| | | 1 | | //======================================================================= |
| | | 2 | | // DynamicCcdCandidateIndex.cs |
| | | 3 | | //======================================================================= |
| | | 4 | | // MIT License, Copyright (c) 2026–present David Oravsky (mrdav30) |
| | | 5 | | // See LICENSE file in the project root for full license information. |
| | | 6 | | //======================================================================= |
| | | 7 | | |
| | | 8 | | using FixedMathSharp; |
| | | 9 | | using SwiftCollections; |
| | | 10 | | using SwiftCollections.Query; |
| | | 11 | | using System.Runtime.CompilerServices; |
| | | 12 | | |
| | | 13 | | namespace Gravitas.CollisionHandling; |
| | | 14 | | |
| | | 15 | | internal sealed class DynamicCcdCandidateIndex |
| | | 16 | | { |
| | | 17 | | private readonly SwiftList<Entry> _entries; |
| | | 18 | | private readonly SwiftDictionary<int, int>? _entryIndices; |
| | | 19 | | private Fixed64 _maxExtentX; |
| | | 20 | | private int _maxExtentXCount; |
| | | 21 | | private int _unrepresentableExtentXCount; |
| | | 22 | | private bool _isSorted = true; |
| | | 23 | | |
| | | 24 | | public DynamicCcdCandidateIndex(int capacity = 0, bool supportsUpdates = false) |
| | | 25 | | { |
| | | 26 | | _entries = capacity > 0 ? new SwiftList<Entry>(capacity) : new SwiftList<Entry>(); |
| | | 27 | | _entryIndices = !supportsUpdates |
| | | 28 | | ? null |
| | | 29 | | : capacity > 0 |
| | | 30 | | ? new SwiftDictionary<int, int>(capacity) |
| | | 31 | | : new SwiftDictionary<int, int>(); |
| | | 32 | | } |
| | | 33 | | |
| | | 34 | | public int Count => _entries.Count; |
| | | 35 | | |
| | | 36 | | public void Clear() |
| | | 37 | | { |
| | | 38 | | _entries.FastClear(); |
| | | 39 | | _entryIndices?.Clear(); |
| | | 40 | | _maxExtentX = Fixed64.Zero; |
| | | 41 | | _maxExtentXCount = 0; |
| | | 42 | | _unrepresentableExtentXCount = 0; |
| | | 43 | | _isSorted = true; |
| | | 44 | | } |
| | | 45 | | |
| | | 46 | | public void Add(int dynamicId, FixedBoundVolume bounds) |
| | | 47 | | { |
| | | 48 | | _entryIndices?.Add(dynamicId, _entries.Count); |
| | | 49 | | _entries.Add(new Entry(dynamicId, bounds)); |
| | | 50 | | IncludeExtent(bounds.Min.X, bounds.Max.X); |
| | | 51 | | |
| | | 52 | | _isSorted = false; |
| | | 53 | | } |
| | | 54 | | |
| | | 55 | | public void AddOrUpdate(int dynamicId, FixedBoundVolume bounds) |
| | | 56 | | { |
| | | 57 | | SwiftDictionary<int, int>? entryIndices = _entryIndices; |
| | | 58 | | SwiftThrowHelper.ThrowIfTrue( |
| | | 59 | | entryIndices == null, |
| | | 60 | | nameof(DynamicCcdCandidateIndex), |
| | | 61 | | "Candidate index was not configured for updates."); |
| | | 62 | | if (entryIndices.TryGetValue(dynamicId, out int index)) |
| | | 63 | | { |
| | | 64 | | Entry previous = _entries[index]; |
| | | 65 | | _entries[index] = new Entry(dynamicId, bounds); |
| | | 66 | | bool remainsSorted = _isSorted && IsOrderedAt(index); |
| | | 67 | | if (!DynamicCcdExtentMetadata.IsEquivalent( |
| | | 68 | | previous.MinX, |
| | | 69 | | previous.MaxX, |
| | | 70 | | bounds.Min.X, |
| | | 71 | | bounds.Max.X)) |
| | | 72 | | { |
| | | 73 | | if (RemoveExtent(previous.MinX, previous.MaxX)) |
| | | 74 | | RebuildExtents(); |
| | | 75 | | else |
| | | 76 | | IncludeExtent(bounds.Min.X, bounds.Max.X); |
| | | 77 | | } |
| | | 78 | | |
| | | 79 | | _isSorted = remainsSorted; |
| | | 80 | | return; |
| | | 81 | | } |
| | | 82 | | |
| | | 83 | | Add(dynamicId, bounds); |
| | | 84 | | } |
| | | 85 | | |
| | | 86 | | public bool Remove(int dynamicId) |
| | | 87 | | { |
| | | 88 | | SwiftDictionary<int, int>? entryIndices = _entryIndices; |
| | | 89 | | if (entryIndices == null || !entryIndices.TryGetValue(dynamicId, out int index)) |
| | | 90 | | return false; |
| | | 91 | | |
| | | 92 | | Entry removed = _entries[index]; |
| | | 93 | | int lastIndex = _entries.Count - 1; |
| | | 94 | | if (index != lastIndex) |
| | | 95 | | { |
| | | 96 | | Entry moved = _entries[lastIndex]; |
| | | 97 | | _entries[index] = moved; |
| | | 98 | | entryIndices[moved.DynamicId] = index; |
| | | 99 | | } |
| | | 100 | | |
| | | 101 | | _entries.RemoveAt(lastIndex); |
| | | 102 | | entryIndices.Remove(dynamicId); |
| | | 103 | | if (RemoveExtent(removed.MinX, removed.MaxX)) |
| | | 104 | | RebuildExtents(); |
| | | 105 | | _isSorted = false; |
| | | 106 | | return true; |
| | | 107 | | } |
| | | 108 | | |
| | | 109 | | public void Sort() |
| | | 110 | | { |
| | | 111 | | if (!_isSorted && _entries.Count > 1) |
| | | 112 | | HeapSort(); |
| | | 113 | | |
| | | 114 | | _isSorted = true; |
| | | 115 | | } |
| | | 116 | | |
| | | 117 | | public void Query(FixedBoundVolume queryBounds, SwiftList<int> results) |
| | | 118 | | { |
| | | 119 | | results.FastClear(); |
| | | 120 | | if (_entries.Count == 0) |
| | | 121 | | return; |
| | | 122 | | |
| | | 123 | | Sort(); |
| | | 124 | | Fixed64 scanMinX = _unrepresentableExtentXCount > 0 |
| | | 125 | | || !Fixed64.TrySubtract(queryBounds.Min.X, _maxExtentX, out Fixed64 representableScanMinX) |
| | | 126 | | ? Fixed64.MinValue |
| | | 127 | | : representableScanMinX; |
| | | 128 | | int index = FindFirstCandidateIndex(scanMinX); |
| | | 129 | | for (; index < _entries.Count; index++) |
| | | 130 | | { |
| | | 131 | | Entry entry = _entries[index]; |
| | | 132 | | if (entry.MinX > queryBounds.Max.X) |
| | | 133 | | break; |
| | | 134 | | |
| | | 135 | | if (entry.Intersects(queryBounds)) |
| | | 136 | | results.Add(entry.DynamicId); |
| | | 137 | | } |
| | | 138 | | } |
| | | 139 | | |
| | | 140 | | public static FixedBoundVolume CreateSweptSphereBounds(Vector3d start, Vector3d displacement, Fixed64 radius) |
| | | 141 | | => CreateBoundsBetween(start, start + displacement, Vector3d.One * radius); |
| | | 142 | | |
| | | 143 | | public static FixedBoundVolume CreateSweptBounds( |
| | | 144 | | Vector3d start, |
| | | 145 | | Vector3d displacement, |
| | | 146 | | Vector3d extents) => |
| | | 147 | | CreateBoundsBetween(start, start + displacement, extents); |
| | | 148 | | |
| | | 149 | | public static FixedBoundVolume CreateBoundsBetween( |
| | | 150 | | Vector3d start, |
| | | 151 | | Vector3d end, |
| | | 152 | | Vector3d extents) |
| | | 153 | | { |
| | | 154 | | return new FixedBoundVolume(Vector3d.Min(start, end) - extents, Vector3d.Max(start, end) + extents); |
| | | 155 | | } |
| | | 156 | | |
| | | 157 | | private void IncludeExtent(Fixed64 minX, Fixed64 maxX) |
| | | 158 | | { |
| | | 159 | | if (!Fixed64.TrySubtract(maxX, minX, out Fixed64 extentX)) |
| | | 160 | | { |
| | | 161 | | _unrepresentableExtentXCount++; |
| | | 162 | | return; |
| | | 163 | | } |
| | | 164 | | |
| | | 165 | | if (extentX > _maxExtentX) |
| | | 166 | | { |
| | | 167 | | _maxExtentX = extentX; |
| | | 168 | | _maxExtentXCount = 1; |
| | | 169 | | } |
| | | 170 | | else if (extentX == _maxExtentX) |
| | | 171 | | { |
| | | 172 | | _maxExtentXCount++; |
| | | 173 | | } |
| | | 174 | | } |
| | | 175 | | |
| | | 176 | | private bool RemoveExtent(Fixed64 minX, Fixed64 maxX) |
| | | 177 | | { |
| | | 178 | | if (!Fixed64.TrySubtract(maxX, minX, out Fixed64 extentX)) |
| | | 179 | | { |
| | | 180 | | _unrepresentableExtentXCount--; |
| | | 181 | | return false; |
| | | 182 | | } |
| | | 183 | | |
| | | 184 | | return extentX == _maxExtentX && --_maxExtentXCount == 0; |
| | | 185 | | } |
| | | 186 | | |
| | | 187 | | private void RebuildExtents() |
| | | 188 | | { |
| | | 189 | | _maxExtentX = Fixed64.Zero; |
| | | 190 | | _maxExtentXCount = 0; |
| | | 191 | | _unrepresentableExtentXCount = 0; |
| | | 192 | | for (int i = 0; i < _entries.Count; i++) |
| | | 193 | | IncludeExtent(_entries[i].MinX, _entries[i].MaxX); |
| | | 194 | | } |
| | | 195 | | |
| | | 196 | | private int FindFirstCandidateIndex(Fixed64 minX) |
| | | 197 | | { |
| | | 198 | | int low = 0; |
| | | 199 | | int high = _entries.Count; |
| | | 200 | | while (low < high) |
| | | 201 | | { |
| | | 202 | | int middle = low + ((high - low) >> 1); |
| | | 203 | | if (_entries[middle].MinX < minX) |
| | | 204 | | low = middle + 1; |
| | | 205 | | else |
| | | 206 | | high = middle; |
| | | 207 | | } |
| | | 208 | | |
| | | 209 | | return low; |
| | | 210 | | } |
| | | 211 | | |
| | | 212 | | [MethodImpl(MethodImplOptions.AggressiveInlining)] |
| | | 213 | | private bool IsOrderedAt(int index) |
| | | 214 | | { |
| | | 215 | | Entry entry = _entries[index]; |
| | | 216 | | return (index == 0 || Compare(_entries[index - 1], entry) <= 0) |
| | | 217 | | && (index == _entries.Count - 1 || Compare(entry, _entries[index + 1]) <= 0); |
| | | 218 | | } |
| | | 219 | | |
| | | 220 | | private void HeapSort() |
| | | 221 | | { |
| | | 222 | | int count = _entries.Count; |
| | | 223 | | for (int start = (count >> 1) - 1; start >= 0; start--) |
| | | 224 | | SiftDown(start, count); |
| | | 225 | | |
| | | 226 | | for (int end = count - 1; end > 0; end--) |
| | | 227 | | { |
| | | 228 | | Swap(0, end); |
| | | 229 | | SiftDown(0, end); |
| | | 230 | | } |
| | | 231 | | } |
| | | 232 | | |
| | | 233 | | private void SiftDown(int root, int count) |
| | | 234 | | { |
| | | 235 | | while (true) |
| | | 236 | | { |
| | | 237 | | int child = (root << 1) + 1; |
| | | 238 | | if (child >= count) |
| | | 239 | | return; |
| | | 240 | | |
| | | 241 | | int swapIndex = root; |
| | | 242 | | if (Compare(_entries[swapIndex], _entries[child]) < 0) |
| | | 243 | | swapIndex = child; |
| | | 244 | | |
| | | 245 | | int right = child + 1; |
| | | 246 | | if (right < count && Compare(_entries[swapIndex], _entries[right]) < 0) |
| | | 247 | | swapIndex = right; |
| | | 248 | | |
| | | 249 | | if (swapIndex == root) |
| | | 250 | | return; |
| | | 251 | | |
| | | 252 | | Swap(root, swapIndex); |
| | | 253 | | root = swapIndex; |
| | | 254 | | } |
| | | 255 | | } |
| | | 256 | | |
| | | 257 | | private void Swap(int first, int second) |
| | | 258 | | { |
| | | 259 | | Entry firstEntry = _entries[first]; |
| | | 260 | | Entry secondEntry = _entries[second]; |
| | | 261 | | _entries[first] = secondEntry; |
| | | 262 | | _entries[second] = firstEntry; |
| | | 263 | | if (_entryIndices != null) |
| | | 264 | | { |
| | | 265 | | _entryIndices[secondEntry.DynamicId] = first; |
| | | 266 | | _entryIndices[firstEntry.DynamicId] = second; |
| | | 267 | | } |
| | | 268 | | } |
| | | 269 | | |
| | | 270 | | private static int Compare(Entry x, Entry y) |
| | | 271 | | { |
| | | 272 | | int result = x.MinX.CompareTo(y.MinX); |
| | | 273 | | if (result != 0) |
| | | 274 | | return result; |
| | | 275 | | |
| | | 276 | | result = x.MinY.CompareTo(y.MinY); |
| | | 277 | | if (result != 0) |
| | | 278 | | return result; |
| | | 279 | | |
| | | 280 | | result = x.MinZ.CompareTo(y.MinZ); |
| | | 281 | | if (result != 0) |
| | | 282 | | return result; |
| | | 283 | | |
| | | 284 | | result = x.MaxX.CompareTo(y.MaxX); |
| | | 285 | | if (result != 0) |
| | | 286 | | return result; |
| | | 287 | | |
| | | 288 | | result = x.MaxY.CompareTo(y.MaxY); |
| | | 289 | | if (result != 0) |
| | | 290 | | return result; |
| | | 291 | | |
| | | 292 | | result = x.MaxZ.CompareTo(y.MaxZ); |
| | | 293 | | if (result != 0) |
| | | 294 | | return result; |
| | | 295 | | |
| | | 296 | | return x.DynamicId.CompareTo(y.DynamicId); |
| | | 297 | | } |
| | | 298 | | |
| | | 299 | | private readonly struct Entry |
| | | 300 | | { |
| | | 301 | | public Entry(int dynamicId, FixedBoundVolume bounds) |
| | | 302 | | { |
| | | 303 | | DynamicId = dynamicId; |
| | | 304 | | MinX = bounds.Min.X; |
| | | 305 | | MinY = bounds.Min.Y; |
| | | 306 | | MinZ = bounds.Min.Z; |
| | | 307 | | MaxX = bounds.Max.X; |
| | | 308 | | MaxY = bounds.Max.Y; |
| | | 309 | | MaxZ = bounds.Max.Z; |
| | | 310 | | } |
| | | 311 | | |
| | | 312 | | public int DynamicId { get; } |
| | | 313 | | public Fixed64 MinX { get; } |
| | | 314 | | public Fixed64 MinY { get; } |
| | | 315 | | public Fixed64 MinZ { get; } |
| | | 316 | | public Fixed64 MaxX { get; } |
| | | 317 | | public Fixed64 MaxY { get; } |
| | | 318 | | public Fixed64 MaxZ { get; } |
| | | 319 | | |
| | | 320 | | [MethodImpl(MethodImplOptions.AggressiveInlining)] |
| | | 321 | | public bool Intersects(FixedBoundVolume queryBounds) |
| | | 322 | | { |
| | | 323 | | return !(MinX > queryBounds.Max.X || MaxX < queryBounds.Min.X || |
| | | 324 | | MinY > queryBounds.Max.Y || MaxY < queryBounds.Min.Y || |
| | | 325 | | MinZ > queryBounds.Max.Z || MaxZ < queryBounds.Min.Z); |
| | | 326 | | } |
| | | 327 | | } |
| | | 328 | | } |
| | | 329 | | |
| | | 330 | | internal readonly struct DynamicCcdPlanarBounds |
| | | 331 | | { |
| | | 332 | | public DynamicCcdPlanarBounds(Fixed64 minX, Fixed64 minZ, Fixed64 maxX, Fixed64 maxZ) |
| | | 333 | | { |
| | 27153 | 334 | | MinX = minX; |
| | 27153 | 335 | | MinZ = minZ; |
| | 27153 | 336 | | MaxX = maxX; |
| | 27153 | 337 | | MaxZ = maxZ; |
| | 27153 | 338 | | } |
| | | 339 | | |
| | | 340 | | public Fixed64 MinX { get; } |
| | | 341 | | public Fixed64 MinZ { get; } |
| | | 342 | | public Fixed64 MaxX { get; } |
| | | 343 | | public Fixed64 MaxZ { get; } |
| | | 344 | | } |
| | | 345 | | |
| | | 346 | | internal sealed class DynamicCcdCandidateIndex2D |
| | | 347 | | { |
| | | 348 | | private readonly SwiftList<Entry> _entries; |
| | | 349 | | private readonly SwiftDictionary<int, int>? _entryIndices; |
| | | 350 | | private Fixed64 _maxExtentX; |
| | | 351 | | private int _maxExtentXCount; |
| | | 352 | | private int _unrepresentableExtentXCount; |
| | | 353 | | private bool _isSorted = true; |
| | | 354 | | |
| | | 355 | | public DynamicCcdCandidateIndex2D(int capacity = 0, bool supportsUpdates = false) |
| | | 356 | | { |
| | | 357 | | _entries = capacity > 0 ? new SwiftList<Entry>(capacity) : new SwiftList<Entry>(); |
| | | 358 | | _entryIndices = !supportsUpdates |
| | | 359 | | ? null |
| | | 360 | | : capacity > 0 |
| | | 361 | | ? new SwiftDictionary<int, int>(capacity) |
| | | 362 | | : new SwiftDictionary<int, int>(); |
| | | 363 | | } |
| | | 364 | | |
| | | 365 | | public int Count => _entries.Count; |
| | | 366 | | |
| | | 367 | | public void Clear() |
| | | 368 | | { |
| | | 369 | | _entries.FastClear(); |
| | | 370 | | _entryIndices?.Clear(); |
| | | 371 | | _maxExtentX = Fixed64.Zero; |
| | | 372 | | _maxExtentXCount = 0; |
| | | 373 | | _unrepresentableExtentXCount = 0; |
| | | 374 | | _isSorted = true; |
| | | 375 | | } |
| | | 376 | | |
| | | 377 | | public void Add(int dynamicId, DynamicCcdPlanarBounds bounds) |
| | | 378 | | { |
| | | 379 | | _entryIndices?.Add(dynamicId, _entries.Count); |
| | | 380 | | _entries.Add(new Entry(dynamicId, bounds)); |
| | | 381 | | IncludeExtent(bounds.MinX, bounds.MaxX); |
| | | 382 | | |
| | | 383 | | _isSorted = false; |
| | | 384 | | } |
| | | 385 | | |
| | | 386 | | public void AddOrUpdate(int dynamicId, DynamicCcdPlanarBounds bounds) |
| | | 387 | | { |
| | | 388 | | SwiftDictionary<int, int>? entryIndices = _entryIndices; |
| | | 389 | | SwiftThrowHelper.ThrowIfTrue( |
| | | 390 | | entryIndices == null, |
| | | 391 | | nameof(DynamicCcdCandidateIndex2D), |
| | | 392 | | "Candidate index was not configured for updates."); |
| | | 393 | | if (entryIndices.TryGetValue(dynamicId, out int index)) |
| | | 394 | | { |
| | | 395 | | Entry previous = _entries[index]; |
| | | 396 | | _entries[index] = new Entry(dynamicId, bounds); |
| | | 397 | | bool remainsSorted = _isSorted && IsOrderedAt(index); |
| | | 398 | | if (!DynamicCcdExtentMetadata.IsEquivalent( |
| | | 399 | | previous.MinX, |
| | | 400 | | previous.MaxX, |
| | | 401 | | bounds.MinX, |
| | | 402 | | bounds.MaxX)) |
| | | 403 | | { |
| | | 404 | | if (RemoveExtent(previous.MinX, previous.MaxX)) |
| | | 405 | | RebuildExtents(); |
| | | 406 | | else |
| | | 407 | | IncludeExtent(bounds.MinX, bounds.MaxX); |
| | | 408 | | } |
| | | 409 | | |
| | | 410 | | _isSorted = remainsSorted; |
| | | 411 | | return; |
| | | 412 | | } |
| | | 413 | | |
| | | 414 | | Add(dynamicId, bounds); |
| | | 415 | | } |
| | | 416 | | |
| | | 417 | | public bool Remove(int dynamicId) |
| | | 418 | | { |
| | | 419 | | SwiftDictionary<int, int>? entryIndices = _entryIndices; |
| | | 420 | | if (entryIndices == null || !entryIndices.TryGetValue(dynamicId, out int index)) |
| | | 421 | | return false; |
| | | 422 | | |
| | | 423 | | Entry removed = _entries[index]; |
| | | 424 | | int lastIndex = _entries.Count - 1; |
| | | 425 | | if (index != lastIndex) |
| | | 426 | | { |
| | | 427 | | Entry moved = _entries[lastIndex]; |
| | | 428 | | _entries[index] = moved; |
| | | 429 | | entryIndices[moved.DynamicId] = index; |
| | | 430 | | } |
| | | 431 | | |
| | | 432 | | _entries.RemoveAt(lastIndex); |
| | | 433 | | entryIndices.Remove(dynamicId); |
| | | 434 | | if (RemoveExtent(removed.MinX, removed.MaxX)) |
| | | 435 | | RebuildExtents(); |
| | | 436 | | _isSorted = false; |
| | | 437 | | return true; |
| | | 438 | | } |
| | | 439 | | |
| | | 440 | | public void Sort() |
| | | 441 | | { |
| | | 442 | | if (!_isSorted && _entries.Count > 1) |
| | | 443 | | HeapSort(); |
| | | 444 | | |
| | | 445 | | _isSorted = true; |
| | | 446 | | } |
| | | 447 | | |
| | | 448 | | public void Query(DynamicCcdPlanarBounds queryBounds, SwiftList<int> results) |
| | | 449 | | { |
| | | 450 | | results.FastClear(); |
| | | 451 | | if (_entries.Count == 0) |
| | | 452 | | return; |
| | | 453 | | |
| | | 454 | | Sort(); |
| | | 455 | | Fixed64 scanMinX = _unrepresentableExtentXCount > 0 |
| | | 456 | | || !Fixed64.TrySubtract(queryBounds.MinX, _maxExtentX, out Fixed64 representableScanMinX) |
| | | 457 | | ? Fixed64.MinValue |
| | | 458 | | : representableScanMinX; |
| | | 459 | | int index = FindFirstCandidateIndex(scanMinX); |
| | | 460 | | for (; index < _entries.Count; index++) |
| | | 461 | | { |
| | | 462 | | Entry entry = _entries[index]; |
| | | 463 | | if (entry.MinX > queryBounds.MaxX) |
| | | 464 | | break; |
| | | 465 | | |
| | | 466 | | if (entry.Intersects(queryBounds)) |
| | | 467 | | results.Add(entry.DynamicId); |
| | | 468 | | } |
| | | 469 | | } |
| | | 470 | | |
| | | 471 | | public static DynamicCcdPlanarBounds CreateSweptCircleBounds(Vector2d start, Vector2d displacement, Fixed64 radius) |
| | | 472 | | => CreateBoundsBetween(start, start + displacement, radius); |
| | | 473 | | |
| | | 474 | | public static DynamicCcdPlanarBounds CreateBoundsBetween( |
| | | 475 | | Vector2d start, |
| | | 476 | | Vector2d end, |
| | | 477 | | Fixed64 radius) |
| | | 478 | | { |
| | | 479 | | Fixed64 minX = FixedMath.Min(start.X, end.X) - radius; |
| | | 480 | | Fixed64 maxX = FixedMath.Max(start.X, end.X) + radius; |
| | | 481 | | Fixed64 minZ = FixedMath.Min(start.Y, end.Y) - radius; |
| | | 482 | | Fixed64 maxZ = FixedMath.Max(start.Y, end.Y) + radius; |
| | | 483 | | return new DynamicCcdPlanarBounds(minX, minZ, maxX, maxZ); |
| | | 484 | | } |
| | | 485 | | |
| | | 486 | | private void IncludeExtent(Fixed64 minX, Fixed64 maxX) |
| | | 487 | | { |
| | | 488 | | if (!Fixed64.TrySubtract(maxX, minX, out Fixed64 extentX)) |
| | | 489 | | { |
| | | 490 | | _unrepresentableExtentXCount++; |
| | | 491 | | return; |
| | | 492 | | } |
| | | 493 | | |
| | | 494 | | if (extentX > _maxExtentX) |
| | | 495 | | { |
| | | 496 | | _maxExtentX = extentX; |
| | | 497 | | _maxExtentXCount = 1; |
| | | 498 | | } |
| | | 499 | | else if (extentX == _maxExtentX) |
| | | 500 | | { |
| | | 501 | | _maxExtentXCount++; |
| | | 502 | | } |
| | | 503 | | } |
| | | 504 | | |
| | | 505 | | private bool RemoveExtent(Fixed64 minX, Fixed64 maxX) |
| | | 506 | | { |
| | | 507 | | if (!Fixed64.TrySubtract(maxX, minX, out Fixed64 extentX)) |
| | | 508 | | { |
| | | 509 | | _unrepresentableExtentXCount--; |
| | | 510 | | return false; |
| | | 511 | | } |
| | | 512 | | |
| | | 513 | | return extentX == _maxExtentX && --_maxExtentXCount == 0; |
| | | 514 | | } |
| | | 515 | | |
| | | 516 | | private void RebuildExtents() |
| | | 517 | | { |
| | | 518 | | _maxExtentX = Fixed64.Zero; |
| | | 519 | | _maxExtentXCount = 0; |
| | | 520 | | _unrepresentableExtentXCount = 0; |
| | | 521 | | for (int i = 0; i < _entries.Count; i++) |
| | | 522 | | IncludeExtent(_entries[i].MinX, _entries[i].MaxX); |
| | | 523 | | } |
| | | 524 | | |
| | | 525 | | private int FindFirstCandidateIndex(Fixed64 minX) |
| | | 526 | | { |
| | | 527 | | int low = 0; |
| | | 528 | | int high = _entries.Count; |
| | | 529 | | while (low < high) |
| | | 530 | | { |
| | | 531 | | int middle = low + ((high - low) >> 1); |
| | | 532 | | if (_entries[middle].MinX < minX) |
| | | 533 | | low = middle + 1; |
| | | 534 | | else |
| | | 535 | | high = middle; |
| | | 536 | | } |
| | | 537 | | |
| | | 538 | | return low; |
| | | 539 | | } |
| | | 540 | | |
| | | 541 | | [MethodImpl(MethodImplOptions.AggressiveInlining)] |
| | | 542 | | private bool IsOrderedAt(int index) |
| | | 543 | | { |
| | | 544 | | Entry entry = _entries[index]; |
| | | 545 | | return (index == 0 || Compare(_entries[index - 1], entry) <= 0) |
| | | 546 | | && (index == _entries.Count - 1 || Compare(entry, _entries[index + 1]) <= 0); |
| | | 547 | | } |
| | | 548 | | |
| | | 549 | | private void HeapSort() |
| | | 550 | | { |
| | | 551 | | int count = _entries.Count; |
| | | 552 | | for (int start = (count >> 1) - 1; start >= 0; start--) |
| | | 553 | | SiftDown(start, count); |
| | | 554 | | |
| | | 555 | | for (int end = count - 1; end > 0; end--) |
| | | 556 | | { |
| | | 557 | | Swap(0, end); |
| | | 558 | | SiftDown(0, end); |
| | | 559 | | } |
| | | 560 | | } |
| | | 561 | | |
| | | 562 | | private void SiftDown(int root, int count) |
| | | 563 | | { |
| | | 564 | | while (true) |
| | | 565 | | { |
| | | 566 | | int child = (root << 1) + 1; |
| | | 567 | | if (child >= count) |
| | | 568 | | return; |
| | | 569 | | |
| | | 570 | | int swapIndex = root; |
| | | 571 | | if (Compare(_entries[swapIndex], _entries[child]) < 0) |
| | | 572 | | swapIndex = child; |
| | | 573 | | |
| | | 574 | | int right = child + 1; |
| | | 575 | | if (right < count && Compare(_entries[swapIndex], _entries[right]) < 0) |
| | | 576 | | swapIndex = right; |
| | | 577 | | |
| | | 578 | | if (swapIndex == root) |
| | | 579 | | return; |
| | | 580 | | |
| | | 581 | | Swap(root, swapIndex); |
| | | 582 | | root = swapIndex; |
| | | 583 | | } |
| | | 584 | | } |
| | | 585 | | |
| | | 586 | | private void Swap(int first, int second) |
| | | 587 | | { |
| | | 588 | | Entry firstEntry = _entries[first]; |
| | | 589 | | Entry secondEntry = _entries[second]; |
| | | 590 | | _entries[first] = secondEntry; |
| | | 591 | | _entries[second] = firstEntry; |
| | | 592 | | if (_entryIndices != null) |
| | | 593 | | { |
| | | 594 | | _entryIndices[secondEntry.DynamicId] = first; |
| | | 595 | | _entryIndices[firstEntry.DynamicId] = second; |
| | | 596 | | } |
| | | 597 | | } |
| | | 598 | | |
| | | 599 | | private static int Compare(Entry x, Entry y) |
| | | 600 | | { |
| | | 601 | | int result = x.MinX.CompareTo(y.MinX); |
| | | 602 | | if (result != 0) |
| | | 603 | | return result; |
| | | 604 | | |
| | | 605 | | result = x.MinZ.CompareTo(y.MinZ); |
| | | 606 | | if (result != 0) |
| | | 607 | | return result; |
| | | 608 | | |
| | | 609 | | result = x.MaxX.CompareTo(y.MaxX); |
| | | 610 | | if (result != 0) |
| | | 611 | | return result; |
| | | 612 | | |
| | | 613 | | result = x.MaxZ.CompareTo(y.MaxZ); |
| | | 614 | | if (result != 0) |
| | | 615 | | return result; |
| | | 616 | | |
| | | 617 | | return x.DynamicId.CompareTo(y.DynamicId); |
| | | 618 | | } |
| | | 619 | | |
| | | 620 | | private readonly struct Entry |
| | | 621 | | { |
| | | 622 | | public Entry(int dynamicId, DynamicCcdPlanarBounds bounds) |
| | | 623 | | { |
| | | 624 | | DynamicId = dynamicId; |
| | | 625 | | MinX = bounds.MinX; |
| | | 626 | | MinZ = bounds.MinZ; |
| | | 627 | | MaxX = bounds.MaxX; |
| | | 628 | | MaxZ = bounds.MaxZ; |
| | | 629 | | } |
| | | 630 | | |
| | | 631 | | public int DynamicId { get; } |
| | | 632 | | public Fixed64 MinX { get; } |
| | | 633 | | public Fixed64 MinZ { get; } |
| | | 634 | | public Fixed64 MaxX { get; } |
| | | 635 | | public Fixed64 MaxZ { get; } |
| | | 636 | | |
| | | 637 | | [MethodImpl(MethodImplOptions.AggressiveInlining)] |
| | | 638 | | public bool Intersects(DynamicCcdPlanarBounds queryBounds) |
| | | 639 | | { |
| | | 640 | | return !(MinX > queryBounds.MaxX || MaxX < queryBounds.MinX || |
| | | 641 | | MinZ > queryBounds.MaxZ || MaxZ < queryBounds.MinZ); |
| | | 642 | | } |
| | | 643 | | } |
| | | 644 | | } |
| | | 645 | | |
| | | 646 | | file static class DynamicCcdExtentMetadata |
| | | 647 | | { |
| | | 648 | | [MethodImpl(MethodImplOptions.AggressiveInlining)] |
| | | 649 | | public static bool IsEquivalent( |
| | | 650 | | Fixed64 previousMinX, |
| | | 651 | | Fixed64 previousMaxX, |
| | | 652 | | Fixed64 currentMinX, |
| | | 653 | | Fixed64 currentMaxX) |
| | | 654 | | { |
| | | 655 | | bool previousRepresentable = Fixed64.TrySubtract(previousMaxX, previousMinX, out Fixed64 previousExtentX); |
| | | 656 | | bool currentRepresentable = Fixed64.TrySubtract(currentMaxX, currentMinX, out Fixed64 currentExtentX); |
| | | 657 | | return previousRepresentable == currentRepresentable |
| | | 658 | | && (!previousRepresentable || previousExtentX == currentExtentX); |
| | | 659 | | } |
| | | 660 | | } |