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Merge pull request #37 from teamfisk/OctTree

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Oct tree
This commit is contained in:
Simon Holmberg
2016-01-21 09:57:46 +01:00
parent 60037c2849 d1b6fb1259
commit f1a54a89b3
15 changed files with 265 additions and 207 deletions
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src/Engine/Collision/CollisionSystem.cpp
+1 -1
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@@ -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/Collision/TriggerSystem.cpp
+6 -3
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@@ -34,9 +34,12 @@ void TriggerSystem::UpdateComponent(World* world, EntityWrapper& entity, Compone
throwLeaveIfWasInTrigger(m_EntitiesCompletelyInTrigger[tId], pId, tId);
} else {
//Entity is at least touching the trigger.
AABB completelyInsideBox = AABB::FromOriginSize((*triggerBox).Origin(), (*triggerBox).Size() - 2.0f * (*playerBox).Size());
if (Collision::AABBVsAABB(completelyInsideBox, *playerBox) &&
glm::all(glm::greaterThan((*triggerBox).Size(), (*playerBox).Size()))) {
AABB completelyInsideBox;
bool playerFitsInTrigger = glm::all(glm::greaterThan((*triggerBox).Size(), (*playerBox).Size()));
if (playerFitsInTrigger) {
completelyInsideBox = AABB::FromOriginSize((*triggerBox).Origin(), (*triggerBox).Size() - 2.0f * (*playerBox).Size());
}
if (playerFitsInTrigger && Collision::AABBVsAABB(completelyInsideBox, *playerBox)) {
//Entity is completely inside the trigger.
//If it was only touching before, it is erased.
m_EntitiesTouchingTrigger[tId].erase(pId);
src/Engine/Core/AABB.cpp
+2
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@@ -15,6 +15,8 @@ AABB::AABB(const glm::vec3& minPos, const glm::vec3& maxPos)
m_MinCorner.y = glm::min(m_MaxCorner.y, m_MinCorner.y);
m_MaxCorner.z = glm::max(m_MaxCorner.z, m_MinCorner.z);
m_MinCorner.z = glm::min(m_MaxCorner.z, m_MinCorner.z);
m_Origin = 0.5f * (m_MaxCorner + m_MinCorner);
m_HalfSize = 0.5f * (m_MaxCorner - m_MinCorner);
}
}
src/Engine/Core/Octree.cpp
+26 -115
View File
@@ -21,72 +21,11 @@ bool isFirstLower(const ChildInfo& first, const ChildInfo& second)
}
Octree::Octree(const AABB& octTreeBounds, int subDivisions)
: m_Root(new Child(octTreeBounds, subDivisions, m_StaticObjects, m_DynamicObjects))
, m_UpdatedOnce(false)
{ }
Octree::~Octree()
namespace OctSpace
{
delete m_Root;
}
void Octree::AddDynamicObject(const AABB& box)
{
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,
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
{
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()
void 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());
@@ -352,9 +257,13 @@ std::vector<int> Octree::Child::childIndicesContainingBox(const AABB& box) const
//the dimensions they are responsible for (which octant).
bits.flip();
//At this point the bits necessarily have exactly one bit set.
//Check the same bit in the minInd as the one set in bits.
int setOrUnset = (bits.to_ulong() & minInd);
for (int c = 0; c < 8; ++c) {
//If the child index have the same bit set as the bits, add box to it.
if (bits.to_ulong() & c) {
//Check the same bit in the child index as the one set in bits.
//Enter here if both c and minInd have the bit set, or if neither have it set.
//I.e, if they are on the same side (+ or -) in the dimension marked by the bit in bits.
if (!((bits.to_ulong() & c) ^ setOrUnset)) {
ret.push_back(c);
}
}
@@ -367,7 +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
+2 -2
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@@ -68,8 +68,8 @@ Game::Game(int argc, char* argv[])
// Create Octrees
m_OctreeCollision = new Octree(AABB(glm::vec3(-100), glm::vec3(100)), 4);
m_OctreeFrustrumCulling = 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>(AABB(glm::vec3(-100), glm::vec3(100)), 4);
// Create system pipeline
m_SystemPipeline = new SystemPipeline(m_EventBroker);
src/Game/Systems/PlayerMovementSystem.cpp
+3 -1
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@@ -9,7 +9,9 @@ void PlayerMovementSystem::UpdateComponent(World* world, EntityWrapper& entity,
ComponentWrapper& cPhysics = entity["Physics"];
glm::vec3& velocity = cPhysics["Velocity"];
velocity.y -= 9.82 * dt;
if (cPhysics["Gravity"]) {
velocity.y -= 9.82 * dt;
}
glm::vec3& position = cTransform["Position"];
position += velocity * (float)dt;
src/Tests/CollisionTest.cpp
+2 -2
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@@ -205,9 +205,9 @@ BOOST_AUTO_TEST_CASE(octTest)
{
glm::vec3 mini = glm::vec3(-1, -1, -1);
glm::vec3 maxi = glm::vec3(1, 1, 1);
Octree tree(AABB(mini, maxi), 2);
Octree<AABB> tree(AABB(mini, maxi), 2);
tree.AddDynamicObject(AABB(mini, -0.9f*maxi));
Octree::Output data;
OctSpace::Output data;
glm::vec3 origin = 3.0f * mini;
bool rayIntersected = tree.RayCollides(Ray(origin , mini - origin), data);
BOOST_CHECK(rayIntersected);
src/Tests/OctTreeTest.cpp
+20 -10
View File
@@ -13,12 +13,12 @@ BOOST_AUTO_TEST_CASE(octSameRegionTest)
{
glm::vec3 mini = glm::vec3(-1, -1, -1);
glm::vec3 maxi = glm::vec3(1, 1, 1);
Octree tree(AABB(mini, maxi), 2);
Octree<AABB> tree(AABB(mini, maxi), 2);
AABB firstQuadrant(mini, 0.8f*mini);
tree.AddStaticObject(firstQuadrant);
AABB testBox(0.9f*mini, 0.8f*mini);
std::vector<AABB> region;
tree.BoxesInSameRegion(testBox, region);
tree.ObjectsInSameRegion(testBox, region);
BOOST_REQUIRE(region.size() == 1);
AABB& box = region[0];
BOOST_CHECK_CLOSE_FRACTION(box.Origin().x, firstQuadrant.Origin().x, 0.00001f);
@@ -40,7 +40,7 @@ const int NUM_FUNCTION_LOOPS = 25;
const int TESTS = 0; //10
template<typename Tree>
void RegionTest(Tree& tree)
void RegionTestOld(Tree& tree)
{
AABB aabb;
aabb.FromOriginSize(glm::vec3(rand() % LEVEL_BOUNDS, rand() % LEVEL_BOUNDS, rand() % LEVEL_BOUNDS),
@@ -50,9 +50,19 @@ void RegionTest(Tree& tree)
}
template<typename Tree>
void RegionTest(Tree& tree)
{
AABB aabb;
aabb.CreateFromCenter(glm::vec3(rand() % LEVEL_BOUNDS, rand() % LEVEL_BOUNDS, rand() % LEVEL_BOUNDS),
glm::vec3(rand() % MAXSIZE, rand() % MAXSIZE, rand() % MAXSIZE));
std::vector<AABB> outVec;
tree.ObjectsInSameRegion(aabb, outVec);
}
template<typename Tree, typename Output>
void RayTest(Tree& tree)
{
Tree::Output data;
Output data;
glm::vec3 rayStart = glm::vec3(rand() % LEVEL_BOUNDS, rand() % LEVEL_BOUNDS, rand() % LEVEL_BOUNDS);
glm::vec3 rayEnd = glm::vec3(rand() % LEVEL_BOUNDS, rand() % LEVEL_BOUNDS, rand() % LEVEL_BOUNDS);
tree.RayCollides({ rayStart , glm::normalize(rayEnd - rayStart) }, data);
@@ -111,13 +121,13 @@ void TestLoop(TestFunction xTest)
BOOST_AUTO_TEST_CASE(octRegionPerfTestWithDuplicates)
{
TestLoop<Old::OctTree>(RegionTest<Old::OctTree>);
TestLoop<Old::OctTree>(RegionTestOld<Old::OctTree>);
BOOST_CHECK(true);
}
BOOST_AUTO_TEST_CASE(octRegionPerfTestNoDuplicates)
{
TestLoop<Octree>(RegionTest<Octree>);
TestLoop<Octree<AABB>>(RegionTest<Octree<AABB>>);
BOOST_CHECK(true);
}
@@ -129,19 +139,19 @@ BOOST_AUTO_TEST_CASE(octBoxPerfTestWithDuplicates)
BOOST_AUTO_TEST_CASE(octBoxPerfTestNoDuplicates)
{
TestLoop<Octree>(BoxTest<Octree>);
TestLoop<Octree<AABB>>(BoxTest<Octree<AABB>>);
BOOST_CHECK(true);
}
BOOST_AUTO_TEST_CASE(octRayPerfTestWithDuplicates)
{
TestLoop<Old::OctTree>(RayTest<Old::OctTree>);
TestLoop<Old::OctTree>(RayTest<Old::OctTree, Old::OctTree::Output>);
BOOST_CHECK(true);
}
BOOST_AUTO_TEST_CASE(octRayPerfTestNoDuplicates)
{
TestLoop<Octree>(RayTest<Octree>);
TestLoop<Octree<AABB>>(RayTest<Octree<AABB>, OctSpace::Output>);
BOOST_CHECK(true);
}
@@ -153,7 +163,7 @@ BOOST_AUTO_TEST_CASE(octNopPerfTestWithDuplicates)
BOOST_AUTO_TEST_CASE(octNopPerfTestNoDuplicates)
{
TestLoop<Octree>(NopTest<Octree>);
TestLoop<Octree<AABB>>(NopTest<Octree<AABB>>);
BOOST_CHECK(true);
}