BVH - Sync BVH with 3.x

Templated mask checks and generic NUM_TREES
Fix leaking leaves

20 files changed, 744 insertions, 257 deletions

diff --git a/core/math/bvh.h b/core/math/bvh.h
index a8e3cc7bbe..e686e27445 100644
--- a/core/math/bvh.h
+++ b/core/math/bvh.h
@@ -46,21 +46,35 @@
 // Layer masks are implemented in the renderers as a later step, and light_cull_mask appears to be
 // implemented in GLES3 but not GLES2. Layer masks are not yet implemented for directional lights.
 
+// In the physics, the pairable_type is based on 1 << p_object->get_type() where:
+// TYPE_AREA,
+// TYPE_BODY
+// and pairable_mask is either 0 if static, or set to all if non static
+
 #include "bvh_tree.h"
+#include "core/os/mutex.h"
 
-#define BVHTREE_CLASS BVH_Tree<T, 2, MAX_ITEMS, USE_PAIRS, Bounds, Point>
+#define BVHTREE_CLASS BVH_Tree<T, NUM_TREES, 2, MAX_ITEMS, USER_PAIR_TEST_FUNCTION, USER_CULL_TEST_FUNCTION, USE_PAIRS, BOUNDS, POINT>
+#define BVH_LOCKED_FUNCTION BVHLockedFunction(&_mutex, BVH_THREAD_SAFE &&_thread_safe);
 
-template <class T, bool USE_PAIRS = false, int MAX_ITEMS = 32, class Bounds = AABB, class Point = Vector3>
+template <class T, int NUM_TREES = 1, bool USE_PAIRS = false, int MAX_ITEMS = 32, class USER_PAIR_TEST_FUNCTION = BVH_DummyPairTestFunction<T>, class USER_CULL_TEST_FUNCTION = BVH_DummyCullTestFunction<T>, class BOUNDS = AABB, class POINT = Vector3, bool BVH_THREAD_SAFE = true>
 class BVH_Manager {
 public:
 	// note we are using uint32_t instead of BVHHandle, losing type safety, but this
 	// is for compatibility with octree
 	typedef void *(*PairCallback)(void *, uint32_t, T *, int, uint32_t, T *, int);
 	typedef void (*UnpairCallback)(void *, uint32_t, T *, int, uint32_t, T *, int, void *);
+	typedef void *(*CheckPairCallback)(void *, uint32_t, T *, int, uint32_t, T *, int, void *);
+
+	// allow locally toggling thread safety if the template has been compiled with BVH_THREAD_SAFE
+	void params_set_thread_safe(bool p_enable) {
+		_thread_safe = p_enable;
+	}
 
 	// these 2 are crucial for fine tuning, and can be applied manually
 	// see the variable declarations for more info.
 	void params_set_node_expansion(real_t p_value) {
+		BVH_LOCKED_FUNCTION
 		if (p_value >= 0.0) {
 			tree._node_expansion = p_value;
 			tree._auto_node_expansion = false;
@@ -70,43 +84,40 @@ public:
 	}
 
 	void params_set_pairing_expansion(real_t p_value) {
-		if (p_value >= 0.0) {
-			tree._pairing_expansion = p_value;
-			tree._auto_pairing_expansion = false;
-		} else {
-			tree._auto_pairing_expansion = true;
-		}
+		BVH_LOCKED_FUNCTION
+		tree.params_set_pairing_expansion(p_value);
 	}
 
 	void set_pair_callback(PairCallback p_callback, void *p_userdata) {
+		BVH_LOCKED_FUNCTION
 		pair_callback = p_callback;
 		pair_callback_userdata = p_userdata;
 	}
 	void set_unpair_callback(UnpairCallback p_callback, void *p_userdata) {
+		BVH_LOCKED_FUNCTION
 		unpair_callback = p_callback;
 		unpair_callback_userdata = p_userdata;
 	}
+	void set_check_pair_callback(CheckPairCallback p_callback, void *p_userdata) {
+		BVH_LOCKED_FUNCTION
+		check_pair_callback = p_callback;
+		check_pair_callback_userdata = p_userdata;
+	}
+
+	BVHHandle create(T *p_userdata, bool p_active = true, uint32_t p_tree_id = 0, uint32_t p_tree_collision_mask = 1, const BOUNDS &p_aabb = BOUNDS(), int p_subindex = 0) {
+		BVH_LOCKED_FUNCTION
 
-	BVHHandle create(T *p_userdata, bool p_active, const Bounds &p_aabb = Bounds(), int p_subindex = 0, bool p_pairable = false, uint32_t p_pairable_type = 0, uint32_t p_pairable_mask = 1) {
 		// not sure if absolutely necessary to flush collisions here. It will cost performance to, instead
 		// of waiting for update, so only uncomment this if there are bugs.
 		if (USE_PAIRS) {
 			//_check_for_collisions();
 		}
 
-#ifdef TOOLS_ENABLED
-		if (!USE_PAIRS) {
-			if (p_pairable) {
-				WARN_PRINT_ONCE("creating pairable item in BVH with USE_PAIRS set to false");
-			}
-		}
-#endif
-
-		BVHHandle h = tree.item_add(p_userdata, p_active, p_aabb, p_subindex, p_pairable, p_pairable_type, p_pairable_mask);
+		BVHHandle h = tree.item_add(p_userdata, p_active, p_aabb, p_subindex, p_tree_id, p_tree_collision_mask);
 
 		if (USE_PAIRS) {
 			// for safety initialize the expanded AABB
-			Bounds &expanded_aabb = tree._pairs[h.id()].expanded_aabb;
+			BOUNDS &expanded_aabb = tree._pairs[h.id()].expanded_aabb;
 			expanded_aabb = p_aabb;
 			expanded_aabb.grow_by(tree._pairing_expansion);
 
@@ -123,12 +134,18 @@ public:
 	////////////////////////////////////////////////////
 	// wrapper versions that use uint32_t instead of handle
 	// for backward compatibility. Less type safe
-	void move(uint32_t p_handle, const Bounds &p_aabb) {
+	void move(uint32_t p_handle, const BOUNDS &p_aabb) {
 		BVHHandle h;
 		h.set(p_handle);
 		move(h, p_aabb);
 	}
 
+	void recheck_pairs(uint32_t p_handle) {
+		BVHHandle h;
+		h.set(p_handle);
+		recheck_pairs(h);
+	}
+
 	void erase(uint32_t p_handle) {
 		BVHHandle h;
 		h.set(p_handle);
@@ -141,7 +158,7 @@ public:
 		force_collision_check(h);
 	}
 
-	bool activate(uint32_t p_handle, const Bounds &p_aabb, bool p_delay_collision_check = false) {
+	bool activate(uint32_t p_handle, const BOUNDS &p_aabb, bool p_delay_collision_check = false) {
 		BVHHandle h;
 		h.set(p_handle);
 		return activate(h, p_aabb, p_delay_collision_check);
@@ -153,16 +170,16 @@ public:
 		return deactivate(h);
 	}
 
-	void set_pairable(uint32_t p_handle, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask, bool p_force_collision_check = true) {
+	void set_tree(uint32_t p_handle, uint32_t p_tree_id, uint32_t p_tree_collision_mask, bool p_force_collision_check = true) {
 		BVHHandle h;
 		h.set(p_handle);
-		set_pairable(h, p_pairable, p_pairable_type, p_pairable_mask, p_force_collision_check);
+		set_tree(h, p_tree_id, p_tree_collision_mask, p_force_collision_check);
 	}
 
-	bool is_pairable(uint32_t p_handle) const {
+	uint32_t get_tree_id(uint32_t p_handle) const {
 		BVHHandle h;
 		h.set(p_handle);
-		return item_is_pairable(h);
+		return item_get_tree_id(h);
 	}
 	int get_subindex(uint32_t p_handle) const {
 		BVHHandle h;
@@ -178,7 +195,8 @@ public:
 
 	////////////////////////////////////////////////////
 
-	void move(BVHHandle p_handle, const Bounds &p_aabb) {
+	void move(BVHHandle p_handle, const BOUNDS &p_aabb) {
+		BVH_LOCKED_FUNCTION
 		if (tree.item_move(p_handle, p_aabb)) {
 			if (USE_PAIRS) {
 				_add_changed_item(p_handle, p_aabb);
@@ -186,7 +204,12 @@ public:
 		}
 	}
 
+	void recheck_pairs(BVHHandle p_handle) {
+		force_collision_check(p_handle);
+	}
+
 	void erase(BVHHandle p_handle) {
+		BVH_LOCKED_FUNCTION
 		// call unpair and remove all references to the item
 		// before deleting from the tree
 		if (USE_PAIRS) {
@@ -200,11 +223,12 @@ public:
 
 	// use in conjunction with activate if you have deferred the collision check, and
 	// set pairable has never been called.
-	// (deferred collision checks are a workaround for rendering server for historical reasons)
+	// (deferred collision checks are a workaround for visual server for historical reasons)
 	void force_collision_check(BVHHandle p_handle) {
+		BVH_LOCKED_FUNCTION
 		if (USE_PAIRS) {
 			// the aabb should already be up to date in the BVH
-			Bounds aabb;
+			BOUNDS aabb;
 			item_get_AABB(p_handle, aabb);
 
 			// add it as changed even if aabb not different
@@ -218,7 +242,8 @@ public:
 	// these should be read as set_visible for render trees,
 	// but generically this makes items add or remove from the
 	// tree internally, to speed things up by ignoring inactive items
-	bool activate(BVHHandle p_handle, const Bounds &p_aabb, bool p_delay_collision_check = false) {
+	bool activate(BVHHandle p_handle, const BOUNDS &p_aabb, bool p_delay_collision_check = false) {
+		BVH_LOCKED_FUNCTION
 		// sending the aabb here prevents the need for the BVH to maintain
 		// a redundant copy of the aabb.
 		// returns success
@@ -242,6 +267,7 @@ public:
 	}
 
 	bool deactivate(BVHHandle p_handle) {
+		BVH_LOCKED_FUNCTION
 		// returns success
 		if (tree.item_deactivate(p_handle)) {
 			// call unpair and remove all references to the item
@@ -258,12 +284,14 @@ public:
 		return false;
 	}
 
-	bool get_active(BVHHandle p_handle) const {
+	bool get_active(BVHHandle p_handle) {
+		BVH_LOCKED_FUNCTION
 		return tree.item_get_active(p_handle);
 	}
 
 	// call e.g. once per frame (this does a trickle optimize)
 	void update() {
+		BVH_LOCKED_FUNCTION
 		tree.update();
 		_check_for_collisions();
 #ifdef BVH_INTEGRITY_CHECKS
@@ -273,24 +301,26 @@ public:
 
 	// this can be called more frequently than per frame if necessary
 	void update_collisions() {
+		BVH_LOCKED_FUNCTION
 		_check_for_collisions();
 	}
 
 	// prefer calling this directly as type safe
-	void set_pairable(const BVHHandle &p_handle, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask, bool p_force_collision_check = true) {
+	void set_tree(const BVHHandle &p_handle, uint32_t p_tree_id, uint32_t p_tree_collision_mask, bool p_force_collision_check = true) {
+		BVH_LOCKED_FUNCTION
 		// Returns true if the pairing state has changed.
-		bool state_changed = tree.item_set_pairable(p_handle, p_pairable, p_pairable_type, p_pairable_mask);
+		bool state_changed = tree.item_set_tree(p_handle, p_tree_id, p_tree_collision_mask);
 
 		if (USE_PAIRS) {
 			// not sure if absolutely necessary to flush collisions here. It will cost performance to, instead
 			// of waiting for update, so only uncomment this if there are bugs.
 			//_check_for_collisions();
 
-			if ((p_force_collision_check || state_changed) && get_active(p_handle)) {
+			if ((p_force_collision_check || state_changed) && tree.item_get_active(p_handle)) {
 				// when the pairable state changes, we need to force a collision check because newly pairable
 				// items may be in collision, and unpairable items might move out of collision.
 				// We cannot depend on waiting for the next update, because that may come much later.
-				Bounds aabb;
+				BOUNDS aabb;
 				item_get_AABB(p_handle, aabb);
 
 				// passing false disables the optimization which prevents collision checks if
@@ -307,32 +337,33 @@ public:
 	}
 
 	// cull tests
-	int cull_aabb(const Bounds &p_aabb, T **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF) {
+	int cull_aabb(const BOUNDS &p_aabb, T **p_result_array, int p_result_max, const T *p_tester, uint32_t p_tree_collision_mask = 0xFFFFFFFF, int *p_subindex_array = nullptr) {
+		BVH_LOCKED_FUNCTION
 		typename BVHTREE_CLASS::CullParams params;
 
 		params.result_count_overall = 0;
 		params.result_max = p_result_max;
 		params.result_array = p_result_array;
 		params.subindex_array = p_subindex_array;
-		params.mask = p_mask;
-		params.pairable_type = 0;
-		params.test_pairable_only = false;
+		params.tree_collision_mask = p_tree_collision_mask;
 		params.abb.from(p_aabb);
+		params.tester = p_tester;
 
 		tree.cull_aabb(params);
 
 		return params.result_count_overall;
 	}
 
-	int cull_segment(const Point &p_from, const Point &p_to, T **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF) {
+	int cull_segment(const POINT &p_from, const POINT &p_to, T **p_result_array, int p_result_max, const T *p_tester, uint32_t p_tree_collision_mask = 0xFFFFFFFF, int *p_subindex_array = nullptr) {
+		BVH_LOCKED_FUNCTION
 		typename BVHTREE_CLASS::CullParams params;
 
 		params.result_count_overall = 0;
 		params.result_max = p_result_max;
 		params.result_array = p_result_array;
 		params.subindex_array = p_subindex_array;
-		params.mask = p_mask;
-		params.pairable_type = 0;
+		params.tester = p_tester;
+		params.tree_collision_mask = p_tree_collision_mask;
 
 		params.segment.from = p_from;
 		params.segment.to = p_to;
@@ -342,15 +373,16 @@ public:
 		return params.result_count_overall;
 	}
 
-	int cull_point(const Point &p_point, T **p_result_array, int p_result_max, int *p_subindex_array = nullptr, uint32_t p_mask = 0xFFFFFFFF) {
+	int cull_point(const POINT &p_point, T **p_result_array, int p_result_max, const T *p_tester, uint32_t p_tree_collision_mask = 0xFFFFFFFF, int *p_subindex_array = nullptr) {
+		BVH_LOCKED_FUNCTION
 		typename BVHTREE_CLASS::CullParams params;
 
 		params.result_count_overall = 0;
 		params.result_max = p_result_max;
 		params.result_array = p_result_array;
 		params.subindex_array = p_subindex_array;
-		params.mask = p_mask;
-		params.pairable_type = 0;
+		params.tester = p_tester;
+		params.tree_collision_mask = p_tree_collision_mask;
 
 		params.point = p_point;
 
@@ -358,7 +390,8 @@ public:
 		return params.result_count_overall;
 	}
 
-	int cull_convex(const Vector<Plane> &p_convex, T **p_result_array, int p_result_max, uint32_t p_mask = 0xFFFFFFFF) {
+	int cull_convex(const Vector<Plane> &p_convex, T **p_result_array, int p_result_max, const T *p_tester, uint32_t p_tree_collision_mask = 0xFFFFFFFF) {
+		BVH_LOCKED_FUNCTION
 		if (!p_convex.size()) {
 			return 0;
 		}
@@ -373,8 +406,8 @@ public:
 		params.result_max = p_result_max;
 		params.result_array = p_result_array;
 		params.subindex_array = nullptr;
-		params.mask = p_mask;
-		params.pairable_type = 0;
+		params.tester = p_tester;
+		params.tree_collision_mask = p_tree_collision_mask;
 
 		params.hull.planes = &p_convex[0];
 		params.hull.num_planes = p_convex.size();
@@ -394,7 +427,7 @@ private:
 			return;
 		}
 
-		Bounds bb;
+		BOUNDS bb;
 
 		typename BVHTREE_CLASS::CullParams params;
 
@@ -402,28 +435,23 @@ private:
 		params.result_max = INT_MAX;
 		params.result_array = nullptr;
 		params.subindex_array = nullptr;
-		params.mask = 0xFFFFFFFF;
-		params.pairable_type = 0;
 
 		for (unsigned int n = 0; n < changed_items.size(); n++) {
 			const BVHHandle &h = changed_items[n];
 
 			// use the expanded aabb for pairing
-			const Bounds &expanded_aabb = tree._pairs[h.id()].expanded_aabb;
+			const BOUNDS &expanded_aabb = tree._pairs[h.id()].expanded_aabb;
 			BVHABB_CLASS abb;
 			abb.from(expanded_aabb);
 
+			tree.item_fill_cullparams(h, params);
+
 			// find all the existing paired aabbs that are no longer
 			// paired, and send callbacks
 			_find_leavers(h, abb, p_full_check);
 
 			uint32_t changed_item_ref_id = h.id();
 
-			// set up the test from this item.
-			// this includes whether to test the non pairable tree,
-			// and the item mask.
-			tree.item_fill_cullparams(h, params);
-
 			params.abb = abb;
 
 			params.result_count_overall = 0; // might not be needed
@@ -456,7 +484,7 @@ private:
 	}
 
 public:
-	void item_get_AABB(BVHHandle p_handle, Bounds &r_aabb) {
+	void item_get_AABB(BVHHandle p_handle, BOUNDS &r_aabb) {
 		BVHABB_CLASS abb;
 		tree.item_get_ABB(p_handle, abb);
 		abb.to(r_aabb);
@@ -464,7 +492,7 @@ public:
 
 private:
 	// supplemental funcs
-	bool item_is_pairable(BVHHandle p_handle) const { return _get_extra(p_handle).pairable; }
+	uint32_t item_get_tree_id(BVHHandle p_handle) const { return _get_extra(p_handle).tree_id; }
 	T *item_get_userdata(BVHHandle p_handle) const { return _get_extra(p_handle).userdata; }
 	int item_get_subindex(BVHHandle p_handle) const { return _get_extra(p_handle).subindex; }
 
@@ -485,12 +513,35 @@ private:
 		void *ud_from = pairs_from.remove_pair_to(p_to);
 		pairs_to.remove_pair_to(p_from);
 
+#ifdef BVH_VERBOSE_PAIRING
+		print_line("_unpair " + itos(p_from.id()) + " from " + itos(p_to.id()));
+#endif
+
 		// callback
 		if (unpair_callback) {
 			unpair_callback(pair_callback_userdata, p_from, exa.userdata, exa.subindex, p_to, exb.userdata, exb.subindex, ud_from);
 		}
 	}
 
+	void *_recheck_pair(BVHHandle p_from, BVHHandle p_to, void *p_pair_data) {
+		tree._handle_sort(p_from, p_to);
+
+		typename BVHTREE_CLASS::ItemExtra &exa = tree._extra[p_from.id()];
+		typename BVHTREE_CLASS::ItemExtra &exb = tree._extra[p_to.id()];
+
+		// if the userdata is the same, no collisions should occur
+		if ((exa.userdata == exb.userdata) && exa.userdata) {
+			return p_pair_data;
+		}
+
+		// callback
+		if (check_pair_callback) {
+			return check_pair_callback(check_pair_callback_userdata, p_from, exa.userdata, exa.subindex, p_to, exb.userdata, exb.subindex, p_pair_data);
+		}
+
+		return p_pair_data;
+	}
+
 	// returns true if unpair
 	bool _find_leavers_process_pair(typename BVHTREE_CLASS::ItemPairs &p_pairs_from, const BVHABB_CLASS &p_abb_from, BVHHandle p_from, BVHHandle p_to, bool p_full_check) {
 		BVHABB_CLASS abb_to;
@@ -498,8 +549,8 @@ private:
 
 		// do they overlap?
 		if (p_abb_from.intersects(abb_to)) {
-			// the full check for pairable / non pairable and mask changes is extra expense
-			// this need not be done in most cases (for speed) except in the case where set_pairable is called
+			// the full check for pairable / non pairable (i.e. tree_id and tree_masks) and mask changes is extra expense
+			// this need not be done in most cases (for speed) except in the case where set_tree is called
 			// where the masks etc of the objects in question may have changed
 			if (!p_full_check) {
 				return false;
@@ -507,12 +558,13 @@ private:
 			const typename BVHTREE_CLASS::ItemExtra &exa = _get_extra(p_from);
 			const typename BVHTREE_CLASS::ItemExtra &exb = _get_extra(p_to);
 
-			// one of the two must be pairable to still pair
-			// if neither are pairable, we always unpair
-			if (exa.pairable || exb.pairable) {
+			// Checking tree_ids and tree_collision_masks
+			if (exa.are_item_trees_compatible(exb)) {
+				bool pair_allowed = USER_PAIR_TEST_FUNCTION::user_pair_check(exa.userdata, exb.userdata);
+
 				// the masks must still be compatible to pair
-				// i.e. if there is a hit between the two, then they should stay paired
-				if (tree._cull_pairing_mask_test_hit(exa.pairable_mask, exa.pairable_type, exb.pairable_mask, exb.pairable_type)) {
+				// i.e. if there is a hit between the two and they intersect, then they should stay paired
+				if (pair_allowed) {
 					return false;
 				}
 			}
@@ -550,6 +602,11 @@ private:
 		const typename BVHTREE_CLASS::ItemExtra &exa = _get_extra(p_ha);
 		const typename BVHTREE_CLASS::ItemExtra &exb = _get_extra(p_hb);
 
+		// user collision callback
+		if (!USER_PAIR_TEST_FUNCTION::user_pair_check(exa.userdata, exb.userdata)) {
+			return;
+		}
+
 		// if the userdata is the same, no collisions should occur
 		if ((exa.userdata == exb.userdata) && exa.userdata) {
 			return;
@@ -573,6 +630,10 @@ private:
 		// callback
 		void *callback_userdata = nullptr;
 
+#ifdef BVH_VERBOSE_PAIRING
+		print_line("_pair " + itos(p_ha.id()) + " to " + itos(p_hb.id()));
+#endif
+
 		if (pair_callback) {
 			callback_userdata = pair_callback(pair_callback_userdata, p_ha, exa.userdata, exa.subindex, p_hb, exb.userdata, exb.subindex);
 		}
@@ -594,6 +655,32 @@ private:
 		}
 	}
 
+	// Send pair callbacks again for all existing pairs for the given handle.
+	void _recheck_pairs(BVHHandle p_handle) {
+		typename BVHTREE_CLASS::ItemPairs &from = tree._pairs[p_handle.id()];
+
+		// checking pair for every partner.
+		for (unsigned int n = 0; n < from.extended_pairs.size(); n++) {
+			typename BVHTREE_CLASS::ItemPairs::Link &pair = from.extended_pairs[n];
+			BVHHandle h_to = pair.handle;
+			void *new_pair_data = _recheck_pair(p_handle, h_to, pair.userdata);
+
+			if (new_pair_data != pair.userdata) {
+				pair.userdata = new_pair_data;
+
+				// Update pair data for the second item.
+				typename BVHTREE_CLASS::ItemPairs &to = tree._pairs[h_to.id()];
+				for (unsigned int to_index = 0; to_index < to.extended_pairs.size(); to_index++) {
+					typename BVHTREE_CLASS::ItemPairs::Link &to_pair = to.extended_pairs[to_index];
+					if (to_pair.handle == p_handle) {
+						to_pair.userdata = new_pair_data;
+						break;
+					}
+				}
+			}
+		}
+	}
+
 private:
 	const typename BVHTREE_CLASS::ItemExtra &_get_extra(BVHHandle p_handle) const {
 		return tree._extra[p_handle.id()];
@@ -607,19 +694,24 @@ private:
 		_tick++;
 	}
 
-	void _add_changed_item(BVHHandle p_handle, const Bounds &aabb, bool p_check_aabb = true) {
+	void _add_changed_item(BVHHandle p_handle, const BOUNDS &aabb, bool p_check_aabb = true) {
 		// Note that non pairable items can pair with pairable,
 		// so all types must be added to the list
 
+#ifdef BVH_EXPAND_LEAF_AABBS
+		// if using expanded AABB in the leaf, the redundancy check will already have been made
+		BOUNDS &expanded_aabb = tree._pairs[p_handle.id()].expanded_aabb;
+		item_get_AABB(p_handle, expanded_aabb);
+#else
 		// aabb check with expanded aabb. This greatly decreases processing
 		// at the cost of slightly less accurate pairing checks
 		// Note this pairing AABB is separate from the AABB in the actual tree
-		Bounds &expanded_aabb = tree._pairs[p_handle.id()].expanded_aabb;
+		BOUNDS &expanded_aabb = tree._pairs[p_handle.id()].expanded_aabb;
 
 		// passing p_check_aabb false disables the optimization which prevents collision checks if
 		// the aabb hasn't changed. This is needed where set_pairable has been called, but the position
 		// has not changed.
-		if (p_check_aabb && expanded_aabb.encloses(aabb)) {
+		if (p_check_aabb && tree.expanded_aabb_encloses_not_shrink(expanded_aabb, aabb)) {
 			return;
 		}
 
@@ -627,6 +719,7 @@ private:
 		// this tick, because it is vital that the AABB is kept up to date
 		expanded_aabb = aabb;
 		expanded_aabb.grow_by(tree._pairing_expansion);
+#endif
 
 		// this code is to ensure that changed items only appear once on the updated list
 		// collision checking them multiple times is not needed, and repeats the same thing
@@ -670,8 +763,10 @@ private:
 
 	PairCallback pair_callback;
 	UnpairCallback unpair_callback;
+	CheckPairCallback check_pair_callback;
 	void *pair_callback_userdata;
 	void *unpair_callback_userdata;
+	void *check_pair_callback_userdata;
 
 	BVHTREE_CLASS tree;
 
@@ -680,6 +775,38 @@ private:
 	LocalVector<BVHHandle, uint32_t, true> changed_items;
 	uint32_t _tick;
 
+	class BVHLockedFunction {
+	public:
+		BVHLockedFunction(Mutex *p_mutex, bool p_thread_safe) {
+			// will be compiled out if not set in template
+			if (p_thread_safe) {
+				_mutex = p_mutex;
+
+				if (_mutex->try_lock() != OK) {
+					WARN_PRINT("Info : multithread BVH access detected (benign)");
+					_mutex->lock();
+				}
+
+			} else {
+				_mutex = nullptr;
+			}
+		}
+		~BVHLockedFunction() {
+			// will be compiled out if not set in template
+			if (_mutex) {
+				_mutex->unlock();
+			}
+		}
+
+	private:
+		Mutex *_mutex;
+	};
+
+	Mutex _mutex;
+
+	// local toggle for turning on and off thread safety in project settings
+	bool _thread_safe;
+
 public:
 	BVH_Manager() {
 		_tick = 1; // start from 1 so items with 0 indicate never updated
@@ -687,6 +814,7 @@ public:
 		unpair_callback = nullptr;
 		pair_callback_userdata = nullptr;
 		unpair_callback_userdata = nullptr;
+		_thread_safe = BVH_THREAD_SAFE;
 	}
 };
 
diff --git a/core/math/bvh_abb.h b/core/math/bvh_abb.h
index 009032d34d..8a44f1c4da 100644
--- a/core/math/bvh_abb.h
+++ b/core/math/bvh_abb.h
@@ -32,7 +32,7 @@
 #define BVH_ABB_H
 
 // special optimized version of axis aligned bounding box
-template <class Bounds = AABB, class Point = Vector3>
+template <class BOUNDS = AABB, class POINT = Vector3>
 struct BVH_ABB {
 	struct ConvexHull {
 		// convex hulls (optional)
@@ -43,8 +43,8 @@ struct BVH_ABB {
 	};
 
 	struct Segment {
-		Point from;
-		Point to;
+		POINT from;
+		POINT to;
 	};
 
 	enum IntersectResult {
@@ -54,47 +54,47 @@ struct BVH_ABB {
 	};
 
 	// we store mins with a negative value in order to test them with SIMD
-	Point min;
-	Point neg_max;
+	POINT min;
+	POINT neg_max;
 
 	bool operator==(const BVH_ABB &o) const { return (min == o.min) && (neg_max == o.neg_max); }
 	bool operator!=(const BVH_ABB &o) const { return (*this == o) == false; }
 
-	void set(const Point &_min, const Point &_max) {
+	void set(const POINT &_min, const POINT &_max) {
 		min = _min;
 		neg_max = -_max;
 	}
 
 	// to and from standard AABB
-	void from(const Bounds &p_aabb) {
+	void from(const BOUNDS &p_aabb) {
 		min = p_aabb.position;
 		neg_max = -(p_aabb.position + p_aabb.size);
 	}
 
-	void to(Bounds &r_aabb) const {
+	void to(BOUNDS &r_aabb) const {
 		r_aabb.position = min;
 		r_aabb.size = calculate_size();
 	}
 
 	void merge(const BVH_ABB &p_o) {
-		for (int axis = 0; axis < Point::AXIS_COUNT; ++axis) {
+		for (int axis = 0; axis < POINT::AXIS_COUNT; ++axis) {
 			neg_max[axis] = MIN(neg_max[axis], p_o.neg_max[axis]);
 			min[axis] = MIN(min[axis], p_o.min[axis]);
 		}
 	}
 
-	Point calculate_size() const {
+	POINT calculate_size() const {
 		return -neg_max - min;
 	}
 
-	Point calculate_centre() const {
-		return Point((calculate_size() * 0.5) + min);
+	POINT calculate_centre() const {
+		return POINT((calculate_size() * 0.5) + min);
 	}
 
 	real_t get_proximity_to(const BVH_ABB &p_b) const {
-		const Point d = (min - neg_max) - (p_b.min - p_b.neg_max);
+		const POINT d = (min - neg_max) - (p_b.min - p_b.neg_max);
 		real_t proximity = 0.0;
-		for (int axis = 0; axis < Point::AXIS_COUNT; ++axis) {
+		for (int axis = 0; axis < POINT::AXIS_COUNT; ++axis) {
 			proximity += Math::abs(d[axis]);
 		}
 		return proximity;
@@ -104,7 +104,7 @@ struct BVH_ABB {
 		return (get_proximity_to(p_a) < get_proximity_to(p_b) ? 0 : 1);
 	}
 
-	uint32_t find_cutting_planes(const BVH_ABB::ConvexHull &p_hull, uint32_t *p_plane_ids) const {
+	uint32_t find_cutting_planes(const typename BVH_ABB::ConvexHull &p_hull, uint32_t *p_plane_ids) const {
 		uint32_t count = 0;
 
 		for (int n = 0; n < p_hull.num_planes; n++) {
@@ -162,7 +162,7 @@ struct BVH_ABB {
 	}
 
 	bool intersects_convex_partial(const ConvexHull &p_hull) const {
-		Bounds bb;
+		BOUNDS bb;
 		to(bb);
 		return bb.intersects_convex_shape(p_hull.planes, p_hull.num_planes, p_hull.points, p_hull.num_points);
 	}
@@ -182,7 +182,7 @@ struct BVH_ABB {
 
 	bool is_within_convex(const ConvexHull &p_hull) const {
 		// use half extents routine
-		Bounds bb;
+		BOUNDS bb;
 		to(bb);
 		return bb.inside_convex_shape(p_hull.planes, p_hull.num_planes);
 	}
@@ -197,12 +197,12 @@ struct BVH_ABB {
 	}
 
 	bool intersects_segment(const Segment &p_s) const {
-		Bounds bb;
+		BOUNDS bb;
 		to(bb);
 		return bb.intersects_segment(p_s.from, p_s.to);
 	}
 
-	bool intersects_point(const Point &p_pt) const {
+	bool intersects_point(const POINT &p_pt) const {
 		if (_any_lessthan(-p_pt, neg_max)) {
 			return false;
 		}
@@ -212,6 +212,7 @@ struct BVH_ABB {
 		return true;
 	}
 
+	// Very hot in profiling, make sure optimized
 	bool intersects(const BVH_ABB &p_o) const {
 		if (_any_morethan(p_o.min, -neg_max)) {
 			return false;
@@ -222,6 +223,17 @@ struct BVH_ABB {
 		return true;
 	}
 
+	// for pre-swizzled tester (this object)
+	bool intersects_swizzled(const BVH_ABB &p_o) const {
+		if (_any_lessthan(min, p_o.min)) {
+			return false;
+		}
+		if (_any_lessthan(neg_max, p_o.neg_max)) {
+			return false;
+		}
+		return true;
+	}
+
 	bool is_other_within(const BVH_ABB &p_o) const {
 		if (_any_lessthan(p_o.neg_max, neg_max)) {
 			return false;
@@ -232,20 +244,20 @@ struct BVH_ABB {
 		return true;
 	}
 
-	void grow(const Point &p_change) {
+	void grow(const POINT &p_change) {
 		neg_max -= p_change;
 		min -= p_change;
 	}
 
 	void expand(real_t p_change) {
-		Point change;
+		POINT change;
 		change.set_all(p_change);
 		grow(change);
 	}
 
 	// Actually surface area metric.
 	float get_area() const {
-		Point d = calculate_size();
+		POINT d = calculate_size();
 		return 2.0f * (d.x * d.y + d.y * d.z + d.z * d.x);
 	}
 
@@ -254,8 +266,8 @@ struct BVH_ABB {
 		min = neg_max;
 	}
 
-	bool _any_morethan(const Point &p_a, const Point &p_b) const {
-		for (int axis = 0; axis < Point::AXIS_COUNT; ++axis) {
+	bool _any_morethan(const POINT &p_a, const POINT &p_b) const {
+		for (int axis = 0; axis < POINT::AXIS_COUNT; ++axis) {
 			if (p_a[axis] > p_b[axis]) {
 				return true;
 			}
@@ -263,8 +275,8 @@ struct BVH_ABB {
 		return false;
 	}
 
-	bool _any_lessthan(const Point &p_a, const Point &p_b) const {
-		for (int axis = 0; axis < Point::AXIS_COUNT; ++axis) {
+	bool _any_lessthan(const POINT &p_a, const POINT &p_b) const {
+		for (int axis = 0; axis < POINT::AXIS_COUNT; ++axis) {
 			if (p_a[axis] < p_b[axis]) {
 				return true;
 			}
diff --git a/core/math/bvh_cull.inc b/core/math/bvh_cull.inc
index d7edc8a884..0a340c8131 100644
--- a/core/math/bvh_cull.inc
+++ b/core/math/bvh_cull.inc
@@ -9,20 +9,22 @@ struct CullParams {
 	T **result_array;
 	int *subindex_array;
 
-	// nobody truly understands how masks are intended to work.
-	uint32_t mask;
-	uint32_t pairable_type;
+	// We now process masks etc in a user template function,
+	// and these for simplicity assume even for cull tests there is a
+	// testing object (which has masks etc) for the user cull checks.
+	// This means for cull tests on their own, the client will usually
+	// want to create a dummy object, just in order to specify masks etc.
+	const T *tester;
 
 	// optional components for different tests
-	Point point;
+	POINT point;
 	BVHABB_CLASS abb;
 	typename BVHABB_CLASS::ConvexHull hull;
 	typename BVHABB_CLASS::Segment segment;
 
-	// when collision testing, non pairable moving items
-	// only need to be tested against the pairable tree.
-	// collisions with other non pairable items are irrelevant.
-	bool test_pairable_only;
+	// When collision testing, we can specify which tree ids
+	// to collide test against with the tree_collision_mask.
+	uint32_t tree_collision_mask;
 };
 
 private:
@@ -58,11 +60,22 @@ int cull_convex(CullParams &r_params, bool p_translate_hits = true) {
 	_cull_hits.clear();
 	r_params.result_count = 0;
 
+	uint32_t tree_test_mask = 0;
+
 	for (int n = 0; n < NUM_TREES; n++) {
+		tree_test_mask <<= 1;
+		if (!tree_test_mask) {
+			tree_test_mask = 1;
+		}
+
 		if (_root_node_id[n] == BVHCommon::INVALID) {
 			continue;
 		}
 
+		if (!(r_params.tree_collision_mask & tree_test_mask)) {
+			continue;
+		}
+
 		_cull_convex_iterative(_root_node_id[n], r_params);
 	}
 
@@ -77,11 +90,22 @@ int cull_segment(CullParams &r_params, bool p_translate_hits = true) {
 	_cull_hits.clear();
 	r_params.result_count = 0;
 
+	uint32_t tree_test_mask = 0;
+
 	for (int n = 0; n < NUM_TREES; n++) {
+		tree_test_mask <<= 1;
+		if (!tree_test_mask) {
+			tree_test_mask = 1;
+		}
+
 		if (_root_node_id[n] == BVHCommon::INVALID) {
 			continue;
 		}
 
+		if (!(r_params.tree_collision_mask & tree_test_mask)) {
+			continue;
+		}
+
 		_cull_segment_iterative(_root_node_id[n], r_params);
 	}
 
@@ -96,11 +120,22 @@ int cull_point(CullParams &r_params, bool p_translate_hits = true) {
 	_cull_hits.clear();
 	r_params.result_count = 0;
 
+	uint32_t tree_test_mask = 0;
+
 	for (int n = 0; n < NUM_TREES; n++) {
+		tree_test_mask <<= 1;
+		if (!tree_test_mask) {
+			tree_test_mask = 1;
+		}
+
 		if (_root_node_id[n] == BVHCommon::INVALID) {
 			continue;
 		}
 
+		if (!(r_params.tree_collision_mask & tree_test_mask)) {
+			continue;
+		}
+
 		_cull_point_iterative(_root_node_id[n], r_params);
 	}
 
@@ -115,12 +150,20 @@ int cull_aabb(CullParams &r_params, bool p_translate_hits = true) {
 	_cull_hits.clear();
 	r_params.result_count = 0;
 
+	uint32_t tree_test_mask = 0;
+
 	for (int n = 0; n < NUM_TREES; n++) {
+		tree_test_mask <<= 1;
+		if (!tree_test_mask) {
+			tree_test_mask = 1;
+		}
+
 		if (_root_node_id[n] == BVHCommon::INVALID) {
 			continue;
 		}
 
-		if ((n == 0) && r_params.test_pairable_only) {
+		// the tree collision mask determines which trees to collide test against
+		if (!(r_params.tree_collision_mask & tree_test_mask)) {
 			continue;
 		}
 
@@ -142,22 +185,6 @@ bool _cull_hits_full(const CullParams &p) {
 	return (int)_cull_hits.size() >= p.result_max;
 }
 
-// write this logic once for use in all routines
-// double check this as a possible source of bugs in future.
-bool _cull_pairing_mask_test_hit(uint32_t p_maskA, uint32_t p_typeA, uint32_t p_maskB, uint32_t p_typeB) const {
-	// double check this as a possible source of bugs in future.
-	bool A_match_B = p_maskA & p_typeB;
-
-	if (!A_match_B) {
-		bool B_match_A = p_maskB & p_typeA;
-		if (!B_match_A) {
-			return false;
-		}
-	}
-
-	return true;
-}
-
 void _cull_hit(uint32_t p_ref_id, CullParams &p) {
 	// take into account masks etc
 	// this would be more efficient to do before plane checks,
@@ -165,7 +192,8 @@ void _cull_hit(uint32_t p_ref_id, CullParams &p) {
 	if (USE_PAIRS) {
 		const ItemExtra &ex = _extra[p_ref_id];
 
-		if (!_cull_pairing_mask_test_hit(p.mask, p.pairable_type, ex.pairable_mask, ex.pairable_type)) {
+		// user supplied function (for e.g. pairable types and pairable masks in the render tree)
+		if (!USER_CULL_TEST_FUNCTION::user_cull_check(p.tester, ex.userdata)) {
 			return;
 		}
 	}
@@ -294,6 +322,7 @@ bool _cull_point_iterative(uint32_t p_node_id, CullParams &r_params) {
 	return true;
 }
 
+// Note: This is a very hot loop profiling wise. Take care when changing this and profile.
 bool _cull_aabb_iterative(uint32_t p_node_id, CullParams &r_params, bool p_fully_within = false) {
 	// our function parameters to keep on a stack
 	struct CullAABBParams {
@@ -336,16 +365,26 @@ bool _cull_aabb_iterative(uint32_t p_node_id, CullParams &r_params, bool p_fully
 					_cull_hit(child_id, r_params);
 				}
 			} else {
-				for (int n = 0; n < leaf.num_items; n++) {
+				// This section is the hottest area in profiling, so
+				// is optimized highly
+				// get this into a local register and preconverted to correct type
+				int leaf_num_items = leaf.num_items;
+
+				BVHABB_CLASS swizzled_tester;
+				swizzled_tester.min = -r_params.abb.neg_max;
+				swizzled_tester.neg_max = -r_params.abb.min;
+
+				for (int n = 0; n < leaf_num_items; n++) {
 					const BVHABB_CLASS &aabb = leaf.get_aabb(n);
 
-					if (aabb.intersects(r_params.abb)) {
+					if (swizzled_tester.intersects_swizzled(aabb)) {
 						uint32_t child_id = leaf.get_item_ref_id(n);
 
 						// register hit
 						_cull_hit(child_id, r_params);
 					}
 				}
+
 			} // not fully within
 		} else {
 			if (!cap.fully_within) {
diff --git a/core/math/bvh_debug.inc b/core/math/bvh_debug.inc
index 55db794ee3..ea31a154a3 100644
--- a/core/math/bvh_debug.inc
+++ b/core/math/bvh_debug.inc
@@ -6,12 +6,12 @@ void _debug_recursive_print_tree(int p_tree_id) const {
 }
 
 String _debug_aabb_to_string(const BVHABB_CLASS &aabb) const {
-	Point size = aabb.calculate_size();
+	POINT size = aabb.calculate_size();
 
 	String sz;
 	float vol = 0.0;
 
-	for (int i = 0; i < Point::AXES_COUNT; ++i) {
+	for (int i = 0; i < POINT::AXIS_COUNT; ++i) {
 		sz += "(";
 		sz += itos(aabb.min[i]);
 		sz += " ~ ";
diff --git a/core/math/bvh_logic.inc b/core/math/bvh_logic.inc
index c65002a9fd..dd3b135bb5 100644
--- a/core/math/bvh_logic.inc
+++ b/core/math/bvh_logic.inc
@@ -42,9 +42,9 @@ BVHABB_CLASS _logic_abb_merge(const BVHABB_CLASS &a, const BVHABB_CLASS &b) {
 
 //--------------------------------------------------------------------------------------------------
 /**
- * @file	q3DynamicAABBTree.h
- * @author	Randy Gaul
- * @date	10/10/2014
+ * @file    q3DynamicAABBTree.h
+ * @author  Randy Gaul
+ * @date    10/10/2014
  *  Copyright (c) 2014 Randy Gaul http://www.randygaul.net
  *  This software is provided 'as-is', without any express or implied
  *  warranty. In no event will the authors be held liable for any damages
@@ -75,11 +75,11 @@ int32_t _logic_balance(int32_t iA, uint32_t p_tree_id) {
 		return iA;
 	}
 
-	/*       A
-	 *     /   \
-	 *    B     C
-	 *   / \   / \
-	 *  D   E F   G
+	/*        A
+	 *      /   \
+	 *     B     C
+	 *    / \   / \
+	 *   D   E F   G
 	 */
 
 	CRASH_COND(A->num_children != 2);
diff --git a/core/math/bvh_misc.inc b/core/math/bvh_misc.inc
index 71aa0e4fe0..9b35a1d36d 100644
--- a/core/math/bvh_misc.inc
+++ b/core/math/bvh_misc.inc
@@ -1,11 +1,7 @@
 
 int _handle_get_tree_id(BVHHandle p_handle) const {
 	if (USE_PAIRS) {
-		int tree = 0;
-		if (_extra[p_handle.id()].pairable) {
-			tree = 1;
-		}
-		return tree;
+		return _extra[p_handle.id()].tree_id;
 	}
 	return 0;
 }
diff --git a/core/math/bvh_pair.inc b/core/math/bvh_pair.inc
index a12acec2b6..7b9c7ce6ae 100644
--- a/core/math/bvh_pair.inc
+++ b/core/math/bvh_pair.inc
@@ -14,10 +14,10 @@ struct ItemPairs {
 	void clear() {
 		num_pairs = 0;
 		extended_pairs.reset();
-		expanded_aabb = Bounds();
+		expanded_aabb = BOUNDS();
 	}
 
-	Bounds expanded_aabb;
+	BOUNDS expanded_aabb;
 
 	// maybe we can just use the number in the vector TODO
 	int32_t num_pairs;
@@ -59,4 +59,14 @@ struct ItemPairs {
 
 		return userdata;
 	}
+
+	// experiment : scale the pairing expansion by the number of pairs.
+	// when the number of pairs is high, the density is high and a lower collision margin is better.
+	// when there are few local pairs, a larger margin is more optimal.
+	real_t scale_expansion_margin(real_t p_margin) const {
+		real_t x = real_t(num_pairs) * (1.0 / 9.0);
+		x = MIN(x, 1.0);
+		x = 1.0 - x;
+		return p_margin * x;
+	}
 };
diff --git a/core/math/bvh_public.inc b/core/math/bvh_public.inc
index 2c1e406712..36b0bfeb13 100644
--- a/core/math/bvh_public.inc
+++ b/core/math/bvh_public.inc
@@ -1,5 +1,5 @@
 public:
-BVHHandle item_add(T *p_userdata, bool p_active, const Bounds &p_aabb, int32_t p_subindex, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask, bool p_invisible = false) {
+BVHHandle item_add(T *p_userdata, bool p_active, const BOUNDS &p_aabb, int32_t p_subindex, uint32_t p_tree_id, uint32_t p_tree_collision_mask, bool p_invisible = false) {
 #ifdef BVH_VERBOSE_TREE
 	VERBOSE_PRINT("\nitem_add BEFORE");
 	_debug_recursive_print_tree(0);
@@ -9,6 +9,13 @@ BVHHandle item_add(T *p_userdata, bool p_active, const Bounds &p_aabb, int32_t p
 	BVHABB_CLASS abb;
 	abb.from(p_aabb);
 
+	// NOTE that we do not expand the AABB for the first create even if
+	// leaf expansion is switched on. This is for two reasons:
+	// (1) We don't know if this object will move in future, in which case a non-expanded
+	// bound would be better...
+	// (2) We don't yet know how many objects will be paired, which is used to modify
+	// the expansion margin.
+
 	// handle to be filled with the new item ref
 	BVHHandle handle;
 
@@ -40,29 +47,17 @@ BVHHandle item_add(T *p_userdata, bool p_active, const Bounds &p_aabb, int32_t p
 	extra->active_ref_id = _active_refs.size();
 	_active_refs.push_back(ref_id);
 
-	if (USE_PAIRS) {
-		extra->pairable_mask = p_pairable_mask;
-		extra->pairable_type = p_pairable_type;
-		extra->pairable = p_pairable;
-	} else {
-		// just for safety, in case this gets queried etc
-		extra->pairable = 0;
-		p_pairable = false;
-	}
+	extra->tree_id = p_tree_id;
+	extra->tree_collision_mask = p_tree_collision_mask;
 
 	// assign to handle to return
 	handle.set_id(ref_id);
 
-	uint32_t tree_id = 0;
-	if (p_pairable) {
-		tree_id = 1;
-	}
-
-	create_root_node(tree_id);
+	create_root_node(p_tree_id);
 
 	// we must choose where to add to tree
 	if (p_active) {
-		ref->tnode_id = _logic_choose_item_add_node(_root_node_id[tree_id], abb);
+		ref->tnode_id = _logic_choose_item_add_node(_root_node_id[p_tree_id], abb);
 
 		bool refit = _node_add_item(ref->tnode_id, ref_id, abb);
 
@@ -70,7 +65,7 @@ BVHHandle item_add(T *p_userdata, bool p_active, const Bounds &p_aabb, int32_t p
 			// only need to refit from the parent
 			const TNode &add_node = _nodes[ref->tnode_id];
 			if (add_node.parent_id != BVHCommon::INVALID) {
-				refit_upward_and_balance(add_node.parent_id, tree_id);
+				refit_upward_and_balance(add_node.parent_id, p_tree_id);
 			}
 		}
 	} else {
@@ -103,7 +98,7 @@ void _debug_print_refs() {
 }
 
 // returns false if noop
-bool item_move(BVHHandle p_handle, const Bounds &p_aabb) {
+bool item_move(BVHHandle p_handle, const BOUNDS &p_aabb) {
 	uint32_t ref_id = p_handle.id();
 
 	// get the reference
@@ -115,10 +110,19 @@ bool item_move(BVHHandle p_handle, const Bounds &p_aabb) {
 	BVHABB_CLASS abb;
 	abb.from(p_aabb);
 
+#ifdef BVH_EXPAND_LEAF_AABBS
+	if (USE_PAIRS) {
+		// scale the pairing expansion by the number of pairs.
+		abb.expand(_pairs[ref_id].scale_expansion_margin(_pairing_expansion));
+	} else {
+		abb.expand(_pairing_expansion);
+	}
+#endif
+
 	BVH_ASSERT(ref.tnode_id != BVHCommon::INVALID);
 	TNode &tnode = _nodes[ref.tnode_id];
 
-	// does it fit within the current aabb?
+	// does it fit within the current leaf aabb?
 	if (tnode.aabb.is_other_within(abb)) {
 		// do nothing .. fast path .. not moved enough to need refit
 
@@ -129,9 +133,24 @@ bool item_move(BVHHandle p_handle, const Bounds &p_aabb) {
 		BVHABB_CLASS &leaf_abb = leaf.get_aabb(ref.item_id);
 
 		// no change?
+#ifdef BVH_EXPAND_LEAF_AABBS
+		BOUNDS leaf_aabb;
+		leaf_abb.to(leaf_aabb);
+
+		// This test should pass in a lot of cases, and by returning false we can avoid
+		// collision pairing checks later, which greatly reduces processing.
+		if (expanded_aabb_encloses_not_shrink(leaf_aabb, p_aabb)) {
+			return false;
+		}
+#else
 		if (leaf_abb == abb) {
 			return false;
 		}
+#endif
+
+#ifdef BVH_VERBOSE_MOVES
+		print_line("item_move " + itos(p_handle.id()) + "(within tnode aabb) : " + _debug_aabb_to_string(abb));
+#endif
 
 		leaf_abb = abb;
 		_integrity_check_all();
@@ -139,6 +158,10 @@ bool item_move(BVHHandle p_handle, const Bounds &p_aabb) {
 		return true;
 	}
 
+#ifdef BVH_VERBOSE_MOVES
+	print_line("item_move " + itos(p_handle.id()) + "(outside tnode aabb) : " + _debug_aabb_to_string(abb));
+#endif
+
 	uint32_t tree_id = _handle_get_tree_id(p_handle);
 
 	// remove and reinsert
@@ -206,7 +229,7 @@ void item_remove(BVHHandle p_handle) {
 }
 
 // returns success
-bool item_activate(BVHHandle p_handle, const Bounds &p_aabb) {
+bool item_activate(BVHHandle p_handle, const BOUNDS &p_aabb) {
 	uint32_t ref_id = p_handle.id();
 	ItemRef &ref = _refs[ref_id];
 	if (ref.is_active()) {
@@ -260,12 +283,14 @@ void item_fill_cullparams(BVHHandle p_handle, CullParams &r_params) const {
 	uint32_t ref_id = p_handle.id();
 	const ItemExtra &extra = _extra[ref_id];
 
-	// testing from a non pairable item, we only want to test pairable items
-	r_params.test_pairable_only = extra.pairable == 0;
+	// which trees does this item want to collide detect against?
+	r_params.tree_collision_mask = extra.tree_collision_mask;
 
-	// we take into account the mask of the item testing from
-	r_params.mask = extra.pairable_mask;
-	r_params.pairable_type = extra.pairable_type;
+	// The testing user defined object is passed to the user defined cull check function
+	// for masks etc. This is usually a dummy object of type T with masks set.
+	// However, if not using the cull_check callback (i.e. returning true), you can pass
+	// a nullptr instead of dummy object, as it will not be used.
+	r_params.tester = extra.userdata;
 }
 
 bool item_is_pairable(const BVHHandle &p_handle) {
@@ -285,7 +310,7 @@ void item_get_ABB(const BVHHandle &p_handle, BVHABB_CLASS &r_abb) {
 	r_abb = leaf.get_aabb(ref.item_id);
 }
 
-bool item_set_pairable(const BVHHandle &p_handle, bool p_pairable, uint32_t p_pairable_type, uint32_t p_pairable_mask) {
+bool item_set_tree(const BVHHandle &p_handle, uint32_t p_tree_id, uint32_t p_tree_collision_mask) {
 	// change tree?
 	uint32_t ref_id = p_handle.id();
 
@@ -293,13 +318,15 @@ bool item_set_pairable(const BVHHandle &p_handle, bool p_pairable, uint32_t p_pa
 	ItemRef &ref = _refs[ref_id];
 
 	bool active = ref.is_active();
-	bool pairable_changed = (ex.pairable != 0) != p_pairable;
-	bool state_changed = pairable_changed || (ex.pairable_type != p_pairable_type) || (ex.pairable_mask != p_pairable_mask);
+	bool tree_changed = ex.tree_id != p_tree_id;
+	bool mask_changed = ex.tree_collision_mask != p_tree_collision_mask;
+	bool state_changed = tree_changed | mask_changed;
 
-	ex.pairable_type = p_pairable_type;
-	ex.pairable_mask = p_pairable_mask;
+	// Keep an eye on this for bugs of not noticing changes to objects,
+	// especially when changing client user masks that will not be detected as a change
+	// in the BVH. You may need to force a collision check in this case with recheck_pairs().
 
-	if (active && pairable_changed) {
+	if (active && (tree_changed | mask_changed)) {
 		// record abb
 		TNode &tnode = _nodes[ref.tnode_id];
 		TLeaf &leaf = _node_get_leaf(tnode);
@@ -313,7 +340,8 @@ bool item_set_pairable(const BVHHandle &p_handle, bool p_pairable, uint32_t p_pa
 
 		// we must set the pairable AFTER getting the current tree
 		// because the pairable status determines which tree
-		ex.pairable = p_pairable;
+		ex.tree_id = p_tree_id;
+		ex.tree_collision_mask = p_tree_collision_mask;
 
 		// add to new tree
 		tree_id = _handle_get_tree_id(p_handle);
@@ -333,7 +361,8 @@ bool item_set_pairable(const BVHHandle &p_handle, bool p_pairable, uint32_t p_pa
 		}
 	} else {
 		// always keep this up to date
-		ex.pairable = p_pairable;
+		ex.tree_id = p_tree_id;
+		ex.tree_collision_mask = p_tree_collision_mask;
 	}
 
 	return state_changed;
@@ -403,7 +432,7 @@ void update() {
 
 		// if there are no nodes, do nothing, but if there are...
 		if (bound_valid) {
-			Bounds bb;
+			BOUNDS bb;
 			world_bound.to(bb);
 			real_t size = bb.get_longest_axis_size();
 
@@ -421,3 +450,50 @@ void update() {
 	}
 #endif
 }
+
+void params_set_pairing_expansion(real_t p_value) {
+	if (p_value < 0.0) {
+#ifdef BVH_ALLOW_AUTO_EXPANSION
+		_auto_pairing_expansion = true;
+#endif
+		return;
+	}
+#ifdef BVH_ALLOW_AUTO_EXPANSION
+	_auto_pairing_expansion = false;
+#endif
+
+	_pairing_expansion = p_value;
+
+	// calculate shrinking threshold
+	const real_t fudge_factor = 1.1;
+	_aabb_shrinkage_threshold = _pairing_expansion * POINT::AXIS_COUNT * 2.0 * fudge_factor;
+}
+
+// This routine is not just an enclose check, it also checks for special case of shrinkage
+bool expanded_aabb_encloses_not_shrink(const BOUNDS &p_expanded_aabb, const BOUNDS &p_aabb) const {
+	if (!p_expanded_aabb.encloses(p_aabb)) {
+		return false;
+	}
+
+	// Check for special case of shrinkage. If the aabb has shrunk
+	// significantly we want to create a new expanded bound, because
+	// the previous expanded bound will have diverged significantly.
+	const POINT &exp_size = p_expanded_aabb.size;
+	const POINT &new_size = p_aabb.size;
+
+	real_t exp_l = 0.0;
+	real_t new_l = 0.0;
+
+	for (int i = 0; i < POINT::AXIS_COUNT; ++i) {
+		exp_l += exp_size[i];
+		new_l += new_size[i];
+	}
+
+	// is difference above some metric
+	real_t diff = exp_l - new_l;
+	if (diff < _aabb_shrinkage_threshold) {
+		return true;
+	}
+
+	return false;
+}
diff --git a/core/math/bvh_split.inc b/core/math/bvh_split.inc
index f19ee8a7da..ff07166d4a 100644
--- a/core/math/bvh_split.inc
+++ b/core/math/bvh_split.inc
@@ -25,16 +25,16 @@ void _split_leaf_sort_groups_simple(int &num_a, int &num_b, uint16_t *group_a, u
 		return;
 	}
 
-	Point centre = full_bound.calculate_centre();
-	Point size = full_bound.calculate_size();
+	POINT centre = full_bound.calculate_centre();
+	POINT size = full_bound.calculate_size();
 
-	int order[Point::AXIS_COUNT];
+	int order[POINT::AXIS_COUNT];
 
 	order[0] = size.min_axis_index();
-	order[Point::AXIS_COUNT - 1] = size.max_axis_index();
+	order[POINT::AXIS_COUNT - 1] = size.max_axis_index();
 
-	static_assert(Point::AXIS_COUNT <= 3);
-	if (Point::AXIS_COUNT == 3) {
+	static_assert(POINT::AXIS_COUNT <= 3, "BVH POINT::AXIS_COUNT has unexpected size");
+	if (POINT::AXIS_COUNT == 3) {
 		order[1] = 3 - (order[0] + order[2]);
 	}
 
@@ -58,7 +58,7 @@ void _split_leaf_sort_groups_simple(int &num_a, int &num_b, uint16_t *group_a, u
 
 	// detect when split on longest axis failed
 	int min_threshold = MAX_ITEMS / 4;
-	int min_group_size[Point::AXIS_COUNT];
+	int min_group_size[POINT::AXIS_COUNT];
 	min_group_size[0] = MIN(num_a, num_b);
 	if (min_group_size[0] < min_threshold) {
 		// slow but sure .. first move everything back into a
@@ -68,7 +68,7 @@ void _split_leaf_sort_groups_simple(int &num_a, int &num_b, uint16_t *group_a, u
 		num_b = 0;
 
 		// now calculate the best split
-		for (int axis = 1; axis < Point::AXIS_COUNT; axis++) {
+		for (int axis = 1; axis < POINT::AXIS_COUNT; axis++) {
 			split_axis = order[axis];
 			int count = 0;
 
@@ -86,7 +86,7 @@ void _split_leaf_sort_groups_simple(int &num_a, int &num_b, uint16_t *group_a, u
 		// best axis
 		int best_axis = 0;
 		int best_min = min_group_size[0];
-		for (int axis = 1; axis < Point::AXIS_COUNT; axis++) {
+		for (int axis = 1; axis < POINT::AXIS_COUNT; axis++) {
 			if (min_group_size[axis] > best_min) {
 				best_min = min_group_size[axis];
 				best_axis = axis;
diff --git a/core/math/bvh_structs.inc b/core/math/bvh_structs.inc
index 1d1e0e6468..b0d9ae3615 100644
--- a/core/math/bvh_structs.inc
+++ b/core/math/bvh_structs.inc
@@ -14,25 +14,38 @@ struct ItemRef {
 // extra info kept in separate parallel list to the references,
 // as this is less used as keeps cache better
 struct ItemExtra {
-	uint32_t last_updated_tick;
-	uint32_t pairable;
-	uint32_t pairable_mask;
-	uint32_t pairable_type;
+	// Before doing user defined pairing checks (especially in the find_leavers function),
+	// we may want to check that two items have compatible tree ids and tree masks,
+	// as if they are incompatible they should not pair / collide.
+	bool are_item_trees_compatible(const ItemExtra &p_other) const {
+		uint32_t other_type = 1 << p_other.tree_id;
+		if (tree_collision_mask & other_type) {
+			return true;
+		}
+		uint32_t our_type = 1 << tree_id;
+		if (p_other.tree_collision_mask & our_type) {
+			return true;
+		}
+		return false;
+	}
+
+	// There can be multiple user defined trees
+	uint32_t tree_id;
 
+	// Defines which trees this item should collision check against.
+	// 1 << tree_id, and normally items would collide against there own
+	// tree (but not always).
+	uint32_t tree_collision_mask;
+
+	uint32_t last_updated_tick;
 	int32_t subindex;
 
+	T *userdata;
+
 	// the active reference is a separate list of which references
 	// are active so that we can slowly iterate through it over many frames for
 	// slow optimize.
 	uint32_t active_ref_id;
-
-	T *userdata;
-};
-
-// this is an item OR a child node depending on whether a leaf node
-struct Item {
-	BVHABB_CLASS aabb;
-	uint32_t item_ref_id;
 };
 
 // tree leaf
@@ -133,13 +146,13 @@ struct TNode {
 
 // instead of using linked list we maintain
 // item references (for quick lookup)
-PooledList<ItemRef, true> _refs;
-PooledList<ItemExtra, true> _extra;
+PooledList<ItemRef, uint32_t, true> _refs;
+PooledList<ItemExtra, uint32_t, true> _extra;
 PooledList<ItemPairs> _pairs;
 
 // these 2 are not in sync .. nodes != leaves!
-PooledList<TNode, true> _nodes;
-PooledList<TLeaf, true> _leaves;
+PooledList<TNode, uint32_t, true> _nodes;
+PooledList<TLeaf, uint32_t, true> _leaves;
 
 // we can maintain an un-ordered list of which references are active,
 // in order to do a slow incremental optimize of the tree over each frame.
@@ -152,15 +165,11 @@ uint32_t _current_active_ref = 0;
 // for pairing collision detection
 LocalVector<uint32_t, uint32_t, true> _cull_hits;
 
-// we now have multiple root nodes, allowing us to store
-// more than 1 tree. This can be more efficient, while sharing the same
-// common lists
-enum { NUM_TREES = 2,
-};
-
-// Tree 0 - Non pairable
-// Tree 1 - Pairable
-// This is more efficient because in physics we only need check non pairable against the pairable tree.
+// We can now have a user definable number of trees.
+// This allows using e.g. a non-pairable and pairable tree,
+// which can be more efficient for example, if we only need check non pairable against the pairable tree.
+// It also may be more efficient in terms of separating static from dynamic objects, by reducing housekeeping.
+// However this is a trade off, as there is a cost of traversing two trees.
 uint32_t _root_node_id[NUM_TREES];
 
 // these values may need tweaking according to the project
@@ -177,4 +186,14 @@ bool _auto_node_expansion = true;
 // larger values gives more 'sticky' pairing, and is less likely to exhibit tunneling
 // we can either use auto mode, where the expansion is based on the root node size, or specify manually
 real_t _pairing_expansion = 0.1;
+
+#ifdef BVH_ALLOW_AUTO_EXPANSION
 bool _auto_pairing_expansion = true;
+#endif
+
+// when using an expanded bound, we must detect the condition where a new AABB
+// is significantly smaller than the expanded bound, as this is a special case where we
+// should override the optimization and create a new expanded bound.
+// This threshold is derived from the _pairing_expansion, and should be recalculated
+// if _pairing_expansion is changed.
+real_t _aabb_shrinkage_threshold = 0.0;
diff --git a/core/math/bvh_tree.h b/core/math/bvh_tree.h
index c948d83456..da9b307778 100644
--- a/core/math/bvh_tree.h
+++ b/core/math/bvh_tree.h
@@ -48,12 +48,17 @@
 #include "core/templates/pooled_list.h"
 #include <limits.h>
 
-#define BVHABB_CLASS BVH_ABB<Bounds, Point>
+#define BVHABB_CLASS BVH_ABB<BOUNDS, POINT>
+
+// not sure if this is better yet so making optional
+#define BVH_EXPAND_LEAF_AABBS
 
 // never do these checks in release
 #if defined(TOOLS_ENABLED) && defined(DEBUG_ENABLED)
 //#define BVH_VERBOSE
 //#define BVH_VERBOSE_TREE
+//#define BVH_VERBOSE_PAIRING
+//#define BVH_VERBOSE_MOVES
 
 //#define BVH_VERBOSE_FRAME
 //#define BVH_CHECKS
@@ -148,7 +153,25 @@ public:
 	}
 };
 
-template <class T, int MAX_CHILDREN, int MAX_ITEMS, bool USE_PAIRS = false, class Bounds = AABB, class Point = Vector3>
+template <class T>
+class BVH_DummyPairTestFunction {
+public:
+	static bool user_collision_check(T *p_a, T *p_b) {
+		// return false if no collision, decided by masks etc
+		return true;
+	}
+};
+
+template <class T>
+class BVH_DummyCullTestFunction {
+public:
+	static bool user_cull_check(T *p_a, T *p_b) {
+		// return false if no collision
+		return true;
+	}
+};
+
+template <class T, int NUM_TREES, int MAX_CHILDREN, int MAX_ITEMS, class USER_PAIR_TEST_FUNCTION = BVH_DummyPairTestFunction<T>, class USER_CULL_TEST_FUNCTION = BVH_DummyCullTestFunction<T>, bool USE_PAIRS = false, class BOUNDS = AABB, class POINT = Vector3>
 class BVH_Tree {
 	friend class BVH;
 
@@ -165,6 +188,11 @@ public:
 		// (as these ids are stored as negative numbers in the node)
 		uint32_t dummy_leaf_id;
 		_leaves.request(dummy_leaf_id);
+
+		// In many cases you may want to change this default in the client code,
+		// or expose this value to the user.
+		// This default may make sense for a typically scaled 3d game, but maybe not for 2d on a pixel scale.
+		params_set_pairing_expansion(0.1);
 	}
 
 private:
@@ -234,7 +262,7 @@ private:
 				change_root_node(sibling_id, p_tree_id);
 
 				// delete the old root node as no longer needed
-				_nodes.free(p_parent_id);
+				node_free_node_and_leaf(p_parent_id);
 			}
 
 			return;
@@ -247,7 +275,19 @@ private:
 		}
 
 		// put the node on the free list to recycle
-		_nodes.free(p_parent_id);
+		node_free_node_and_leaf(p_parent_id);
+	}
+
+	// A node can either be a node, or a node AND a leaf combo.
+	// Both must be deleted to prevent a leak.
+	void node_free_node_and_leaf(uint32_t p_node_id) {
+		TNode &node = _nodes[p_node_id];
+		if (node.is_leaf()) {
+			int leaf_id = node.get_leaf_id();
+			_leaves.free(leaf_id);
+		}
+
+		_nodes.free(p_node_id);
 	}
 
 	void change_root_node(uint32_t p_new_root_id, uint32_t p_tree_id) {
@@ -339,7 +379,7 @@ private:
 				refit_upward(parent_id);
 
 				// put the node on the free list to recycle
-				_nodes.free(owner_node_id);
+				node_free_node_and_leaf(owner_node_id);
 			}
 
 			// else if no parent, it is the root node. Do not delete
diff --git a/core/templates/pooled_list.h b/core/templates/pooled_list.h
index 360fda81f8..f13156b292 100644
--- a/core/templates/pooled_list.h
+++ b/core/templates/pooled_list.h
@@ -28,16 +28,13 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef POOLED_LIST_H
-#define POOLED_LIST_H
-
-#include "core/templates/local_vector.h"
+#pragma once
 
 // Simple template to provide a pool with O(1) allocate and free.
 // The freelist could alternatively be a linked list placed within the unused elements
 // to use less memory, however a separate freelist is probably more cache friendly.
-//
-// NOTE: Take great care when using this with non POD types. The construction and destruction
+
+// NOTE : Take great care when using this with non POD types. The construction and destruction
 // is done in the LocalVector, NOT as part of the pool. So requesting a new item does not guarantee
 // a constructor is run, and free does not guarantee a destructor.
 // You should generally handle clearing
@@ -45,33 +42,60 @@
 // This is by design for fastest use in the BVH. If you want a more general pool
 // that does call constructors / destructors on request / free, this should probably be
 // a separate template.
-template <class T, bool force_trivial = false>
+
+// The zero_on_first_request feature is optional and is useful for e.g. pools of handles,
+// which may use a ref count which we want to be initialized to zero the first time a handle is created,
+// but left alone on subsequent allocations (as will typically be incremented).
+
+// Note that there is no function to compact the pool - this would
+// invalidate any existing pool IDs held externally.
+// Compaction can be done but would rely on a more complex method
+// of preferentially giving out lower IDs in the freelist first.
+
+#include "core/templates/local_vector.h"
+
+template <class T, class U = uint32_t, bool force_trivial = false, bool zero_on_first_request = false>
 class PooledList {
-	LocalVector<T, uint32_t, force_trivial> list;
-	LocalVector<uint32_t, uint32_t, true> freelist;
+	LocalVector<T, U, force_trivial> list;
+	LocalVector<U, U, true> freelist;
 
 	// not all list members are necessarily used
-	int _used_size;
+	U _used_size;
 
 public:
 	PooledList() {
 		_used_size = 0;
 	}
 
-	int estimate_memory_use() const {
-		return (list.size() * sizeof(T)) + (freelist.size() * sizeof(uint32_t));
+	// Use with care, in most cases you should make sure to
+	// free all elements first (i.e. _used_size would be zero),
+	// although it could also be used without this as an optimization
+	// in some cases.
+	void clear() {
+		list.clear();
+		freelist.clear();
+		_used_size = 0;
+	}
+
+	uint64_t estimate_memory_use() const {
+		return ((uint64_t)list.size() * sizeof(T)) + ((uint64_t)freelist.size() * sizeof(U));
 	}
 
-	const T &operator[](uint32_t p_index) const {
+	const T &operator[](U p_index) const {
 		return list[p_index];
 	}
-	T &operator[](uint32_t p_index) {
+	T &operator[](U p_index) {
 		return list[p_index];
 	}
 
-	int size() const { return _used_size; }
+	// To be explicit in a pool there is a distinction
+	// between the number of elements that are currently
+	// in use, and the number of elements that have been reserved.
+	// Using size() would be vague.
+	U used_size() const { return _used_size; }
+	U reserved_size() const { return list.size(); }
 
-	T *request(uint32_t &r_id) {
+	T *request(U &r_id) {
 		_used_size++;
 
 		if (freelist.size()) {
@@ -79,19 +103,106 @@ public:
 			int new_size = freelist.size() - 1;
 			r_id = freelist[new_size];
 			freelist.resize(new_size);
+
 			return &list[r_id];
 		}
 
 		r_id = list.size();
 		list.resize(r_id + 1);
+
+		static_assert((!zero_on_first_request) || (__is_pod(T)), "zero_on_first_request requires trivial type");
+		if (zero_on_first_request && __is_pod(T)) {
+			list[r_id] = {};
+		}
+
 		return &list[r_id];
 	}
-	void free(const uint32_t &p_id) {
+	void free(const U &p_id) {
 		// should not be on free list already
-		CRASH_COND(p_id >= list.size());
+		ERR_FAIL_UNSIGNED_INDEX(p_id, list.size());
 		freelist.push_back(p_id);
+		ERR_FAIL_COND_MSG(!_used_size, "_used_size has become out of sync, have you double freed an item?");
 		_used_size--;
 	}
 };
 
-#endif // POOLED_LIST_H
+// a pooled list which automatically keeps a list of the active members
+template <class T, class U = uint32_t, bool force_trivial = false, bool zero_on_first_request = false>
+class TrackedPooledList {
+public:
+	U pool_used_size() const { return _pool.used_size(); }
+	U pool_reserved_size() const { return _pool.reserved_size(); }
+	U active_size() const { return _active_list.size(); }
+
+	// use with care, see the earlier notes in the PooledList clear()
+	void clear() {
+		_pool.clear();
+		_active_list.clear();
+		_active_map.clear();
+	}
+
+	U get_active_id(U p_index) const {
+		return _active_list[p_index];
+	}
+
+	const T &get_active(U p_index) const {
+		return _pool[get_active_id(p_index)];
+	}
+
+	T &get_active(U p_index) {
+		return _pool[get_active_id(p_index)];
+	}
+
+	const T &operator[](U p_index) const {
+		return _pool[p_index];
+	}
+	T &operator[](U p_index) {
+		return _pool[p_index];
+	}
+
+	T *request(U &r_id) {
+		T *item = _pool.request(r_id);
+
+		// add to the active list
+		U active_list_id = _active_list.size();
+		_active_list.push_back(r_id);
+
+		// expand the active map (this should be in sync with the pool list
+		if (_pool.used_size() > _active_map.size()) {
+			_active_map.resize(_pool.used_size());
+		}
+
+		// store in the active map
+		_active_map[r_id] = active_list_id;
+
+		return item;
+	}
+
+	void free(const U &p_id) {
+		_pool.free(p_id);
+
+		// remove from the active list.
+		U list_id = _active_map[p_id];
+
+		// zero the _active map to detect bugs (only in debug?)
+		_active_map[p_id] = -1;
+
+		_active_list.remove_unordered(list_id);
+
+		// keep the replacement in sync with the correct list Id
+		if (list_id < _active_list.size()) {
+			// which pool id has been replaced in the active list
+			U replacement_id = _active_list[list_id];
+
+			// keep that replacements map up to date with the new position
+			_active_map[replacement_id] = list_id;
+		}
+	}
+
+	const LocalVector<U, U> &get_active_list() const { return _active_list; }
+
+private:
+	PooledList<T, U, force_trivial, zero_on_first_request> _pool;
+	LocalVector<U, U> _active_map;
+	LocalVector<U, U> _active_list;
+};
diff --git a/servers/physics_2d/godot_broad_phase_2d_bvh.cpp b/servers/physics_2d/godot_broad_phase_2d_bvh.cpp
index 5a96dae8ca..6d46f6074e 100644
--- a/servers/physics_2d/godot_broad_phase_2d_bvh.cpp
+++ b/servers/physics_2d/godot_broad_phase_2d_bvh.cpp
@@ -32,7 +32,9 @@
 #include "godot_collision_object_2d.h"
 
 GodotBroadPhase2D::ID GodotBroadPhase2DBVH::create(GodotCollisionObject2D *p_object, int p_subindex, const Rect2 &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?
+	uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
+	uint32_t tree_collision_mask = p_static ? 0 : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
+	ID oid = bvh.create(p_object, true, tree_id, tree_collision_mask, p_aabb, p_subindex); // Pair everything, don't care?
 	return oid + 1;
 }
 
@@ -41,8 +43,9 @@ void GodotBroadPhase2DBVH::move(ID p_id, const Rect2 &p_aabb) {
 }
 
 void GodotBroadPhase2DBVH::set_static(ID p_id, bool p_static) {
-	GodotCollisionObject2D *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?
+	uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
+	uint32_t tree_collision_mask = p_static ? 0 : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
+	bvh.set_tree(p_id - 1, tree_id, tree_collision_mask, false);
 }
 
 void GodotBroadPhase2DBVH::remove(ID p_id) {
@@ -56,7 +59,8 @@ GodotCollisionObject2D *GodotBroadPhase2DBVH::get_object(ID p_id) const {
 }
 
 bool GodotBroadPhase2DBVH::is_static(ID p_id) const {
-	return !bvh.is_pairable(p_id - 1);
+	uint32_t tree_id = bvh.get_tree_id(p_id - 1);
+	return tree_id == 0;
 }
 
 int GodotBroadPhase2DBVH::get_subindex(ID p_id) const {
@@ -64,11 +68,11 @@ int GodotBroadPhase2DBVH::get_subindex(ID p_id) const {
 }
 
 int GodotBroadPhase2DBVH::cull_segment(const Vector2 &p_from, const Vector2 &p_to, GodotCollisionObject2D **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);
+	return bvh.cull_segment(p_from, p_to, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
 }
 
 int GodotBroadPhase2DBVH::cull_aabb(const Rect2 &p_aabb, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices) {
-	return bvh.cull_aabb(p_aabb, p_results, p_max_results, p_result_indices);
+	return bvh.cull_aabb(p_aabb, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
 }
 
 void *GodotBroadPhase2DBVH::_pair_callback(void *self, uint32_t p_A, GodotCollisionObject2D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject2D *p_object_B, int subindex_B) {
diff --git a/servers/physics_2d/godot_broad_phase_2d_bvh.h b/servers/physics_2d/godot_broad_phase_2d_bvh.h
index d77e0574eb..b11ad0e75e 100644
--- a/servers/physics_2d/godot_broad_phase_2d_bvh.h
+++ b/servers/physics_2d/godot_broad_phase_2d_bvh.h
@@ -38,7 +38,34 @@
 #include "core/math/vector2.h"
 
 class GodotBroadPhase2DBVH : public GodotBroadPhase2D {
-	BVH_Manager<GodotCollisionObject2D, true, 128, Rect2, Vector2> bvh;
+	template <class T>
+	class UserPairTestFunction {
+	public:
+		static bool user_pair_check(const T *p_a, const T *p_b) {
+			// return false if no collision, decided by masks etc
+			return p_a->interacts_with(p_b);
+		}
+	};
+
+	template <class T>
+	class UserCullTestFunction {
+	public:
+		static bool user_cull_check(const T *p_a, const T *p_b) {
+			return true;
+		}
+	};
+
+	enum Tree {
+		TREE_STATIC = 0,
+		TREE_DYNAMIC = 1,
+	};
+
+	enum TreeFlag {
+		TREE_FLAG_STATIC = 1 << TREE_STATIC,
+		TREE_FLAG_DYNAMIC = 1 << TREE_DYNAMIC,
+	};
+
+	BVH_Manager<GodotCollisionObject2D, 2, true, 128, UserPairTestFunction<GodotCollisionObject2D>, UserCullTestFunction<GodotCollisionObject2D>, Rect2, Vector2> bvh;
 
 	static void *_pair_callback(void *, uint32_t, GodotCollisionObject2D *, int, uint32_t, GodotCollisionObject2D *, int);
 	static void _unpair_callback(void *, uint32_t, GodotCollisionObject2D *, int, uint32_t, GodotCollisionObject2D *, int, void *);
diff --git a/servers/physics_2d/godot_collision_object_2d.h b/servers/physics_2d/godot_collision_object_2d.h
index 1e9baad8d9..19d6e91561 100644
--- a/servers/physics_2d/godot_collision_object_2d.h
+++ b/servers/physics_2d/godot_collision_object_2d.h
@@ -180,7 +180,7 @@ public:
 		return p_other->collision_layer & collision_mask;
 	}
 
-	_FORCE_INLINE_ bool interacts_with(GodotCollisionObject2D *p_other) const {
+	_FORCE_INLINE_ bool interacts_with(const GodotCollisionObject2D *p_other) const {
 		return collision_layer & p_other->collision_mask || p_other->collision_layer & collision_mask;
 	}
 
diff --git a/servers/physics_2d/godot_space_2d.cpp b/servers/physics_2d/godot_space_2d.cpp
index 5c2bda340b..53a82d18c3 100644
--- a/servers/physics_2d/godot_space_2d.cpp
+++ b/servers/physics_2d/godot_space_2d.cpp
@@ -996,11 +996,8 @@ bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::
 	return collided;
 }
 
+// Assumes a valid collision pair, this should have been checked beforehand in the BVH or octree.
 void *GodotSpace2D::_broadphase_pair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_self) {
-	if (!A->interacts_with(B)) {
-		return nullptr;
-	}
-
 	GodotCollisionObject2D::Type type_A = A->get_type();
 	GodotCollisionObject2D::Type type_B = B->get_type();
 	if (type_A > type_B) {
diff --git a/servers/physics_3d/godot_broad_phase_3d_bvh.cpp b/servers/physics_3d/godot_broad_phase_3d_bvh.cpp
index 9a6b96c411..d947892751 100644
--- a/servers/physics_3d/godot_broad_phase_3d_bvh.cpp
+++ b/servers/physics_3d/godot_broad_phase_3d_bvh.cpp
@@ -33,7 +33,9 @@
 #include "godot_collision_object_3d.h"
 
 GodotBroadPhase3DBVH::ID GodotBroadPhase3DBVH::create(GodotCollisionObject3D *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?
+	uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
+	uint32_t tree_collision_mask = p_static ? 0 : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
+	ID oid = bvh.create(p_object, true, tree_id, tree_collision_mask, p_aabb, p_subindex); // Pair everything, don't care?
 	return oid + 1;
 }
 
@@ -42,8 +44,9 @@ void GodotBroadPhase3DBVH::move(ID p_id, const AABB &p_aabb) {
 }
 
 void GodotBroadPhase3DBVH::set_static(ID p_id, bool p_static) {
-	GodotCollisionObject3D *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?
+	uint32_t tree_id = p_static ? TREE_STATIC : TREE_DYNAMIC;
+	uint32_t tree_collision_mask = p_static ? 0 : (TREE_FLAG_STATIC | TREE_FLAG_DYNAMIC);
+	bvh.set_tree(p_id - 1, tree_id, tree_collision_mask, false);
 }
 
 void GodotBroadPhase3DBVH::remove(ID p_id) {
@@ -57,7 +60,8 @@ GodotCollisionObject3D *GodotBroadPhase3DBVH::get_object(ID p_id) const {
 }
 
 bool GodotBroadPhase3DBVH::is_static(ID p_id) const {
-	return !bvh.is_pairable(p_id - 1);
+	uint32_t tree_id = bvh.get_tree_id(p_id - 1);
+	return tree_id == 0;
 }
 
 int GodotBroadPhase3DBVH::get_subindex(ID p_id) const {
@@ -65,15 +69,15 @@ int GodotBroadPhase3DBVH::get_subindex(ID p_id) const {
 }
 
 int GodotBroadPhase3DBVH::cull_point(const Vector3 &p_point, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) {
-	return bvh.cull_point(p_point, p_results, p_max_results, p_result_indices);
+	return bvh.cull_point(p_point, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
 }
 
 int GodotBroadPhase3DBVH::cull_segment(const Vector3 &p_from, const Vector3 &p_to, GodotCollisionObject3D **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);
+	return bvh.cull_segment(p_from, p_to, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
 }
 
 int GodotBroadPhase3DBVH::cull_aabb(const AABB &p_aabb, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) {
-	return bvh.cull_aabb(p_aabb, p_results, p_max_results, p_result_indices);
+	return bvh.cull_aabb(p_aabb, p_results, p_max_results, nullptr, 0xFFFFFFFF, p_result_indices);
 }
 
 void *GodotBroadPhase3DBVH::_pair_callback(void *self, uint32_t p_A, GodotCollisionObject3D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject3D *p_object_B, int subindex_B) {
diff --git a/servers/physics_3d/godot_broad_phase_3d_bvh.h b/servers/physics_3d/godot_broad_phase_3d_bvh.h
index 7138019a9c..7660030195 100644
--- a/servers/physics_3d/godot_broad_phase_3d_bvh.h
+++ b/servers/physics_3d/godot_broad_phase_3d_bvh.h
@@ -36,7 +36,34 @@
 #include "core/math/bvh.h"
 
 class GodotBroadPhase3DBVH : public GodotBroadPhase3D {
-	BVH_Manager<GodotCollisionObject3D, true, 128> bvh;
+	template <class T>
+	class UserPairTestFunction {
+	public:
+		static bool user_pair_check(const T *p_a, const T *p_b) {
+			// return false if no collision, decided by masks etc
+			return p_a->interacts_with(p_b);
+		}
+	};
+
+	template <class T>
+	class UserCullTestFunction {
+	public:
+		static bool user_cull_check(const T *p_a, const T *p_b) {
+			return true;
+		}
+	};
+
+	enum Tree {
+		TREE_STATIC = 0,
+		TREE_DYNAMIC = 1,
+	};
+
+	enum TreeFlag {
+		TREE_FLAG_STATIC = 1 << TREE_STATIC,
+		TREE_FLAG_DYNAMIC = 1 << TREE_DYNAMIC,
+	};
+
+	BVH_Manager<GodotCollisionObject3D, 2, true, 128, UserPairTestFunction<GodotCollisionObject3D>, UserCullTestFunction<GodotCollisionObject3D>> bvh;
 
 	static void *_pair_callback(void *, uint32_t, GodotCollisionObject3D *, int, uint32_t, GodotCollisionObject3D *, int);
 	static void _unpair_callback(void *, uint32_t, GodotCollisionObject3D *, int, uint32_t, GodotCollisionObject3D *, int, void *);
diff --git a/servers/physics_3d/godot_collision_object_3d.h b/servers/physics_3d/godot_collision_object_3d.h
index 0178838a25..515b945564 100644
--- a/servers/physics_3d/godot_collision_object_3d.h
+++ b/servers/physics_3d/godot_collision_object_3d.h
@@ -169,7 +169,7 @@ public:
 		return p_other->collision_layer & collision_mask;
 	}
 
-	_FORCE_INLINE_ bool interacts_with(GodotCollisionObject3D *p_other) const {
+	_FORCE_INLINE_ bool interacts_with(const GodotCollisionObject3D *p_other) const {
 		return collision_layer & p_other->collision_mask || p_other->collision_layer & collision_mask;
 	}
 
diff --git a/servers/physics_3d/godot_space_3d.cpp b/servers/physics_3d/godot_space_3d.cpp
index ed756a7f9d..fa5e08db48 100644
--- a/servers/physics_3d/godot_space_3d.cpp
+++ b/servers/physics_3d/godot_space_3d.cpp
@@ -1008,11 +1008,8 @@ bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::
 	return collided;
 }
 
+// Assumes a valid collision pair, this should have been checked beforehand in the BVH or octree.
 void *GodotSpace3D::_broadphase_pair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_self) {
-	if (!A->interacts_with(B)) {
-		return nullptr;
-	}
-
 	GodotCollisionObject3D::Type type_A = A->get_type();
 	GodotCollisionObject3D::Type type_B = B->get_type();
 	if (type_A > type_B) {