BroadPhaseQuadTree.h

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// 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
 
class JPH_EXPORT BroadPhaseQuadTree final : public BroadPhase
{
public:
    JPH_OVERRIDE_NEW_DELETE
 
    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;
#ifdef JPH_TRACK_BROADPHASE_STATS
    virtual void            ReportStats() override;
#endif // JPH_TRACK_BROADPHASE_STATS
 
private:
    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
    PhysicsLockContext      mLockContext = nullptr;
#endif // JPH_ENABLE_ASSERTS
 
    size_t                  mMaxBodies = 0;
 
    TrackingVector          mTracking;
 
    QuadTree::Allocator     mAllocator;
 
    const BroadPhaseLayerInterface *mBroadPhaseLayerInterface = nullptr;
 
    QuadTree *              mLayers;
    uint                    mNumLayers;
 
    struct UpdateStateImpl
    {
        QuadTree *              mTree;
        QuadTree::UpdateState   mUpdateState;
    };
 
    static_assert(sizeof(UpdateStateImpl) <= sizeof(UpdateState));
    static_assert(alignof(UpdateStateImpl) <= alignof(UpdateState));
 
    SharedMutex             mUpdateMutex;
 
    mutable SharedMutex     mQueryLocks[2];
 
    atomic<uint32>          mQueryLockIdx { 0 };
 
    uint32                  mNextLayerToUpdate = 0;
};
 
JPH_NAMESPACE_END