broad_phase.hpp

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#pragma once
 
#include "aabb_tree.hpp"
#include "collision.hpp"
#include "collision_world.hpp"
 
#include <optional>
#include <utility>
#include <vector>
 
namespace physics {
 
struct ShapeBoundsUpdate {
  ShapeID shape;
  AABB bounds;
  bool active = false;
};
 
struct BroadPhaseStats {
  size_t input_shapes = 0;
  size_t active_shapes = 0;
  size_t bounds_jobs = 0;
  size_t inserted_leaves = 0;
  size_t reinserted_leaves = 0;
  size_t removed_leaves = 0;
  size_t skipped_refits = 0;
  size_t skipped_self_queries = 0;
  size_t queries = 0;
  size_t query_hits = 0;
  size_t pair_records = 0;
  size_t candidate_pairs = 0;
  size_t duplicate_pairs = 0;
  size_t rejected_invalid_shapes = 0;
  size_t rejected_disabled_shapes = 0;
  size_t rejected_same_body = 0;
  size_t rejected_invalid_bodies = 0;
  size_t rejected_immovable_bodies = 0;
  size_t rejected_layers = 0;
  size_t tree_nodes = 0;
};
 
[[nodiscard]]
auto worldShapeBounds(const Body& body, const Shape& shape) -> AABB;
 
class BroadPhase {
public:
  [[nodiscard]]
  auto calculateBounds(CollisionWorldView world, size_t begin, size_t end) const -> std::vector<ShapeBoundsUpdate>;
 
  [[nodiscard]]
  auto findPairs(CollisionWorldView world) -> std::vector<BroadPhasePair>;
 
  [[nodiscard]]
  auto queryBounds(const AABB& bounds) const -> std::vector<ShapeID>;
 
  template<typename Visit>
  void raycast(glm::vec3 origin, glm::vec3 inv_dir, float max_distance, Visit&& visit) const {
    m_tree.raycast(origin, inv_dir, max_distance, std::forward<Visit>(visit));
  }
 
  [[nodiscard]]
  auto debugNodes() const -> std::vector<AABBTreeDebugNode>;
  [[nodiscard]]
  auto stats() const -> const BroadPhaseStats&;
 
private:
  struct ShapeLeaf {
    TreeNodeID node = null_node;
    uint32_t generation = 0;
  };

  [[nodiscard]]
  auto testPair(CollisionWorldView world, ShapeID shape_a, ShapeID shape_b, BroadPhaseStats& stats)
      -> std::optional<BroadPhasePair>;
 
  AABBTree m_tree;
  std::vector<ShapeLeaf> m_shape_leaves;
  BroadPhaseStats m_stats;
};
 
}