initial commit, 4.5 stable

thirdparty/jolt_physics/Jolt/Physics/Collision/BroadPhase/BroadPhaseQuadTree.h

@@ -0,0 +1,108 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Physics/Collision/BroadPhase/QuadTree.h>
+#include <Jolt/Physics/Collision/BroadPhase/BroadPhase.h>
+#include <Jolt/Physics/PhysicsLock.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// Fast SIMD based quad tree BroadPhase that is multithreading aware and tries to do a minimal amount of locking.
+class JPH_EXPORT BroadPhaseQuadTree final : public BroadPhase
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	/// Destructor
+	virtual					~BroadPhaseQuadTree() override;
+
+	// Implementing interface of BroadPhase (see BroadPhase for documentation)
+	virtual void			Init(BodyManager *inBodyManager, const BroadPhaseLayerInterface &inLayerInterface) override;
+	virtual void			Optimize() override;
+	virtual void			FrameSync() override;
+	virtual void			LockModifications() override;
+	virtual	UpdateState		UpdatePrepare() override;
+	virtual void			UpdateFinalize(const UpdateState &inUpdateState) override;
+	virtual void			UnlockModifications() override;
+	virtual AddState		AddBodiesPrepare(BodyID *ioBodies, int inNumber) override;
+	virtual void			AddBodiesFinalize(BodyID *ioBodies, int inNumber, AddState inAddState) override;
+	virtual void			AddBodiesAbort(BodyID *ioBodies, int inNumber, AddState inAddState) override;
+	virtual void			RemoveBodies(BodyID *ioBodies, int inNumber) override;
+	virtual void			NotifyBodiesAABBChanged(BodyID *ioBodies, int inNumber, bool inTakeLock) override;
+	virtual void			NotifyBodiesLayerChanged(BodyID *ioBodies, int inNumber) override;
+	virtual void			CastRay(const RayCast &inRay, RayCastBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override;
+	virtual void			CollideAABox(const AABox &inBox, CollideShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override;
+	virtual void			CollideSphere(Vec3Arg inCenter, float inRadius, CollideShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override;
+	virtual void			CollidePoint(Vec3Arg inPoint, CollideShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override;
+	virtual void			CollideOrientedBox(const OrientedBox &inBox, CollideShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override;
+	virtual void			CastAABoxNoLock(const AABoxCast &inBox, CastShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override;
+	virtual void			CastAABox(const AABoxCast &inBox, CastShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override;
+	virtual void			FindCollidingPairs(BodyID *ioActiveBodies, int inNumActiveBodies, float inSpeculativeContactDistance, const ObjectVsBroadPhaseLayerFilter &inObjectVsBroadPhaseLayerFilter, const ObjectLayerPairFilter &inObjectLayerPairFilter, BodyPairCollector &ioPairCollector) const override;
+	virtual AABox			GetBounds() const override;
+#ifdef JPH_TRACK_BROADPHASE_STATS
+	virtual void			ReportStats() override;
+#endif // JPH_TRACK_BROADPHASE_STATS
+
+private:
+	/// Helper struct for AddBodies handle
+	struct LayerState
+	{
+		JPH_OVERRIDE_NEW_DELETE
+
+		BodyID *			mBodyStart = nullptr;
+		BodyID *			mBodyEnd;
+		QuadTree::AddState	mAddState;
+	};
+
+	using Tracking = QuadTree::Tracking;
+	using TrackingVector = QuadTree::TrackingVector;
+
+#ifdef JPH_ENABLE_ASSERTS
+	/// Context used to lock a physics lock
+	PhysicsLockContext		mLockContext = nullptr;
+#endif // JPH_ENABLE_ASSERTS
+
+	/// Max amount of bodies we support
+	size_t					mMaxBodies = 0;
+
+	/// Array that for each BodyID keeps track of where it is located in which tree
+	TrackingVector			mTracking;
+
+	/// Node allocator for all trees
+	QuadTree::Allocator		mAllocator;
+
+	/// Information about broad phase layers
+	const BroadPhaseLayerInterface *mBroadPhaseLayerInterface = nullptr;
+
+	/// One tree per object layer
+	QuadTree *				mLayers;
+	uint					mNumLayers;
+
+	/// UpdateState implementation for this tree used during UpdatePrepare/Finalize()
+	struct UpdateStateImpl
+	{
+		QuadTree *				mTree;
+		QuadTree::UpdateState	mUpdateState;
+	};
+
+	static_assert(sizeof(UpdateStateImpl) <= sizeof(UpdateState));
+	static_assert(alignof(UpdateStateImpl) <= alignof(UpdateState));
+
+	/// Mutex that prevents object modification during UpdatePrepare/Finalize()
+	SharedMutex				mUpdateMutex;
+
+	/// We double buffer all trees so that we can query while building the next one and we destroy the old tree the next physics update.
+	/// This structure ensures that we wait for queries that are still using the old tree.
+	mutable SharedMutex		mQueryLocks[2];
+
+	/// This index indicates which lock is currently active, it alternates between 0 and 1
+	atomic<uint32>			mQueryLockIdx { 0 };
+
+	/// This is the next tree to update in UpdatePrepare()
+	uint32					mNextLayerToUpdate = 0;
+};
+
+JPH_NAMESPACE_END