13079282556

Committed 07 May 2022 10:53PM UTC coverage: 57.717% (+43.7%) from 14.013%

Build # 13079282556

Build Type

push

github

Committed by

shakesoda

Commit Message

fix typo in mat4.mul

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16.1

/modules/octree.lua

-- https://github.com/Nition/UnityOctree
-- https://github.com/Nition/UnityOctree/blob/master/LICENCE
-- https://github.com/Nition/UnityOctree/blob/master/Scripts/BoundsOctree.cs
-- https://github.com/Nition/UnityOctree/blob/master/Scripts/BoundsOctreeNode.cs

--- Octree
-- @module octree

local modules = (...):gsub('%.[^%.]+$', '') .. "."
local intersect  = require(modules .. "intersect")
local mat4       = require(modules .. "mat4")
local utils      = require(modules .. "utils")
local vec3       = require(modules .. "vec3")
local Octree     = {}
local OctreeNode = {}
local Node

Octree.__index     = Octree
OctreeNode.__index = OctreeNode

--== Octree ==--

--- Constructor for the bounds octree.
-- @param initialWorldSize Size of the sides of the initial node, in metres. The octree will never shrink smaller than this
-- @param initialWorldPos Position of the centre of the initial node
-- @param minNodeSize Nodes will stop splitting if the new nodes would be smaller than this (metres)
-- @param looseness Clamped between 1 and 2. Values > 1 let nodes overlap
local function new(initialWorldSize, initialWorldPos, minNodeSize, looseness)
        local tree = setmetatable({}, Octree)

        if minNodeSize > initialWorldSize then
                print("Minimum node size must be at least as big as the initial world size. Was: " .. minNodeSize .. " Adjusted to: " .. initialWorldSize)
                minNodeSize = initialWorldSize
        end

        -- The total amount of objects currently in the tree
        tree.count = 0

        -- Size that the octree was on creation
        tree.initialSize = initialWorldSize

        -- Minimum side length that a node can be - essentially an alternative to having a max depth
        tree.minSize = minNodeSize

        -- Should be a value between 1 and 2. A multiplier for the base size of a node.
        -- 1.0 is a "normal" octree, while values > 1 have overlap
        tree.looseness = utils.clamp(looseness, 1, 2)

        -- Root node of the octree
        tree.rootNode = Node(tree.initialSize, tree.minSize, tree.looseness, initialWorldPos)

        return tree
end

--- Used when growing the octree. Works out where the old root node would fit inside a new, larger root node.
-- @param xDir X direction of growth. 1 or -1
-- @param yDir Y direction of growth. 1 or -1
-- @param zDir Z direction of growth. 1 or -1
-- @return Octant where the root node should be
local function get_root_pos_index(xDir, yDir, zDir)
        local result = xDir > 0 and 1 or 0
        if yDir < 0 then return result + 4 end
        if zDir > 0 then return result + 2 end
end

--- Add an object.
-- @param obj Object to add
-- @param objBounds 3D bounding box around the object
function Octree:add(obj, objBounds)
        -- Add object or expand the octree until it can be added
        local count = 0 -- Safety check against infinite/excessive growth

        while not self.rootNode:add(obj, objBounds) do
                count = count + 1
                self:grow(objBounds.center - self.rootNode.center)

                if count > 20 then
                        print("Aborted Add operation as it seemed to be going on forever (" .. count - 1 .. ") attempts at growing the octree.")
                        return
                end

                self.count = self.count + 1
        end
end

--- Remove an object. Makes the assumption that the object only exists once in the tree.
-- @param obj Object to remove
-- @return bool True if the object was removed successfully
function Octree:remove(obj)
        local removed = self.rootNode:remove(obj)

        -- See if we can shrink the octree down now that we've removed the item
        if removed then
                self.count = self.count - 1
                self:shrink()
        end

        return removed
end

--- Check if the specified bounds intersect with anything in the tree. See also: get_colliding.
-- @param checkBounds bounds to check
-- @return bool True if there was a collision
function Octree:is_colliding(checkBounds)
        return self.rootNode:is_colliding(checkBounds)
end

--- Returns an array of objects that intersect with the specified bounds, if any. Otherwise returns an empty array. See also: is_colliding.
-- @param checkBounds bounds to check
-- @return table Objects that intersect with the specified bounds
function Octree:get_colliding(checkBounds)
        return self.rootNode:get_colliding(checkBounds)
end

--- Cast a ray through the node and its children
-- @param ray Ray with a position and a direction
-- @param func Function to execute on any objects within child nodes
-- @param out Table to store results of func in
-- @return boolean True if an intersect detected
function Octree:cast_ray(ray, func, out)
        assert(func)
        return self.rootNode:cast_ray(ray, func, out)
end

--- Draws node boundaries visually for debugging.
function Octree:draw_bounds(cube)
        self.rootNode:draw_bounds(cube)
end

--- Draws the bounds of all objects in the tree visually for debugging.
function Octree:draw_objects(cube, filter)
        self.rootNode:draw_objects(cube, filter)
end

--- Grow the octree to fit in all objects.
-- @param direction Direction to grow
function Octree:grow(direction)
        local xDirection = direction.x >= 0 and 1 or -1
        local yDirection = direction.y >= 0 and 1 or -1
        local zDirection = direction.z >= 0 and 1 or -1

        local oldRoot   = self.rootNode
        local half      = self.rootNode.baseLength / 2
        local newLength = self.rootNode.baseLength * 2
        local newCenter = self.rootNode.center + vec3(xDirection * half, yDirection * half, zDirection * half)

        -- Create a new, bigger octree root node
        self.rootNode = Node(newLength, self.minSize, self.looseness, newCenter)

        -- Create 7 new octree children to go with the old root as children of the new root
        local rootPos  = get_root_pos_index(xDirection, yDirection, zDirection)
        local children = {}

        for i = 0, 7 do
                if i == rootPos then
                        children[i+1] = oldRoot
                else
                        xDirection  = i % 2 == 0 and -1 or 1
                        yDirection  = i > 3 and -1 or 1
                        zDirection  = (i < 2 or (i > 3 and i < 6)) and -1 or 1
                        children[i+1] = Node(self.rootNode.baseLength, self.minSize, self.looseness, newCenter + vec3(xDirection * half, yDirection * half, zDirection * half))
                end
        end

        -- Attach the new children to the new root node
        self.rootNode:set_children(children)
end

--- Shrink the octree if possible, else leave it the same.
function Octree:shrink()
        self.rootNode = self.rootNode:shrink_if_possible(self.initialSize)
end

--== Octree Node ==--

--- Constructor.
-- @param baseLength Length of this node, not taking looseness into account
-- @param minSize Minimum size of nodes in this octree
-- @param looseness Multiplier for baseLengthVal to get the actual size
-- @param center Centre position of this node
local function new_node(baseLength, minSize, looseness, center)
        local node = setmetatable({}, OctreeNode)

        -- Objects in this node
        node.objects = {}

        -- Child nodes
        node.children = {}

        -- If there are already numObjectsAllowed in a node, we split it into children
        -- A generally good number seems to be something around 8-15
        node.numObjectsAllowed = 8

        node:set_values(baseLength, minSize, looseness, center)

        return node
end

local function new_bound(center, size)
        return {
                center = center,
                size   = size,
                min    = center - (size / 2),
                max    = center + (size / 2)
        }
end

--- Add an object.
-- @param obj Object to add
-- @param objBounds 3D bounding box around the object
-- @return boolean True if the object fits entirely within this node
function OctreeNode:add(obj, objBounds)
        if not intersect.encapsulate_aabb(self.bounds, objBounds) then
                return false
        end

        -- We know it fits at this level if we've got this far
        -- Just add if few objects are here, or children would be below min size
        if #self.objects < self.numObjectsAllowed
        or self.baseLength / 2 < self.minSize then
                table.insert(self.objects, {
                        data   = obj,
                        bounds = objBounds
                })
        else
                -- Fits at this level, but we can go deeper. Would it fit there?

                local best_fit_child

                -- Create the 8 children
                if #self.children == 0 then
                        self:split()

                        if #self.children == 0 then
                                print("Child creation failed for an unknown reason. Early exit.")
                                return false
                        end

                        -- Now that we have the new children, see if this node's existing objects would fit there
                        for i = #self.objects, 1, -1 do
                                local object = self.objects[i]
                                -- Find which child the object is closest to based on where the
                                -- object's center is located in relation to the octree's center.
                                best_fit_child = self:best_fit_child(object.bounds)

                                -- Does it fit?
                                if intersect.encapsulate_aabb(self.children[best_fit_child].bounds, object.bounds) then
                                        self.children[best_fit_child]:add(object.data, object.bounds) -- Go a level deeper
                                        table.remove(self.objects, i) -- Remove from here
                                end
                        end
                end

                -- Now handle the new object we're adding now
                best_fit_child = self:best_fit_child(objBounds)

                if intersect.encapsulate_aabb(self.children[best_fit_child].bounds, objBounds) then
                        self.children[best_fit_child]:add(obj, objBounds)
                else
                        table.insert(self.objects, {
                                data   = obj,
                                bounds = objBounds
                        })
                end
        end

        return true
end

--- Remove an object. Makes the assumption that the object only exists once in the tree.
-- @param obj Object to remove
-- @return boolean True if the object was removed successfully
function OctreeNode:remove(obj)
        local removed = false

        for i, object in ipairs(self.objects) do
                if object == obj then
                        removed = table.remove(self.objects, i) and true or false
                        break
                end
        end

        if not removed then
                for _, child in ipairs(self.children) do
                        removed = child:remove(obj)
                        if removed then break end
                end
        end

        if removed then
                -- Check if we should merge nodes now that we've removed an item
                if self:should_merge() then
                        self:merge()
                end
        end

        return removed
end

--- Check if the specified bounds intersect with anything in the tree. See also: get_colliding.
-- @param checkBounds Bounds to check
-- @return boolean True if there was a collision
function OctreeNode:is_colliding(checkBounds)
        -- Are the input bounds at least partially in this node?
        if not intersect.aabb_aabb(self.bounds, checkBounds) then
                return false
        end

        -- Check against any objects in this node
        for _, object in ipairs(self.objects) do
                if intersect.aabb_aabb(object.bounds, checkBounds) then
                        return true
                end
        end

        -- Check children
        for _, child in ipairs(self.children) do
                if child:is_colliding(checkBounds) then
                        return true
                end
        end

        return false
end

--- Returns an array of objects that intersect with the specified bounds, if any. Otherwise returns an empty array. See also: is_colliding.
-- @param checkBounds Bounds to check. Passing by ref as it improve performance with structs
-- @param results List results
-- @return table Objects that intersect with the specified bounds
function OctreeNode:get_colliding(checkBounds, results)
        results = results or {}

        -- Are the input bounds at least partially in this node?
        if not intersect.aabb_aabb(self.bounds, checkBounds) then
                return results
        end

        -- Check against any objects in this node
        for _, object in ipairs(self.objects) do
                if intersect.aabb_aabb(object.bounds, checkBounds) then
                        table.insert(results, object.data)
                end
        end

        -- Check children
        for _, child in ipairs(self.children) do
                results = child:get_colliding(checkBounds, results)
        end

        return results
end

--- Cast a ray through the node and its children
-- @param ray Ray with a position and a direction
-- @param func Function to execute on any objects within child nodes
-- @param out Table to store results of func in
-- @param depth (used internally)
-- @return boolean True if an intersect is detected
function OctreeNode:cast_ray(ray, func, out, depth)
        depth = depth or 1

        if intersect.ray_aabb(ray, self.bounds) then
                if #self.objects > 0 then
                        local hit = func(ray, self.objects, out)

                        if hit then
                                return hit
                        end
                end

                for _, child in ipairs(self.children) do
                        local hit = child:cast_ray(ray, func, out, depth + 1)

                        if hit then
                                return hit
                        end
                end
        end

        return false
end

--- Set the 8 children of this octree.
-- @param childOctrees The 8 new child nodes
function OctreeNode:set_children(childOctrees)
        if #childOctrees ~= 8 then
                print("Child octree array must be length 8. Was length: " .. #childOctrees)
                return
        end

        self.children = childOctrees
end

--- We can shrink the octree if:
--- - This node is >= double minLength in length
--- - All objects in the root node are within one octant
--- - This node doesn't have children, or does but 7/8 children are empty
--- We can also shrink it if there are no objects left at all!
-- @param minLength Minimum dimensions of a node in this octree
-- @return table The new root, or the existing one if we didn't shrink
function OctreeNode:shrink_if_possible(minLength)
        if self.baseLength < 2 * minLength then
                return self
        end

        if #self.objects == 0 and #self.children == 0 then
                return self
        end

        -- Check objects in root
        local bestFit = 0

        for i, object in ipairs(self.objects) do
                local newBestFit = self:best_fit_child(object.bounds)

                if i == 1 or newBestFit == bestFit then
                        -- In same octant as the other(s). Does it fit completely inside that octant?
                        if intersect.encapsulate_aabb(self.childBounds[newBestFit], object.bounds) then
                                if bestFit < 1 then
                                        bestFit = newBestFit
                                end
                        else
                                -- Nope, so we can't reduce. Otherwise we continue
                                return self
                        end
                else
                        return self -- Can't reduce - objects fit in different octants
                end
        end

        -- Check objects in children if there are any
        if #self.children > 0 then
                local childHadContent = false

                for i, child in ipairs(self.children) do
                        if child:has_any_objects() then
                                if childHadContent then
                                        return self -- Can't shrink - another child had content already
                                end

                                if bestFit > 0 and bestFit ~= i then
                                        return self -- Can't reduce - objects in root are in a different octant to objects in child
                                end

                                childHadContent = true
                                bestFit = i
                        end
                end
        end

        -- Can reduce
        if #self.children == 0 then
                -- We don't have any children, so just shrink this node to the new size
                -- We already know that everything will still fit in it
                self:set_values(self.baseLength / 2, self.minSize, self.looseness, self.childBounds[bestFit].center)
                return self
        end

        -- We have children. Use the appropriate child as the new root node
        return self.children[bestFit]
end

--- Set values for this node.
-- @param baseLength Length of this node, not taking looseness into account
-- @param minSize Minimum size of nodes in this octree
-- @param looseness Multiplier for baseLengthVal to get the actual size
-- @param center Centre position of this node
function OctreeNode:set_values(baseLength, minSize, looseness, center)
        -- Length of this node if it has a looseness of 1.0
        self.baseLength = baseLength

        -- Minimum size for a node in this octree
        self.minSize = minSize

        -- Looseness value for this node
        self.looseness = looseness

        -- Centre of this node
        self.center = center

        -- Actual length of sides, taking the looseness value into account
        self.adjLength = self.looseness * self.baseLength

        -- Create the bounding box.
        self.size = vec3(self.adjLength, self.adjLength, self.adjLength)

        -- Bounding box that represents this node
        self.bounds = new_bound(self.center, self.size)

        self.quarter           = self.baseLength / 4
        self.childActualLength = (self.baseLength / 2) * self.looseness
        self.childActualSize   = vec3(self.childActualLength, self.childActualLength, self.childActualLength)

        -- Bounds of potential children to this node. These are actual size (with looseness taken into account), not base size
        self.childBounds =  {
                new_bound(self.center + vec3(-self.quarter,  self.quarter, -self.quarter), self.childActualSize),
                new_bound(self.center + vec3( self.quarter,  self.quarter, -self.quarter), self.childActualSize),
                new_bound(self.center + vec3(-self.quarter,  self.quarter,  self.quarter), self.childActualSize),
                new_bound(self.center + vec3( self.quarter,  self.quarter,  self.quarter), self.childActualSize),
                new_bound(self.center + vec3(-self.quarter, -self.quarter, -self.quarter), self.childActualSize),
                new_bound(self.center + vec3( self.quarter, -self.quarter, -self.quarter), self.childActualSize),
                new_bound(self.center + vec3(-self.quarter, -self.quarter,  self.quarter), self.childActualSize),
                new_bound(self.center + vec3( self.quarter, -self.quarter,  self.quarter), self.childActualSize)
        }
end

--- Splits the octree into eight children.
function OctreeNode:split()
        if #self.children > 0 then return end

        local quarter   = self.baseLength / 4
        local newLength = self.baseLength / 2

        table.insert(self.children, Node(newLength, self.minSize, self.looseness, self.center + vec3(-quarter,  quarter, -quarter)))
        table.insert(self.children, Node(newLength, self.minSize, self.looseness, self.center + vec3( quarter,  quarter, -quarter)))
        table.insert(self.children, Node(newLength, self.minSize, self.looseness, self.center + vec3(-quarter,  quarter,  quarter)))
        table.insert(self.children, Node(newLength, self.minSize, self.looseness, self.center + vec3( quarter,  quarter,  quarter)))
        table.insert(self.children, Node(newLength, self.minSize, self.looseness, self.center + vec3(-quarter, -quarter, -quarter)))
        table.insert(self.children, Node(newLength, self.minSize, self.looseness, self.center + vec3( quarter, -quarter, -quarter)))
        table.insert(self.children, Node(newLength, self.minSize, self.looseness, self.center + vec3(-quarter, -quarter,  quarter)))
        table.insert(self.children, Node(newLength, self.minSize, self.looseness, self.center + vec3( quarter, -quarter,  quarter)))
end

--- Merge all children into this node - the opposite of Split.
--- Note: We only have to check one level down since a merge will never happen if the children already have children,
--- since THAT won't happen unless there are already too many objects to merge.
function OctreeNode:merge()
        for _, child in ipairs(self.children) do
                for _, object in ipairs(child.objects) do
                        table.insert(self.objects, object)
                end
        end

        -- Remove the child nodes (and the objects in them - they've been added elsewhere now)
        self.children = {}
end

--- Find which child node this object would be most likely to fit in.
-- @param objBounds The object's bounds
-- @return number One of the eight child octants
function OctreeNode:best_fit_child(objBounds)
        return (objBounds.center.x <= self.center.x and 0 or 1) + (objBounds.center.y >= self.center.y and 0 or 4) + (objBounds.center.z <= self.center.z and 0 or 2) + 1
end

--- Checks if there are few enough objects in this node and its children that the children should all be merged into this.
-- @return boolean True there are less or the same abount of objects in this and its children than numObjectsAllowed
function OctreeNode:should_merge()
        local totalObjects = #self.objects

        for _, child in ipairs(self.children) do
                if #child.children > 0 then
                        -- If any of the *children* have children, there are definitely too many to merge,
                        -- or the child would have been merged already
                        return false
                end

                totalObjects = totalObjects + #child.objects
        end

        return totalObjects <= self.numObjectsAllowed
end

--- Checks if this node or anything below it has something in it.
-- @return boolean True if this node or any of its children, grandchildren etc have something in the
function OctreeNode:has_any_objects()
        if #self.objects > 0 then return true end

        for _, child in ipairs(self.children) do
                if child:has_any_objects() then return true end
        end

        return false
end

--- Draws node boundaries visually for debugging.
-- @param cube Cube model to draw
-- @param depth Used for recurcive calls to this method
function OctreeNode:draw_bounds(cube, depth)
        depth = depth or 0
        local tint = depth / 7 -- Will eventually get values > 1. Color rounds to 1 automatically

        love.graphics.setColor(tint * 255, 0, (1 - tint) * 255)
        local m = mat4()
                :translate(self.center)
                :scale(vec3(self.adjLength, self.adjLength, self.adjLength))

        love.graphics.updateMatrix("transform", m)
        love.graphics.setWireframe(true)
        love.graphics.draw(cube)
        love.graphics.setWireframe(false)

        for _, child in ipairs(self.children) do
                child:draw_bounds(cube, depth + 1)
        end

        love.graphics.setColor(255, 255, 255)
end

--- Draws the bounds of all objects in the tree visually for debugging.
-- @param cube Cube model to draw
-- @param filter a function returning true or false to determine visibility.
function OctreeNode:draw_objects(cube, filter)
        local tint = self.baseLength / 20
        love.graphics.setColor(0, (1 - tint) * 255, tint * 255, 63)

        for _, object in ipairs(self.objects) do
                if filter and filter(object.data) or not filter then
                        local m = mat4()
                                :translate(object.bounds.center)
                                :scale(object.bounds.size)

                        love.graphics.updateMatrix("transform", m)
                        love.graphics.draw(cube)
                end
        end

        for _, child in ipairs(self.children) do
                child:draw_objects(cube, filter)
        end

        love.graphics.setColor(255, 255, 255)
end

Node = setmetatable({
        new = new_node
}, {
        __call = function(_, ...) return new_node(...) end
})

return setmetatable({
        new = new
}, {
        __call = function(_, ...) return new(...) end
})

excessive / cpml / 13079282556

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