godot/servers/physics_3d/broad_phase_3d_bvh.cpp

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/*  broad_phase_3d_bvh.cpp                                               */
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
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#include "broad_phase_3d_bvh.h"
#include "collision_object_3d_sw.h"

BroadPhase3DBVH::ID BroadPhase3DBVH::create(CollisionObject3DSW *p_object, int p_subindex, const AABB &p_aabb, bool p_static) {
	ID oid = bvh.create(p_object, true, p_aabb, p_subindex, !p_static, 1 << p_object->get_type(), p_static ? 0 : 0xFFFFF); // Pair everything, don't care?
	return oid + 1;
}

void BroadPhase3DBVH::move(ID p_id, const AABB &p_aabb) {
	bvh.move(p_id - 1, p_aabb);
}

void BroadPhase3DBVH::set_static(ID p_id, bool p_static) {
	CollisionObject3DSW *it = bvh.get(p_id - 1);
	bvh.set_pairable(p_id - 1, !p_static, 1 << it->get_type(), p_static ? 0 : 0xFFFFF, false); // Pair everything, don't care?
}

void BroadPhase3DBVH::remove(ID p_id) {
	bvh.erase(p_id - 1);
}

CollisionObject3DSW *BroadPhase3DBVH::get_object(ID p_id) const {
	CollisionObject3DSW *it = bvh.get(p_id - 1);
	ERR_FAIL_COND_V(!it, nullptr);
	return it;
}

bool BroadPhase3DBVH::is_static(ID p_id) const {
	return !bvh.is_pairable(p_id - 1);
}

int BroadPhase3DBVH::get_subindex(ID p_id) const {
	return bvh.get_subindex(p_id - 1);
}

int BroadPhase3DBVH::cull_point(const Vector3 &p_point, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices) {
	return bvh.cull_point(p_point, p_results, p_max_results, p_result_indices);
}

int BroadPhase3DBVH::cull_segment(const Vector3 &p_from, const Vector3 &p_to, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices) {
	return bvh.cull_segment(p_from, p_to, p_results, p_max_results, p_result_indices);
}

int BroadPhase3DBVH::cull_aabb(const AABB &p_aabb, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices) {
	return bvh.cull_aabb(p_aabb, p_results, p_max_results, p_result_indices);
}

void *BroadPhase3DBVH::_pair_callback(void *self, uint32_t p_A, CollisionObject3DSW *p_object_A, int subindex_A, uint32_t p_B, CollisionObject3DSW *p_object_B, int subindex_B) {
	BroadPhase3DBVH *bpo = (BroadPhase3DBVH *)(self);
	if (!bpo->pair_callback) {
		return nullptr;
	}

	return bpo->pair_callback(p_object_A, subindex_A, p_object_B, subindex_B, bpo->pair_userdata);
}

void BroadPhase3DBVH::_unpair_callback(void *self, uint32_t p_A, CollisionObject3DSW *p_object_A, int subindex_A, uint32_t p_B, CollisionObject3DSW *p_object_B, int subindex_B, void *pairdata) {
	BroadPhase3DBVH *bpo = (BroadPhase3DBVH *)(self);
	if (!bpo->unpair_callback) {
		return;
	}

	bpo->unpair_callback(p_object_A, subindex_A, p_object_B, subindex_B, pairdata, bpo->unpair_userdata);
}

void BroadPhase3DBVH::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) {
	pair_callback = p_pair_callback;
	pair_userdata = p_userdata;
}

void BroadPhase3DBVH::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) {
	unpair_callback = p_unpair_callback;
	unpair_userdata = p_userdata;
}

void BroadPhase3DBVH::update() {
	bvh.update();
}

BroadPhase3DSW *BroadPhase3DBVH::_create() {
	return memnew(BroadPhase3DBVH);
}

BroadPhase3DBVH::BroadPhase3DBVH() {
	bvh.set_pair_callback(_pair_callback, this);
	bvh.set_unpair_callback(_unpair_callback, this);
}