summaryrefslogtreecommitdiff
path: root/core/math
diff options
context:
space:
mode:
Diffstat (limited to 'core/math')
-rw-r--r--core/math/a_star.cpp144
-rw-r--r--core/math/a_star.h12
-rw-r--r--core/math/bvh.h16
-rw-r--r--core/math/bvh_structs.inc20
-rw-r--r--core/math/bvh_tree.h6
5 files changed, 106 insertions, 92 deletions
diff --git a/core/math/a_star.cpp b/core/math/a_star.cpp
index 14057b96be..4212b43621 100644
--- a/core/math/a_star.cpp
+++ b/core/math/a_star.cpp
@@ -33,7 +33,7 @@
#include "core/math/geometry_3d.h"
#include "core/object/script_language.h"
-int AStar::get_available_point_id() const {
+int AStar3D::get_available_point_id() const {
if (points.has(last_free_id)) {
int cur_new_id = last_free_id + 1;
while (points.has(cur_new_id)) {
@@ -45,7 +45,7 @@ int AStar::get_available_point_id() const {
return last_free_id;
}
-void AStar::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) {
+void AStar3D::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) {
ERR_FAIL_COND_MSG(p_id < 0, vformat("Can't add a point with negative id: %d.", p_id));
ERR_FAIL_COND_MSG(p_weight_scale < 1, vformat("Can't add a point with weight scale less than one: %f.", p_weight_scale));
@@ -68,7 +68,7 @@ void AStar::add_point(int p_id, const Vector3 &p_pos, real_t p_weight_scale) {
}
}
-Vector3 AStar::get_point_position(int p_id) const {
+Vector3 AStar3D::get_point_position(int p_id) const {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_V_MSG(!p_exists, Vector3(), vformat("Can't get point's position. Point with id: %d doesn't exist.", p_id));
@@ -76,7 +76,7 @@ Vector3 AStar::get_point_position(int p_id) const {
return p->pos;
}
-void AStar::set_point_position(int p_id, const Vector3 &p_pos) {
+void AStar3D::set_point_position(int p_id, const Vector3 &p_pos) {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_MSG(!p_exists, vformat("Can't set point's position. Point with id: %d doesn't exist.", p_id));
@@ -84,7 +84,7 @@ void AStar::set_point_position(int p_id, const Vector3 &p_pos) {
p->pos = p_pos;
}
-real_t AStar::get_point_weight_scale(int p_id) const {
+real_t AStar3D::get_point_weight_scale(int p_id) const {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_V_MSG(!p_exists, 0, vformat("Can't get point's weight scale. Point with id: %d doesn't exist.", p_id));
@@ -92,7 +92,7 @@ real_t AStar::get_point_weight_scale(int p_id) const {
return p->weight_scale;
}
-void AStar::set_point_weight_scale(int p_id, real_t p_weight_scale) {
+void AStar3D::set_point_weight_scale(int p_id, real_t p_weight_scale) {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_MSG(!p_exists, vformat("Can't set point's weight scale. Point with id: %d doesn't exist.", p_id));
@@ -101,7 +101,7 @@ void AStar::set_point_weight_scale(int p_id, real_t p_weight_scale) {
p->weight_scale = p_weight_scale;
}
-void AStar::remove_point(int p_id) {
+void AStar3D::remove_point(int p_id) {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_MSG(!p_exists, vformat("Can't remove point. Point with id: %d doesn't exist.", p_id));
@@ -127,7 +127,7 @@ void AStar::remove_point(int p_id) {
last_free_id = p_id;
}
-void AStar::connect_points(int p_id, int p_with_id, bool bidirectional) {
+void AStar3D::connect_points(int p_id, int p_with_id, bool bidirectional) {
ERR_FAIL_COND_MSG(p_id == p_with_id, vformat("Can't connect point with id: %d to itself.", p_id));
Point *a;
@@ -165,7 +165,7 @@ void AStar::connect_points(int p_id, int p_with_id, bool bidirectional) {
segments.insert(s);
}
-void AStar::disconnect_points(int p_id, int p_with_id, bool bidirectional) {
+void AStar3D::disconnect_points(int p_id, int p_with_id, bool bidirectional) {
Point *a;
bool a_exists = points.lookup(p_id, a);
ERR_FAIL_COND_MSG(!a_exists, vformat("Can't disconnect points. Point with id: %d doesn't exist.", p_id));
@@ -205,11 +205,11 @@ void AStar::disconnect_points(int p_id, int p_with_id, bool bidirectional) {
}
}
-bool AStar::has_point(int p_id) const {
+bool AStar3D::has_point(int p_id) const {
return points.has(p_id);
}
-Array AStar::get_point_ids() {
+Array AStar3D::get_point_ids() {
Array point_list;
for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
@@ -219,7 +219,7 @@ Array AStar::get_point_ids() {
return point_list;
}
-Vector<int> AStar::get_point_connections(int p_id) {
+Vector<int> AStar3D::get_point_connections(int p_id) {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_V_MSG(!p_exists, Vector<int>(), vformat("Can't get point's connections. Point with id: %d doesn't exist.", p_id));
@@ -233,7 +233,7 @@ Vector<int> AStar::get_point_connections(int p_id) {
return point_list;
}
-bool AStar::are_points_connected(int p_id, int p_with_id, bool bidirectional) const {
+bool AStar3D::are_points_connected(int p_id, int p_with_id, bool bidirectional) const {
Segment s(p_id, p_with_id);
const Set<Segment>::Element *element = segments.find(s);
@@ -241,7 +241,7 @@ bool AStar::are_points_connected(int p_id, int p_with_id, bool bidirectional) co
(bidirectional || (element->get().direction & s.direction) == s.direction);
}
-void AStar::clear() {
+void AStar3D::clear() {
last_free_id = 0;
for (OAHashMap<int, Point *>::Iterator it = points.iter(); it.valid; it = points.next_iter(it)) {
memdelete(*(it.value));
@@ -250,21 +250,21 @@ void AStar::clear() {
points.clear();
}
-int AStar::get_point_count() const {
+int AStar3D::get_point_count() const {
return points.get_num_elements();
}
-int AStar::get_point_capacity() const {
+int AStar3D::get_point_capacity() const {
return points.get_capacity();
}
-void AStar::reserve_space(int p_num_nodes) {
+void AStar3D::reserve_space(int p_num_nodes) {
ERR_FAIL_COND_MSG(p_num_nodes <= 0, vformat("New capacity must be greater than 0, new was: %d.", p_num_nodes));
ERR_FAIL_COND_MSG((uint32_t)p_num_nodes < points.get_capacity(), vformat("New capacity must be greater than current capacity: %d, new was: %d.", points.get_capacity(), p_num_nodes));
points.reserve(p_num_nodes);
}
-int AStar::get_closest_point(const Vector3 &p_point, bool p_include_disabled) const {
+int AStar3D::get_closest_point(const Vector3 &p_point, bool p_include_disabled) const {
int closest_id = -1;
real_t closest_dist = 1e20;
@@ -289,7 +289,7 @@ int AStar::get_closest_point(const Vector3 &p_point, bool p_include_disabled) co
return closest_id;
}
-Vector3 AStar::get_closest_position_in_segment(const Vector3 &p_point) const {
+Vector3 AStar3D::get_closest_position_in_segment(const Vector3 &p_point) const {
real_t closest_dist = 1e20;
Vector3 closest_point;
@@ -318,7 +318,7 @@ Vector3 AStar::get_closest_position_in_segment(const Vector3 &p_point) const {
return closest_point;
}
-bool AStar::_solve(Point *begin_point, Point *end_point) {
+bool AStar3D::_solve(Point *begin_point, Point *end_point) {
pass++;
if (!end_point->enabled) {
@@ -380,7 +380,7 @@ bool AStar::_solve(Point *begin_point, Point *end_point) {
return found_route;
}
-real_t AStar::_estimate_cost(int p_from_id, int p_to_id) {
+real_t AStar3D::_estimate_cost(int p_from_id, int p_to_id) {
real_t scost;
if (GDVIRTUAL_CALL(_estimate_cost, p_from_id, p_to_id, scost)) {
return scost;
@@ -397,7 +397,7 @@ real_t AStar::_estimate_cost(int p_from_id, int p_to_id) {
return from_point->pos.distance_to(to_point->pos);
}
-real_t AStar::_compute_cost(int p_from_id, int p_to_id) {
+real_t AStar3D::_compute_cost(int p_from_id, int p_to_id) {
real_t scost;
if (GDVIRTUAL_CALL(_compute_cost, p_from_id, p_to_id, scost)) {
return scost;
@@ -414,7 +414,7 @@ real_t AStar::_compute_cost(int p_from_id, int p_to_id) {
return from_point->pos.distance_to(to_point->pos);
}
-Vector<Vector3> AStar::get_point_path(int p_from_id, int p_to_id) {
+Vector<Vector3> AStar3D::get_point_path(int p_from_id, int p_to_id) {
Point *a;
bool from_exists = points.lookup(p_from_id, a);
ERR_FAIL_COND_V_MSG(!from_exists, Vector<Vector3>(), vformat("Can't get point path. Point with id: %d doesn't exist.", p_from_id));
@@ -463,7 +463,7 @@ Vector<Vector3> AStar::get_point_path(int p_from_id, int p_to_id) {
return path;
}
-Vector<int> AStar::get_id_path(int p_from_id, int p_to_id) {
+Vector<int> AStar3D::get_id_path(int p_from_id, int p_to_id) {
Point *a;
bool from_exists = points.lookup(p_from_id, a);
ERR_FAIL_COND_V_MSG(!from_exists, Vector<int>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_from_id));
@@ -512,7 +512,7 @@ Vector<int> AStar::get_id_path(int p_from_id, int p_to_id) {
return path;
}
-void AStar::set_point_disabled(int p_id, bool p_disabled) {
+void AStar3D::set_point_disabled(int p_id, bool p_disabled) {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_MSG(!p_exists, vformat("Can't set if point is disabled. Point with id: %d doesn't exist.", p_id));
@@ -520,7 +520,7 @@ void AStar::set_point_disabled(int p_id, bool p_disabled) {
p->enabled = !p_disabled;
}
-bool AStar::is_point_disabled(int p_id) const {
+bool AStar3D::is_point_disabled(int p_id) const {
Point *p;
bool p_exists = points.lookup(p_id, p);
ERR_FAIL_COND_V_MSG(!p_exists, false, vformat("Can't get if point is disabled. Point with id: %d doesn't exist.", p_id));
@@ -528,41 +528,41 @@ bool AStar::is_point_disabled(int p_id) const {
return !p->enabled;
}
-void AStar::_bind_methods() {
- ClassDB::bind_method(D_METHOD("get_available_point_id"), &AStar::get_available_point_id);
- ClassDB::bind_method(D_METHOD("add_point", "id", "position", "weight_scale"), &AStar::add_point, DEFVAL(1.0));
- ClassDB::bind_method(D_METHOD("get_point_position", "id"), &AStar::get_point_position);
- ClassDB::bind_method(D_METHOD("set_point_position", "id", "position"), &AStar::set_point_position);
- ClassDB::bind_method(D_METHOD("get_point_weight_scale", "id"), &AStar::get_point_weight_scale);
- ClassDB::bind_method(D_METHOD("set_point_weight_scale", "id", "weight_scale"), &AStar::set_point_weight_scale);
- ClassDB::bind_method(D_METHOD("remove_point", "id"), &AStar::remove_point);
- ClassDB::bind_method(D_METHOD("has_point", "id"), &AStar::has_point);
- ClassDB::bind_method(D_METHOD("get_point_connections", "id"), &AStar::get_point_connections);
- ClassDB::bind_method(D_METHOD("get_point_ids"), &AStar::get_point_ids);
+void AStar3D::_bind_methods() {
+ ClassDB::bind_method(D_METHOD("get_available_point_id"), &AStar3D::get_available_point_id);
+ ClassDB::bind_method(D_METHOD("add_point", "id", "position", "weight_scale"), &AStar3D::add_point, DEFVAL(1.0));
+ ClassDB::bind_method(D_METHOD("get_point_position", "id"), &AStar3D::get_point_position);
+ ClassDB::bind_method(D_METHOD("set_point_position", "id", "position"), &AStar3D::set_point_position);
+ ClassDB::bind_method(D_METHOD("get_point_weight_scale", "id"), &AStar3D::get_point_weight_scale);
+ ClassDB::bind_method(D_METHOD("set_point_weight_scale", "id", "weight_scale"), &AStar3D::set_point_weight_scale);
+ ClassDB::bind_method(D_METHOD("remove_point", "id"), &AStar3D::remove_point);
+ ClassDB::bind_method(D_METHOD("has_point", "id"), &AStar3D::has_point);
+ ClassDB::bind_method(D_METHOD("get_point_connections", "id"), &AStar3D::get_point_connections);
+ ClassDB::bind_method(D_METHOD("get_point_ids"), &AStar3D::get_point_ids);
- ClassDB::bind_method(D_METHOD("set_point_disabled", "id", "disabled"), &AStar::set_point_disabled, DEFVAL(true));
- ClassDB::bind_method(D_METHOD("is_point_disabled", "id"), &AStar::is_point_disabled);
+ ClassDB::bind_method(D_METHOD("set_point_disabled", "id", "disabled"), &AStar3D::set_point_disabled, DEFVAL(true));
+ ClassDB::bind_method(D_METHOD("is_point_disabled", "id"), &AStar3D::is_point_disabled);
- ClassDB::bind_method(D_METHOD("connect_points", "id", "to_id", "bidirectional"), &AStar::connect_points, DEFVAL(true));
- ClassDB::bind_method(D_METHOD("disconnect_points", "id", "to_id", "bidirectional"), &AStar::disconnect_points, DEFVAL(true));
- ClassDB::bind_method(D_METHOD("are_points_connected", "id", "to_id", "bidirectional"), &AStar::are_points_connected, DEFVAL(true));
+ ClassDB::bind_method(D_METHOD("connect_points", "id", "to_id", "bidirectional"), &AStar3D::connect_points, DEFVAL(true));
+ ClassDB::bind_method(D_METHOD("disconnect_points", "id", "to_id", "bidirectional"), &AStar3D::disconnect_points, DEFVAL(true));
+ ClassDB::bind_method(D_METHOD("are_points_connected", "id", "to_id", "bidirectional"), &AStar3D::are_points_connected, DEFVAL(true));
- ClassDB::bind_method(D_METHOD("get_point_count"), &AStar::get_point_count);
- ClassDB::bind_method(D_METHOD("get_point_capacity"), &AStar::get_point_capacity);
- ClassDB::bind_method(D_METHOD("reserve_space", "num_nodes"), &AStar::reserve_space);
- ClassDB::bind_method(D_METHOD("clear"), &AStar::clear);
+ ClassDB::bind_method(D_METHOD("get_point_count"), &AStar3D::get_point_count);
+ ClassDB::bind_method(D_METHOD("get_point_capacity"), &AStar3D::get_point_capacity);
+ ClassDB::bind_method(D_METHOD("reserve_space", "num_nodes"), &AStar3D::reserve_space);
+ ClassDB::bind_method(D_METHOD("clear"), &AStar3D::clear);
- ClassDB::bind_method(D_METHOD("get_closest_point", "to_position", "include_disabled"), &AStar::get_closest_point, DEFVAL(false));
- ClassDB::bind_method(D_METHOD("get_closest_position_in_segment", "to_position"), &AStar::get_closest_position_in_segment);
+ ClassDB::bind_method(D_METHOD("get_closest_point", "to_position", "include_disabled"), &AStar3D::get_closest_point, DEFVAL(false));
+ ClassDB::bind_method(D_METHOD("get_closest_position_in_segment", "to_position"), &AStar3D::get_closest_position_in_segment);
- ClassDB::bind_method(D_METHOD("get_point_path", "from_id", "to_id"), &AStar::get_point_path);
- ClassDB::bind_method(D_METHOD("get_id_path", "from_id", "to_id"), &AStar::get_id_path);
+ ClassDB::bind_method(D_METHOD("get_point_path", "from_id", "to_id"), &AStar3D::get_point_path);
+ ClassDB::bind_method(D_METHOD("get_id_path", "from_id", "to_id"), &AStar3D::get_id_path);
GDVIRTUAL_BIND(_estimate_cost, "from_id", "to_id")
GDVIRTUAL_BIND(_compute_cost, "from_id", "to_id")
}
-AStar::~AStar() {
+AStar3D::~AStar3D() {
clear();
}
@@ -660,11 +660,11 @@ real_t AStar2D::_estimate_cost(int p_from_id, int p_to_id) {
return scost;
}
- AStar::Point *from_point;
+ AStar3D::Point *from_point;
bool from_exists = astar.points.lookup(p_from_id, from_point);
ERR_FAIL_COND_V_MSG(!from_exists, 0, vformat("Can't estimate cost. Point with id: %d doesn't exist.", p_from_id));
- AStar::Point *to_point;
+ AStar3D::Point *to_point;
bool to_exists = astar.points.lookup(p_to_id, to_point);
ERR_FAIL_COND_V_MSG(!to_exists, 0, vformat("Can't estimate cost. Point with id: %d doesn't exist.", p_to_id));
@@ -677,11 +677,11 @@ real_t AStar2D::_compute_cost(int p_from_id, int p_to_id) {
return scost;
}
- AStar::Point *from_point;
+ AStar3D::Point *from_point;
bool from_exists = astar.points.lookup(p_from_id, from_point);
ERR_FAIL_COND_V_MSG(!from_exists, 0, vformat("Can't compute cost. Point with id: %d doesn't exist.", p_from_id));
- AStar::Point *to_point;
+ AStar3D::Point *to_point;
bool to_exists = astar.points.lookup(p_to_id, to_point);
ERR_FAIL_COND_V_MSG(!to_exists, 0, vformat("Can't compute cost. Point with id: %d doesn't exist.", p_to_id));
@@ -689,11 +689,11 @@ real_t AStar2D::_compute_cost(int p_from_id, int p_to_id) {
}
Vector<Vector2> AStar2D::get_point_path(int p_from_id, int p_to_id) {
- AStar::Point *a;
+ AStar3D::Point *a;
bool from_exists = astar.points.lookup(p_from_id, a);
ERR_FAIL_COND_V_MSG(!from_exists, Vector<Vector2>(), vformat("Can't get point path. Point with id: %d doesn't exist.", p_from_id));
- AStar::Point *b;
+ AStar3D::Point *b;
bool to_exists = astar.points.lookup(p_to_id, b);
ERR_FAIL_COND_V_MSG(!to_exists, Vector<Vector2>(), vformat("Can't get point path. Point with id: %d doesn't exist.", p_to_id));
@@ -702,15 +702,15 @@ Vector<Vector2> AStar2D::get_point_path(int p_from_id, int p_to_id) {
return ret;
}
- AStar::Point *begin_point = a;
- AStar::Point *end_point = b;
+ AStar3D::Point *begin_point = a;
+ AStar3D::Point *end_point = b;
bool found_route = _solve(begin_point, end_point);
if (!found_route) {
return Vector<Vector2>();
}
- AStar::Point *p = end_point;
+ AStar3D::Point *p = end_point;
int pc = 1; // Begin point
while (p != begin_point) {
pc++;
@@ -723,7 +723,7 @@ Vector<Vector2> AStar2D::get_point_path(int p_from_id, int p_to_id) {
{
Vector2 *w = path.ptrw();
- AStar::Point *p2 = end_point;
+ AStar3D::Point *p2 = end_point;
int idx = pc - 1;
while (p2 != begin_point) {
w[idx--] = Vector2(p2->pos.x, p2->pos.y);
@@ -737,11 +737,11 @@ Vector<Vector2> AStar2D::get_point_path(int p_from_id, int p_to_id) {
}
Vector<int> AStar2D::get_id_path(int p_from_id, int p_to_id) {
- AStar::Point *a;
+ AStar3D::Point *a;
bool from_exists = astar.points.lookup(p_from_id, a);
ERR_FAIL_COND_V_MSG(!from_exists, Vector<int>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_from_id));
- AStar::Point *b;
+ AStar3D::Point *b;
bool to_exists = astar.points.lookup(p_to_id, b);
ERR_FAIL_COND_V_MSG(!to_exists, Vector<int>(), vformat("Can't get id path. Point with id: %d doesn't exist.", p_to_id));
@@ -751,15 +751,15 @@ Vector<int> AStar2D::get_id_path(int p_from_id, int p_to_id) {
return ret;
}
- AStar::Point *begin_point = a;
- AStar::Point *end_point = b;
+ AStar3D::Point *begin_point = a;
+ AStar3D::Point *end_point = b;
bool found_route = _solve(begin_point, end_point);
if (!found_route) {
return Vector<int>();
}
- AStar::Point *p = end_point;
+ AStar3D::Point *p = end_point;
int pc = 1; // Begin point
while (p != begin_point) {
pc++;
@@ -785,7 +785,7 @@ Vector<int> AStar2D::get_id_path(int p_from_id, int p_to_id) {
return path;
}
-bool AStar2D::_solve(AStar::Point *begin_point, AStar::Point *end_point) {
+bool AStar2D::_solve(AStar3D::Point *begin_point, AStar3D::Point *end_point) {
astar.pass++;
if (!end_point->enabled) {
@@ -794,15 +794,15 @@ bool AStar2D::_solve(AStar::Point *begin_point, AStar::Point *end_point) {
bool found_route = false;
- Vector<AStar::Point *> open_list;
- SortArray<AStar::Point *, AStar::SortPoints> sorter;
+ Vector<AStar3D::Point *> open_list;
+ SortArray<AStar3D::Point *, AStar3D::SortPoints> sorter;
begin_point->g_score = 0;
begin_point->f_score = _estimate_cost(begin_point->id, end_point->id);
open_list.push_back(begin_point);
while (!open_list.is_empty()) {
- AStar::Point *p = open_list[0]; // The currently processed point
+ AStar3D::Point *p = open_list[0]; // The currently processed point
if (p == end_point) {
found_route = true;
@@ -813,8 +813,8 @@ bool AStar2D::_solve(AStar::Point *begin_point, AStar::Point *end_point) {
open_list.remove_at(open_list.size() - 1);
p->closed_pass = astar.pass; // Mark the point as closed
- for (OAHashMap<int, AStar::Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
- AStar::Point *e = *(it.value); // The neighbour point
+ for (OAHashMap<int, AStar3D::Point *>::Iterator it = p->neighbours.iter(); it.valid; it = p->neighbours.next_iter(it)) {
+ AStar3D::Point *e = *(it.value); // The neighbour point
if (!e->enabled || e->closed_pass == astar.pass) {
continue;
diff --git a/core/math/a_star.h b/core/math/a_star.h
index 130c202a61..bb7112fb09 100644
--- a/core/math/a_star.h
+++ b/core/math/a_star.h
@@ -40,8 +40,8 @@
A* pathfinding algorithm.
*/
-class AStar : public RefCounted {
- GDCLASS(AStar, RefCounted);
+class AStar3D : public RefCounted {
+ GDCLASS(AStar3D, RefCounted);
friend class AStar2D;
struct Point {
@@ -156,15 +156,15 @@ public:
Vector<Vector3> get_point_path(int p_from_id, int p_to_id);
Vector<int> get_id_path(int p_from_id, int p_to_id);
- AStar() {}
- ~AStar();
+ AStar3D() {}
+ ~AStar3D();
};
class AStar2D : public RefCounted {
GDCLASS(AStar2D, RefCounted);
- AStar astar;
+ AStar3D astar;
- bool _solve(AStar::Point *begin_point, AStar::Point *end_point);
+ bool _solve(AStar3D::Point *begin_point, AStar3D::Point *end_point);
protected:
static void _bind_methods();
diff --git a/core/math/bvh.h b/core/math/bvh.h
index e686e27445..f429ce189b 100644
--- a/core/math/bvh.h
+++ b/core/math/bvh.h
@@ -196,6 +196,7 @@ public:
////////////////////////////////////////////////////
void move(BVHHandle p_handle, const BOUNDS &p_aabb) {
+ DEV_ASSERT(!p_handle.is_invalid());
BVH_LOCKED_FUNCTION
if (tree.item_move(p_handle, p_aabb)) {
if (USE_PAIRS) {
@@ -205,10 +206,12 @@ public:
}
void recheck_pairs(BVHHandle p_handle) {
+ DEV_ASSERT(!p_handle.is_invalid());
force_collision_check(p_handle);
}
void erase(BVHHandle p_handle) {
+ DEV_ASSERT(!p_handle.is_invalid());
BVH_LOCKED_FUNCTION
// call unpair and remove all references to the item
// before deleting from the tree
@@ -225,6 +228,7 @@ public:
// set pairable has never been called.
// (deferred collision checks are a workaround for visual server for historical reasons)
void force_collision_check(BVHHandle p_handle) {
+ DEV_ASSERT(!p_handle.is_invalid());
BVH_LOCKED_FUNCTION
if (USE_PAIRS) {
// the aabb should already be up to date in the BVH
@@ -243,6 +247,7 @@ public:
// 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) {
+ DEV_ASSERT(!p_handle.is_invalid());
BVH_LOCKED_FUNCTION
// sending the aabb here prevents the need for the BVH to maintain
// a redundant copy of the aabb.
@@ -267,6 +272,7 @@ public:
}
bool deactivate(BVHHandle p_handle) {
+ DEV_ASSERT(!p_handle.is_invalid());
BVH_LOCKED_FUNCTION
// returns success
if (tree.item_deactivate(p_handle)) {
@@ -285,6 +291,7 @@ public:
}
bool get_active(BVHHandle p_handle) {
+ DEV_ASSERT(!p_handle.is_invalid());
BVH_LOCKED_FUNCTION
return tree.item_get_active(p_handle);
}
@@ -307,6 +314,7 @@ public:
// prefer calling this directly as type safe
void set_tree(const BVHHandle &p_handle, uint32_t p_tree_id, uint32_t p_tree_collision_mask, bool p_force_collision_check = true) {
+ DEV_ASSERT(!p_handle.is_invalid());
BVH_LOCKED_FUNCTION
// Returns true if the pairing state has changed.
bool state_changed = tree.item_set_tree(p_handle, p_tree_id, p_tree_collision_mask);
@@ -465,13 +473,6 @@ private:
continue;
}
-#ifdef BVH_CHECKS
- // if neither are pairable, they should ignore each other
- // THIS SHOULD NEVER HAPPEN .. now we only test the pairable tree
- // if the changed item is not pairable
- CRASH_COND(params.test_pairable_only && !tree._extra[ref_id].pairable);
-#endif
-
// checkmasks is already done in the cull routine.
BVHHandle h_collidee;
h_collidee.set_id(ref_id);
@@ -485,6 +486,7 @@ private:
public:
void item_get_AABB(BVHHandle p_handle, BOUNDS &r_aabb) {
+ DEV_ASSERT(!p_handle.is_invalid());
BVHABB_CLASS abb;
tree.item_get_ABB(p_handle, abb);
abb.to(r_aabb);
diff --git a/core/math/bvh_structs.inc b/core/math/bvh_structs.inc
index b0d9ae3615..58c8f0479a 100644
--- a/core/math/bvh_structs.inc
+++ b/core/math/bvh_structs.inc
@@ -60,11 +60,23 @@ private:
public:
// accessors
- BVHABB_CLASS &get_aabb(uint32_t p_id) { return aabbs[p_id]; }
- const BVHABB_CLASS &get_aabb(uint32_t p_id) const { return aabbs[p_id]; }
+ BVHABB_CLASS &get_aabb(uint32_t p_id) {
+ BVH_ASSERT(p_id < MAX_ITEMS);
+ return aabbs[p_id];
+ }
+ const BVHABB_CLASS &get_aabb(uint32_t p_id) const {
+ BVH_ASSERT(p_id < MAX_ITEMS);
+ return aabbs[p_id];
+ }
- uint32_t &get_item_ref_id(uint32_t p_id) { return item_ref_ids[p_id]; }
- const uint32_t &get_item_ref_id(uint32_t p_id) const { return item_ref_ids[p_id]; }
+ uint32_t &get_item_ref_id(uint32_t p_id) {
+ BVH_ASSERT(p_id < MAX_ITEMS);
+ return item_ref_ids[p_id];
+ }
+ const uint32_t &get_item_ref_id(uint32_t p_id) const {
+ BVH_ASSERT(p_id < MAX_ITEMS);
+ return item_ref_ids[p_id];
+ }
bool is_dirty() const { return dirty; }
void set_dirty(bool p) { dirty = p; }
diff --git a/core/math/bvh_tree.h b/core/math/bvh_tree.h
index da9b307778..cdb2bb4413 100644
--- a/core/math/bvh_tree.h
+++ b/core/math/bvh_tree.h
@@ -54,7 +54,7 @@
#define BVH_EXPAND_LEAF_AABBS
// never do these checks in release
-#if defined(TOOLS_ENABLED) && defined(DEBUG_ENABLED)
+#ifdef DEV_ENABLED
//#define BVH_VERBOSE
//#define BVH_VERBOSE_TREE
//#define BVH_VERBOSE_PAIRING
@@ -217,7 +217,7 @@ private:
BVH_ASSERT(!parent.is_leaf());
int child_num = parent.find_child(p_old_child_id);
- BVH_ASSERT(child_num != BVHCommon::INVALID);
+ BVH_ASSERT(child_num != -1);
parent.children[child_num] = p_new_child_id;
TNode &new_child = _nodes[p_new_child_id];
@@ -229,7 +229,7 @@ private:
BVH_ASSERT(!parent.is_leaf());
int child_num = parent.find_child(p_child_id);
- BVH_ASSERT(child_num != BVHCommon::INVALID);
+ BVH_ASSERT(child_num != -1);
parent.remove_child_internal(child_num);
generated by cgit v1.2.3 (git 2.25.1) at 2025-10-18 01:33:36 +0000