Root->AddDynamicObject(object);
+    m_DynamicObjects.emplace_back(object);
+}
+
+template<typename T>
+void Octree<T>::AddStaticObject(const T& object)
+{
+    m_Root->AddStaticObject(object);
+    m_StaticObjects.emplace_back(object);
+}
+
+template<typename T>
+template<typename Box>
+void Octree<T>::ObjectsInSameRegion(const Box& box, std::vector<T>& outObjects)
+{
+    static_assert(std::is_base_of<AABB, Box>::value, "template argument type Box in Octree<T>::ObjectsInSameRegion must be a subclass of AABB.");
+    falsifyObjectChecks();
+    m_Root->ObjectsInSameRegion(box, outObjects);
+}
+
+template<typename T>
+void Octree<T>::ClearObjects()
+{
+    m_StaticObjects.clear();
+    m_DynamicObjects.clear();
+    m_Root->ClearObjects();
+}
+
+template<typename T>
+void Octree<T>::ClearDynamicObjects()
+{
+    m_DynamicObjects.clear();
+    m_Root->ClearDynamicObjects();
+}
+
+template<typename T>
+bool Octree<T>::RayCollides(const Ray& ray, OctSpace::Output& data)
+{
+    falsifyObjectChecks();
+    data.CollideDistance = -1;
+    return m_Root->RayCollides(ray, data);
+}
+
+template<typename T>
+bool Octree<T>::BoxCollides(const AABB& boxToTest, AABB& outBoxIntersected)
+{
+    falsifyObjectChecks();
+    return m_Root->BoxCollides(boxToTest, outBoxIntersected);
+}
+
+template<typename T>
+void Octree<T>::falsifyObjectChecks()
+{
+    for (auto& obj : m_StaticObjects) {
+        obj.Checked = false;
+    }
+    for (auto& obj : m_DynamicObjects) {
+        obj.Checked = false;
+    }
+}
+
+template<typename T, typename Box>
+void OctSpace::Child::ObjectsInSameRegion(const Box& box, std::vector<T>& outObjects) const
+{
+    if (hasChildren()) {
+        for (auto i : childIndicesContainingBox(box)) {
+            m_Children[i]->ObjectsInSameRegion(box, outObjects);
+        }
+    } else {
+        size_t startIndex = outObjects.size();
+        int numDuplicates = 0;
+        outObjects.resize(outObjects.size() + m_StaticObjIndices.size() + m_DynamicObjIndices.size());
+        for (size_t i = 0; i < m_StaticObjIndices.size(); ++i) {
+            ContainedObject& obj = m_StaticObjectsRef[m_StaticObjIndices[i]];
+            if (obj.Checked) {
+                ++numDuplicates;
+            } else {
+                obj.Checked = true;
+                outObjects[startIndex + i - numDuplicates] = *static_cast<T*>(obj.Box.get());
+            }
+        }
+        for (size_t i = 0; i < m_DynamicObjIndices.size(); ++i) {
+            ContainedObject& obj = m_DynamicObjectsRef[m_DynamicObjIndices[i]];
+            if (obj.Checked) {
+                ++numDuplicates;
+            } else {
+                obj.Checked = true;
+                outObjects[startIndex + i - numDuplicates] = *static_cast<T*>(obj.Box.get());
+            }
+        }
+        for (size_t i = 0; i < numDuplicates; ++i) {
+            outObjects.pop_back();
+        }
+    }
+}
 
 #endif

include/Game/Game.h

@@ -47,8 +47,8 @@ private:
     InputProxy* m_InputProxy;
 	GUI::Frame* m_FrameStack;
     World* m_World;
-    Octree* m_OctreeCollision;
+    Octree<AABB>* m_OctreeCollision;
-    Octree* m_OctreeFrustrumCulling;
+    Octree<AABB>* m_OctreeFrustrumCulling;
     SystemPipeline* m_SystemPipeline;
     RenderFrame* m_RenderFrame;
     // Network variables

src/Engine/Collision/CollisionSystem.cpp

@@ -23,7 +23,7 @@ void CollisionSystem::UpdateComponent(World* world, EntityWrapper& entity, Compo
 
     // Collide against octree
     std::vector<AABB> octreeResult;
-    m_Octree->BoxesInSameRegion(*boundingBox, octreeResult);
+    m_Octree->ObjectsInSameRegion(*boundingBox, octreeResult);
     for (auto& boxB : octreeResult) {
         glm::vec3 resolutionVector;
         if (Collision::IsSameBoxProbably(boxA, boxB)) {

src/Engine/Core/Octree.cpp

@@ -21,72 +21,11 @@ bool isFirstLower(const ChildInfo& first, const ChildInfo& second)
 
 }
 
-Octree::Octree(const AABB& octTreeBounds, int subDivisions)
+namespace OctSpace
-    : m_Root(new Child(octTreeBounds, subDivisions, m_StaticObjects, m_DynamicObjects))
-    , m_UpdatedOnce(false)
-{ }
-
-Octree::~Octree()
 {
-    delete m_Root;
-}
 
-void Octree::AddDynamicObject(const AABB& box)
+Child::Child(const AABB& octTreeBounds,
-{
+    int subDivisions,
-    m_Root->AddDynamicObject(box);
-    m_DynamicObjects.push_back(box);
-}
-
-void Octree::AddStaticObject(const AABB& box)
-{
-    m_Root->AddStaticObject(box);
-    m_StaticObjects.push_back(box);
-}
-
-void Octree::BoxesInSameRegion(const AABB& box, std::vector<AABB>& outBoxes)
-{
-    falsifyObjectChecks();
-    m_Root->BoxesInSameRegion(box, outBoxes);
-}
-
-void Octree::ClearObjects()
-{
-    m_StaticObjects.clear();
-    m_DynamicObjects.clear();
-    m_Root->ClearObjects();
-}
-
-void Octree::ClearDynamicObjects()
-{
-    m_DynamicObjects.clear();
-    m_Root->ClearDynamicObjects();
-}
-
-bool Octree::RayCollides(const Ray& ray, Output& data)
-{
-    falsifyObjectChecks();
-    data.CollideDistance = -1;
-    return m_Root->RayCollides(ray, data);
-}
-
-bool Octree::BoxCollides(const AABB& boxToTest, AABB& outBoxIntersected)
-{
-    falsifyObjectChecks();
-    return m_Root->BoxCollides(boxToTest, outBoxIntersected);
-}
-
-void Octree::falsifyObjectChecks()
-{
-    for (auto& obj : m_StaticObjects) {
-        obj.Checked = false;
-    }
-    for (auto& obj : m_DynamicObjects) {
-        obj.Checked = false;
-    }
-}
-
-Octree::Child::Child(const AABB& octTreeBounds,
-    int subDivisions, 
     std::vector<ContainedObject>& staticObjects,
     std::vector<ContainedObject>& dynamicObjects)
     : m_Box(octTreeBounds)
@@ -135,7 +74,7 @@ Octree::Child::Child(const AABB& octTreeBounds,
     }
 }
 
-Octree::Child::~Child()
+Child::~Child()
 {
     for (Child*& c : m_Children) {
         if (c != nullptr) {
@@ -145,7 +84,7 @@ Octree::Child::~Child()
     }
 }
 
-bool Octree::Child::BoxCollides(const AABB& boxToTest, AABB& outBoxIntersected) const
+bool Child::BoxCollides(const AABB& boxToTest, AABB& outBoxIntersected) const
 {
     if (hasChildren()) {
         for (int i : childIndicesContainingBox(boxToTest)) {
@@ -155,7 +94,7 @@ bool Octree::Child::BoxCollides(const AABB& boxToTest, AABB& outBoxIntersected)
     } else {
         for (int i : m_StaticObjIndices) {
             if (!m_StaticObjectsRef[i].Checked) {
-                const AABB& objBox = m_StaticObjectsRef[i].Box;
+                const AABB& objBox = *m_StaticObjectsRef[i].Box;
                 if (Collision::AABBVsAABB(boxToTest, objBox)) {
                     outBoxIntersected = objBox;
                     return true;
@@ -165,7 +104,7 @@ bool Octree::Child::BoxCollides(const AABB& boxToTest, AABB& outBoxIntersected)
         }
         for (int i : m_DynamicObjIndices) {
             if (!m_DynamicObjectsRef[i].Checked) {
-                const AABB& objBox = m_DynamicObjectsRef[i].Box;
+                const AABB& objBox = *m_DynamicObjectsRef[i].Box;
                 if (!Collision::IsSameBoxProbably(boxToTest, objBox) &&
                     Collision::AABBVsAABB(boxToTest, objBox)) {
                     outBoxIntersected = objBox;
@@ -178,7 +117,7 @@ bool Octree::Child::BoxCollides(const AABB& boxToTest, AABB& outBoxIntersected)
     return false;
 }
 
-bool Octree::Child::RayCollides(const Ray& ray, Output& data) const
+bool Child::RayCollides(const Ray& ray, OctSpace::Output& data) const
 {
     //If the node AABB is missed, everything it contains is missed.
     if (Collision::RayAABBIntr(ray, m_Box)) {
@@ -205,7 +144,7 @@ bool Octree::Child::RayCollides(const Ray& ray, Output& data) const
                 float dist;
                 //If we haven't tested against this object before, and the ray hits.
                 if (!m_StaticObjectsRef[i].Checked &&
-                    Collision::RayVsAABB(ray, m_StaticObjectsRef[i].Box, dist)) {
+                    Collision::RayVsAABB(ray, *m_StaticObjectsRef[i].Box, dist)) {
                     minDist = std::min(dist, minDist);
                     intersected = true;
                 }
@@ -215,7 +154,7 @@ bool Octree::Child::RayCollides(const Ray& ray, Output& data) const
                 float dist;
                 //If we haven't tested against this object before, and the ray hits.
                 if (!m_DynamicObjectsRef[i].Checked &&
-                    Collision::RayVsAABB(ray, m_DynamicObjectsRef[i].Box, dist)) {
+                    Collision::RayVsAABB(ray, *m_DynamicObjectsRef[i].Box, dist)) {
                     minDist = std::min(dist, minDist);
                     intersected = true;
                 }
@@ -230,7 +169,7 @@ bool Octree::Child::RayCollides(const Ray& ray, Output& data) const
 }
 
 
-void Octree::Child::AddDynamicObject(const AABB& box)
+void Child::AddDynamicObject(const AABB& box)
 {
     if (hasChildren()) {
         for (auto i : childIndicesContainingBox(box)) {
@@ -242,7 +181,7 @@ void Octree::Child::AddDynamicObject(const AABB& box)
     }
 }
 
-void Octree::Child::AddStaticObject(const AABB& box)
+void Child::AddStaticObject(const AABB& box)
 {
     if (hasChildren()) {
         for (auto i : childIndicesContainingBox(box)) {
@@ -254,41 +193,7 @@ void Octree::Child::AddStaticObject(const AABB& box)
     }
 }
 
-void Octree::Child::BoxesInSameRegion(const AABB& box, std::vector<AABB>& outBoxes) const
+void Child::ClearObjects()
-{
-    if (hasChildren()) {
-        for (auto i : childIndicesContainingBox(box)) {
-            m_Children[i]->BoxesInSameRegion(box, outBoxes);
-        }
-    } else {
-        size_t startIndex = outBoxes.size();
-        int numDuplicates = 0;
-        outBoxes.resize(outBoxes.size() + m_StaticObjIndices.size() + m_DynamicObjIndices.size());
-        for (size_t i = 0; i < m_StaticObjIndices.size(); ++i){
-            ContainedObject& obj = m_StaticObjectsRef[m_StaticObjIndices[i]];
-            if (obj.Checked) {
-                ++numDuplicates;
-            } else {
-                obj.Checked = true;
-                outBoxes[startIndex + i - numDuplicates] = obj.Box;
-            }
-        }
-        for (size_t i = 0; i < m_DynamicObjIndices.size(); ++i) {
-            ContainedObject& obj = m_DynamicObjectsRef[m_DynamicObjIndices[i]];
-            if (obj.Checked) {
-                ++numDuplicates;
-            } else {
-                obj.Checked = true;
-                outBoxes[startIndex + i - numDuplicates] = obj.Box;
-            }
-        }
-        for (size_t i = 0; i < numDuplicates; ++i) {
-            outBoxes.pop_back();
-        }
-    }
-}
-
-void Octree::Child::ClearObjects()
 {
     if (hasChildren()) {
         for (Child*& c : m_Children) {
@@ -300,11 +205,11 @@ void Octree::Child::ClearObjects()
     }
 }
 
-void Octree::Child::ClearDynamicObjects()
+void Child::ClearDynamicObjects()
 {
     if (hasChildren()) {
         for (Child*& c : m_Children) {
-            c->ClearObjects();
+            c->ClearDynamicObjects();
         }
     } else {
         m_DynamicObjIndices.clear();
@@ -323,13 +228,13 @@ void Octree::Child::ClearDynamicObjects()
 //    x : - - - - + + + +
 //    y : - - + + - - + +
 //    z : - + - + - + - +
-int Octree::Child::childIndexContainingPoint(const glm::vec3& point) const
+int Child::childIndexContainingPoint(const glm::vec3& point) const
 {
     const glm::vec3& c = m_Box.Origin();
     return (1 << 2) * (point.x >= c.x) | (1 << 1) * (point.y >= c.y) | (point.z >= c.z);
 }
 
-std::vector<int> Octree::Child::childIndicesContainingBox(const AABB& box) const
+std::vector<int> Child::childIndicesContainingBox(const AABB& box) const
 {
     int minInd = childIndexContainingPoint(box.MinCorner());
     int maxInd = childIndexContainingPoint(box.MaxCorner());
@@ -371,7 +276,9 @@ std::vector<int> Octree::Child::childIndicesContainingBox(const AABB& box) const
     }
 }
 
-inline bool Octree::Child::hasChildren() const
+inline bool Child::hasChildren() const
 {
     return m_Children[0] != nullptr;
+}
+
 }

src/Game/Game.cpp

@@ -68,8 +68,8 @@ Game::Game(int argc, char* argv[])
     m_Renderer->m_World = m_World;
 
     // Create Octrees
-    m_OctreeCollision = new Octree(AABB(glm::vec3(-100), glm::vec3(100)), 4);
+    m_OctreeCollision = new Octree<AABB>(AABB(glm::vec3(-100), glm::vec3(100)), 4);
-    m_OctreeFrustrumCulling = new Octree(AABB(glm::vec3(-100), glm::vec3(100)), 4);
+    m_OctreeFrustrumCulling = new Octree<AABB>(AABB(glm::vec3(-100), glm::vec3(100)), 4);
     // Create system pipeline
     m_SystemPipeline = new SystemPipeline(m_EventBroker);