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use super::{BroadPhaseProxies, SAPEndpoint, NUM_SENTINELS};
use crate::math::Real;
use bit_vec::BitVec;
use parry::bounding_volume::BoundingVolume;
use parry::utils::hashmap::HashMap;
use std::cmp::Ordering;
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone)]
pub(crate) struct SAPAxis {
pub min_bound: Real,
pub max_bound: Real,
pub endpoints: Vec<SAPEndpoint>,
#[cfg_attr(feature = "serde-serialize", serde(skip))]
pub new_endpoints: Vec<(SAPEndpoint, usize)>, // Workspace
}
impl SAPAxis {
pub fn new(min_bound: Real, max_bound: Real) -> Self {
assert!(min_bound <= max_bound);
Self {
min_bound,
max_bound,
endpoints: vec![SAPEndpoint::start_sentinel(), SAPEndpoint::end_sentinel()],
new_endpoints: Vec::new(),
}
}
pub fn batch_insert(
&mut self,
dim: usize,
new_proxies: &[usize],
proxies: &BroadPhaseProxies,
reporting: Option<&mut HashMap<(u32, u32), bool>>,
) {
if new_proxies.is_empty() {
return;
}
self.new_endpoints.clear();
for proxy_id in new_proxies {
let proxy = &proxies[*proxy_id];
assert!(proxy.aabb.mins[dim] <= self.max_bound);
assert!(proxy.aabb.maxs[dim] >= self.min_bound);
let start_endpoint =
SAPEndpoint::start_endpoint(proxy.aabb.mins[dim], *proxy_id as u32);
let end_endpoint = SAPEndpoint::end_endpoint(proxy.aabb.maxs[dim], *proxy_id as u32);
self.new_endpoints.push((start_endpoint, 0));
self.new_endpoints.push((end_endpoint, 0));
}
self.new_endpoints
.sort_by(|a, b| a.0.value.partial_cmp(&b.0.value).unwrap_or(Ordering::Equal));
let mut curr_existing_index = self.endpoints.len() - NUM_SENTINELS - 1;
let new_num_endpoints = self.endpoints.len() + self.new_endpoints.len();
self.endpoints
.resize(new_num_endpoints, SAPEndpoint::end_sentinel());
let mut curr_shift_index = new_num_endpoints - NUM_SENTINELS - 1;
// Sort the endpoints.
// TODO: specialize for the case where this is the
// first time we insert endpoints to this axis?
for new_endpoint in self.new_endpoints.iter_mut().rev() {
loop {
let existing_endpoint = self.endpoints[curr_existing_index];
if existing_endpoint.value <= new_endpoint.0.value {
break;
}
self.endpoints[curr_shift_index] = existing_endpoint;
curr_shift_index -= 1;
curr_existing_index -= 1;
}
self.endpoints[curr_shift_index] = new_endpoint.0;
new_endpoint.1 = curr_shift_index;
curr_shift_index -= 1;
}
// Report pairs using a single mbp pass on each new endpoint.
let endpoints_wo_last_sentinel = &self.endpoints[..self.endpoints.len() - 1];
if let Some(reporting) = reporting {
for (endpoint, endpoint_id) in self.new_endpoints.drain(..).filter(|e| e.0.is_start()) {
let proxy1 = &proxies[endpoint.proxy() as usize];
let min = endpoint.value;
let max = proxy1.aabb.maxs[dim];
for endpoint2 in &endpoints_wo_last_sentinel[endpoint_id + 1..] {
if endpoint2.proxy() == endpoint.proxy() {
continue;
}
let proxy2 = &proxies[endpoint2.proxy() as usize];
// NOTE: some pairs with equal aabb.mins[dim] may end up being reported twice.
if (endpoint2.is_start() && endpoint2.value < max)
|| (endpoint2.is_end() && proxy2.aabb.mins[dim] <= min)
{
// Report pair.
if proxy1.aabb.intersects(&proxy2.aabb) {
// Report pair.
let pair = super::sort2(endpoint.proxy(), endpoint2.proxy());
reporting.insert(pair, true);
}
}
}
}
}
}
pub fn delete_out_of_bounds_proxies(&self, existing_proxies: &mut BitVec) -> usize {
let mut deleted = 0;
for endpoint in &self.endpoints {
if endpoint.value < self.min_bound {
let proxy_idx = endpoint.proxy() as usize;
if endpoint.is_end() && existing_proxies[proxy_idx] {
existing_proxies.set(proxy_idx, false);
deleted += 1;
}
} else {
break;
}
}
for endpoint in self.endpoints.iter().rev() {
if endpoint.value > self.max_bound {
let proxy_idx = endpoint.proxy() as usize;
if endpoint.is_start() && existing_proxies[proxy_idx] {
existing_proxies.set(endpoint.proxy() as usize, false);
deleted += 1;
}
} else {
break;
}
}
deleted
}
pub fn delete_out_of_bounds_endpoints(&mut self, existing_proxies: &BitVec) {
self.endpoints
.retain(|endpt| endpt.is_sentinel() || existing_proxies[endpt.proxy() as usize])
}
pub fn update_endpoints(
&mut self,
dim: usize,
proxies: &BroadPhaseProxies,
reporting: &mut HashMap<(u32, u32), bool>,
) {
let last_endpoint = self.endpoints.len() - NUM_SENTINELS;
for i in NUM_SENTINELS..last_endpoint {
let mut endpoint_i = self.endpoints[i];
let aabb_i = proxies[endpoint_i.proxy() as usize].aabb;
if endpoint_i.is_start() {
endpoint_i.value = aabb_i.mins[dim];
} else {
endpoint_i.value = aabb_i.maxs[dim];
}
let mut j = i;
if endpoint_i.is_start() {
while endpoint_i.value < self.endpoints[j - 1].value {
let endpoint_j = self.endpoints[j - 1];
self.endpoints[j] = endpoint_j;
if endpoint_j.is_end() {
// Report start collision.
if aabb_i.intersects(&proxies[endpoint_j.proxy() as usize].aabb) {
let pair = super::sort2(endpoint_i.proxy(), endpoint_j.proxy());
reporting.insert(pair, true);
}
}
j -= 1;
}
} else {
while endpoint_i.value < self.endpoints[j - 1].value {
let endpoint_j = self.endpoints[j - 1];
self.endpoints[j] = endpoint_j;
if endpoint_j.is_start() {
// Report end collision.
if !aabb_i.intersects(&proxies[endpoint_j.proxy() as usize].aabb) {
let pair = super::sort2(endpoint_i.proxy(), endpoint_j.proxy());
reporting.insert(pair, false);
}
}
j -= 1;
}
}
self.endpoints[j] = endpoint_i;
}
// println!(
// "Num start swaps: {}, end swaps: {}, dim: {}",
// num_start_swaps, num_end_swaps, dim
// );
}
}
|
