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Fixes for B2DynamicTree

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This commit is contained in:
Pieter-Jan Briers
2020-09-24 11:50:37 +02:00
parent 4ce4fb9a9f
commit bfd2fa1018
1 changed files with 34 additions and 15 deletions
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49
Robust.Shared/Physics/B2DynamicTree.cs
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@@ -42,10 +42,13 @@ namespace Robust.Shared.Physics
/// <typeparam name="T"></typeparam>
public sealed class B2DynamicTree<T> : DynamicTree
{
public delegate float RayQueryCallback<in TState>(TState state, in Ray ray, float fraction, Proxy proxy);
public delegate float RayQueryCallback<TState>(ref TState state, in Ray ray, float fraction, Proxy proxy);
public delegate float RayQueryCallback(in Ray ray, float fraction, Proxy proxy);
public delegate bool QueryCallback(Proxy proxy);
public delegate bool QueryCallback<in TState>(TState state, Proxy proxy);
public delegate bool QueryCallback<TState>(ref TState state, Proxy proxy);
private struct Node
{
@@ -151,10 +154,13 @@ namespace Robust.Shared.Physics
}
}
public B2DynamicTree() : base(0.1f, null)
public B2DynamicTree(float aabbExtendSize = 1f / 32, int capacity = 256, Func<int, int>? growthFunc = null) :
base(aabbExtendSize, growthFunc)
{
capacity = Math.Max(DynamicTree.MinimumCapacity, capacity);
_root = Proxy.Free;
_nodes = new Node[16];
_nodes = new Node[capacity];
// Build a linked list for the free list.
ref var node = ref _nodes[0];
@@ -248,7 +254,10 @@ namespace Robust.Shared.Physics
node.Child1 = Proxy.Free;
node.Child2 = Proxy.Free;
#endif
node.UserData = default!;
if (RuntimeHelpers.IsReferenceOrContainsReferences<T>())
{
node.UserData = default!;
}
_freeNodes = proxy;
--_nodeCount;
}
@@ -270,6 +279,15 @@ namespace Robust.Shared.Physics
return proxyId;
}
public void DestroyProxy(Proxy proxy)
{
Assert(0 <= proxy && proxy < Capacity);
Assert(_nodes[proxy].IsLeaf);
RemoveLeaf(proxy);
FreeNode(proxy);
}
public bool MoveProxy(Proxy proxy, in Box2 aabb, Vector2 displacement)
{
Assert(0 <= proxy && proxy < Capacity);
@@ -320,7 +338,7 @@ namespace Robust.Shared.Physics
// The huge AABB is larger than the new fat AABB.
var hugeAabb = new Box2(
fatAabb.BottomLeft - (4, 4) * ext,
fatAabb.BottomLeft + (4, 4) * ext);
fatAabb.TopRight + (4, 4) * ext);
if (hugeAabb.Contains(treeAabb))
{
@@ -409,7 +427,7 @@ namespace Robust.Shared.Physics
}
else
{
_root = Proxy.Free;
_root = sibling;
siblingNode.Parent = Proxy.Free;
FreeNode(parent);
}
@@ -842,14 +860,15 @@ namespace Robust.Shared.Physics
}
}
private static readonly QueryCallback<QueryCallback> EasyQueryCallback = (callback, proxy) => callback(proxy);
private static readonly QueryCallback<QueryCallback> EasyQueryCallback =
(ref QueryCallback callback, Proxy proxy) => callback(proxy);
public void Query(QueryCallback callback, in Box2 aabb)
{
Query(callback, EasyQueryCallback, aabb);
Query(ref callback, EasyQueryCallback, aabb);
}
public void Query<TState>(TState state, QueryCallback<TState> callback, in Box2 aabb)
public void Query<TState>(ref TState state, QueryCallback<TState> callback, in Box2 aabb)
{
using var stack = new GrowableStack<Proxy>(stackalloc Proxy[256]);
stack.Push(_root);
@@ -869,7 +888,7 @@ namespace Robust.Shared.Physics
{
if (node.IsLeaf)
{
var proceed = callback(state, nodeId);
var proceed = callback(ref state, nodeId);
if (proceed == false)
{
return;
@@ -885,14 +904,14 @@ namespace Robust.Shared.Physics
}
private static readonly RayQueryCallback<RayQueryCallback> EasyRayQueryCallback =
(RayQueryCallback callback, in Ray ray, float fraction, Proxy proxy) => callback(ray, fraction, proxy);
(ref RayQueryCallback callback, in Ray ray, float fraction, Proxy proxy) => callback(ray, fraction, proxy);
public void RayCast(RayQueryCallback callback, in Ray input, float inputFraction)
{
Raycast(callback, EasyRayQueryCallback, input, inputFraction);
RayCast(ref callback, EasyRayQueryCallback, input, inputFraction);
}
public void Raycast<TState>(TState state, RayQueryCallback<TState> callback, in Ray input, float inputFraction)
public void RayCast<TState>(ref TState state, RayQueryCallback<TState> callback, in Ray input, float inputFraction)
{
var p1 = input.Position;
var p2 = input.Direction;
@@ -950,7 +969,7 @@ namespace Robust.Shared.Physics
{
var subInput = input;
var value = callback(state, subInput, maxFraction, nodeId);
var value = callback(ref state, subInput, maxFraction, nodeId);
if (value == 0f)
{