Dynamic BVH broadphase in 2D & 3D Godot Physics

Port lawnjelly's dynamic BVH implementation from 3.x to be used in
both 2D and 3D broadphases.

Removed alternative broadphase implementations which are not meant to be
used anymore since they are much slower.

Includes changes in Rect2, Vector2, Vector3 that help with the template
implementation of the dynamic BVH by uniformizing the interface between
2D and 3D math.

Co-authored-by: lawnjelly <lawnjelly@gmail.com>

1 files changed, 120 insertions, 0 deletions

diff --git a/servers/physics_3d/broad_phase_3d_bvh.cpp b/servers/physics_3d/broad_phase_3d_bvh.cpp
new file mode 100644
index 0000000000..f9f64f786d
--- /dev/null
+++ b/servers/physics_3d/broad_phase_3d_bvh.cpp
@@ -0,0 +1,120 @@
+/*************************************************************************/
+/*  broad_phase_3d_bvh.cpp                                               */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md).   */
+/*                                                                       */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the       */
+/* "Software"), to deal in the Software without restriction, including   */
+/* without limitation the rights to use, copy, modify, merge, publish,   */
+/* distribute, sublicense, and/or sell copies of the Software, and to    */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions:                                             */
+/*                                                                       */
+/* The above copyright notice and this permission notice shall be        */
+/* included in all copies or substantial portions of the Software.       */
+/*                                                                       */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,       */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF    */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY  */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,  */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE     */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
+/*************************************************************************/
+
+#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);
+	pair_callback = nullptr;
+	pair_userdata = nullptr;
+	unpair_userdata = nullptr;
+}