// Generates the contact list. All previous contacts are returned to the allocator
// before generation occurs.
public void UpdatePairs()
{
PairBuffer.Clear();
// Query the tree with all moving boxs
for (int i = 0; i < MoveBuffer.Count; ++i)
{
CurrentIndex = MoveBuffer[i];
AABB aabb = Tree.GetFatAABB(CurrentIndex);
// @TODO: Use a static and non-static tree and query one against the other.
// This will potentially prevent (gotta think about this more) time
// wasted with queries of static bodies against static bodies, and
// kinematic to kinematic.
Tree.Query(this, aabb);
}
// Reset the move buffer
MoveBuffer.Clear();
// Sort pairs to expose duplicates
PairBuffer.Sort(ContactPairSorter.Default);
// Queue manifolds for solving
{
int i = 0;
while (i < PairBuffer.Count)
{
// Add contact to manager
ContactPair pair = PairBuffer[i];
Box A = (Box)Tree.GetUserData(pair.A);
Box B = (Box)Tree.GetUserData(pair.B);
Manager.AddContact(A, B);
++i;
// Skip duplicate pairs by iterating i until we find a unique pair
while (i < PairBuffer.Count)
{
ContactPair potentialDup = PairBuffer[i];
if (pair.A != potentialDup.A || pair.B != potentialDup.B)
{
break;
}
++i;
}
}
}
// Tree.Validate();
}
public unsafe void BuildTreeAndOverlap([Values(2, 10, 33, 100)] int elementCount)
{
elementCount *= 2;
int numNodes = elementCount / 3 * 2 + 4;
var points = new NativeArray <PointAndIndex>(elementCount, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var aabbs = new NativeArray <Aabb>(elementCount, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var filters = new NativeArray <CollisionFilter>(elementCount, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var respondsToCollision = new NativeArray <bool>(elementCount, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
InitInputWithCopyArrays(points, aabbs, filters, respondsToCollision);
var nodes = new NativeArray <Node>(numNodes, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var bvh = new BoundingVolumeHierarchy(nodes);
bvh.Build(points, aabbs, out int numNodesOut);
bvh.CheckIntegrity();
var buffer = new PairBuffer {
Pairs = new List <BodyIndexPair>()
};
buffer.MaxId = elementCount - 1;
Node *nodesPtr = (Node *)nodes.GetUnsafePtr();
BoundingVolumeHierarchy.TreeOverlap(ref buffer, nodesPtr, nodesPtr);
int numCollidingPairs = buffer.Pairs.Count;
//Debug.Log($"Num colliding pairs: {buffer.Pairs.Count}");
Assert.AreEqual(elementCount / 2, numCollidingPairs);
filters.Dispose();
respondsToCollision.Dispose();
points.Dispose();
aabbs.Dispose();
nodes.Dispose();
}
public unsafe void BuildTreeAndOverlap([Values(2, 10, 33, 100)] int elementCount)
{
elementCount *= 2;
int numNodes = elementCount / 3 * 2 + 4;
var points = new NativeArray <BoundingVolumeHierarchy.PointAndIndex>(elementCount, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var aabbs = new NativeArray <Aabb>(elementCount, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var filters = new NativeArray <CollisionFilter>(elementCount, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
InitializeInputWithCopyArrays(points, aabbs, filters);
var nodes = new NativeArray <BoundingVolumeHierarchy.Node>(numNodes, Allocator.Temp, NativeArrayOptions.UninitializedMemory);
var bvh = new BoundingVolumeHierarchy(nodes);
bvh.Build(points, aabbs, out int numNodesOut);
bvh.CheckIntegrity();
var buffer = new PairBuffer {
Pairs = new NativeList <PhysicsBody.IndexPair>(0, Allocator.Temp)
};
buffer.MaxId = elementCount - 1;
BoundingVolumeHierarchy.Node *nodesPtr = (BoundingVolumeHierarchy.Node *)nodes.GetUnsafePtr();
BoundingVolumeHierarchy.TreeOverlap(ref buffer, nodesPtr, nodesPtr);
int numCollidingPairs = buffer.Pairs.Length;
Assert.AreEqual(elementCount / 2, numCollidingPairs);
buffer.Dispose();
filters.Dispose();
points.Dispose();
aabbs.Dispose();
nodes.Dispose();
}
