228 lines
9.6 KiB
C
228 lines
9.6 KiB
C
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/* Copyright (c) 2013 Scott Lembcke and Howling Moon Software
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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/**
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@defgroup cpSpatialIndex cpSpatialIndex
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Spatial indexes are data structures that are used to accelerate collision detection
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and spatial queries. Chipmunk provides a number of spatial index algorithms to pick from
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and they are programmed in a generic way so that you can use them for holding more than
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just cpShape structs.
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It works by using @c void pointers to the objects you add and using a callback to ask your code
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for bounding boxes when it needs them. Several types of queries can be performed an index as well
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as reindexing and full collision information. All communication to the spatial indexes is performed
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through callback functions.
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Spatial indexes should be treated as opaque structs.
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This meanns you shouldn't be reading any of the struct fields.
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@{
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*/
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//MARK: Spatial Index
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/// Spatial index bounding box callback function type.
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/// The spatial index calls this function and passes you a pointer to an object you added
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/// when it needs to get the bounding box associated with that object.
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typedef cpBB (*cpSpatialIndexBBFunc)(void *obj);
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/// Spatial index/object iterator callback function type.
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typedef void (*cpSpatialIndexIteratorFunc)(void *obj, void *data);
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/// Spatial query callback function type.
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typedef cpCollisionID (*cpSpatialIndexQueryFunc)(void *obj1, void *obj2, cpCollisionID id, void *data);
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/// Spatial segment query callback function type.
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typedef cpFloat (*cpSpatialIndexSegmentQueryFunc)(void *obj1, void *obj2, void *data);
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typedef struct cpSpatialIndexClass cpSpatialIndexClass;
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typedef struct cpSpatialIndex cpSpatialIndex;
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/// @private
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struct cpSpatialIndex {
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cpSpatialIndexClass *klass;
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cpSpatialIndexBBFunc bbfunc;
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cpSpatialIndex *staticIndex, *dynamicIndex;
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};
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//MARK: Spatial Hash
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typedef struct cpSpaceHash cpSpaceHash;
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/// Allocate a spatial hash.
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CP_EXPORT cpSpaceHash* cpSpaceHashAlloc(void);
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/// Initialize a spatial hash.
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CP_EXPORT cpSpatialIndex* cpSpaceHashInit(cpSpaceHash *hash, cpFloat celldim, int numcells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex);
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/// Allocate and initialize a spatial hash.
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CP_EXPORT cpSpatialIndex* cpSpaceHashNew(cpFloat celldim, int cells, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex);
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/// Change the cell dimensions and table size of the spatial hash to tune it.
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/// The cell dimensions should roughly match the average size of your objects
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/// and the table size should be ~10 larger than the number of objects inserted.
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/// Some trial and error is required to find the optimum numbers for efficiency.
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CP_EXPORT void cpSpaceHashResize(cpSpaceHash *hash, cpFloat celldim, int numcells);
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//MARK: AABB Tree
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typedef struct cpBBTree cpBBTree;
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/// Allocate a bounding box tree.
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CP_EXPORT cpBBTree* cpBBTreeAlloc(void);
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/// Initialize a bounding box tree.
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CP_EXPORT cpSpatialIndex* cpBBTreeInit(cpBBTree *tree, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex);
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/// Allocate and initialize a bounding box tree.
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CP_EXPORT cpSpatialIndex* cpBBTreeNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex);
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/// Perform a static top down optimization of the tree.
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CP_EXPORT void cpBBTreeOptimize(cpSpatialIndex *index);
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/// Bounding box tree velocity callback function.
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/// This function should return an estimate for the object's velocity.
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typedef cpVect (*cpBBTreeVelocityFunc)(void *obj);
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/// Set the velocity function for the bounding box tree to enable temporal coherence.
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CP_EXPORT void cpBBTreeSetVelocityFunc(cpSpatialIndex *index, cpBBTreeVelocityFunc func);
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//MARK: Single Axis Sweep
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typedef struct cpSweep1D cpSweep1D;
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/// Allocate a 1D sort and sweep broadphase.
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CP_EXPORT cpSweep1D* cpSweep1DAlloc(void);
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/// Initialize a 1D sort and sweep broadphase.
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CP_EXPORT cpSpatialIndex* cpSweep1DInit(cpSweep1D *sweep, cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex);
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/// Allocate and initialize a 1D sort and sweep broadphase.
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CP_EXPORT cpSpatialIndex* cpSweep1DNew(cpSpatialIndexBBFunc bbfunc, cpSpatialIndex *staticIndex);
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//MARK: Spatial Index Implementation
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typedef void (*cpSpatialIndexDestroyImpl)(cpSpatialIndex *index);
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typedef int (*cpSpatialIndexCountImpl)(cpSpatialIndex *index);
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typedef void (*cpSpatialIndexEachImpl)(cpSpatialIndex *index, cpSpatialIndexIteratorFunc func, void *data);
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typedef cpBool (*cpSpatialIndexContainsImpl)(cpSpatialIndex *index, void *obj, cpHashValue hashid);
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typedef void (*cpSpatialIndexInsertImpl)(cpSpatialIndex *index, void *obj, cpHashValue hashid);
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typedef void (*cpSpatialIndexRemoveImpl)(cpSpatialIndex *index, void *obj, cpHashValue hashid);
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typedef void (*cpSpatialIndexReindexImpl)(cpSpatialIndex *index);
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typedef void (*cpSpatialIndexReindexObjectImpl)(cpSpatialIndex *index, void *obj, cpHashValue hashid);
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typedef void (*cpSpatialIndexReindexQueryImpl)(cpSpatialIndex *index, cpSpatialIndexQueryFunc func, void *data);
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typedef void (*cpSpatialIndexQueryImpl)(cpSpatialIndex *index, void *obj, cpBB bb, cpSpatialIndexQueryFunc func, void *data);
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typedef void (*cpSpatialIndexSegmentQueryImpl)(cpSpatialIndex *index, void *obj, cpVect a, cpVect b, cpFloat t_exit, cpSpatialIndexSegmentQueryFunc func, void *data);
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struct cpSpatialIndexClass {
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cpSpatialIndexDestroyImpl destroy;
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cpSpatialIndexCountImpl count;
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cpSpatialIndexEachImpl each;
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cpSpatialIndexContainsImpl contains;
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cpSpatialIndexInsertImpl insert;
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cpSpatialIndexRemoveImpl remove;
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cpSpatialIndexReindexImpl reindex;
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cpSpatialIndexReindexObjectImpl reindexObject;
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cpSpatialIndexReindexQueryImpl reindexQuery;
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cpSpatialIndexQueryImpl query;
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cpSpatialIndexSegmentQueryImpl segmentQuery;
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};
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/// Destroy and free a spatial index.
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CP_EXPORT void cpSpatialIndexFree(cpSpatialIndex *index);
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/// Collide the objects in @c dynamicIndex against the objects in @c staticIndex using the query callback function.
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CP_EXPORT void cpSpatialIndexCollideStatic(cpSpatialIndex *dynamicIndex, cpSpatialIndex *staticIndex, cpSpatialIndexQueryFunc func, void *data);
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/// Destroy a spatial index.
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static inline void cpSpatialIndexDestroy(cpSpatialIndex *index)
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{
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if(index->klass) index->klass->destroy(index);
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}
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/// Get the number of objects in the spatial index.
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static inline int cpSpatialIndexCount(cpSpatialIndex *index)
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{
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return index->klass->count(index);
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}
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/// Iterate the objects in the spatial index. @c func will be called once for each object.
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static inline void cpSpatialIndexEach(cpSpatialIndex *index, cpSpatialIndexIteratorFunc func, void *data)
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{
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index->klass->each(index, func, data);
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}
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/// Returns true if the spatial index contains the given object.
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/// Most spatial indexes use hashed storage, so you must provide a hash value too.
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static inline cpBool cpSpatialIndexContains(cpSpatialIndex *index, void *obj, cpHashValue hashid)
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{
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return index->klass->contains(index, obj, hashid);
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}
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/// Add an object to a spatial index.
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/// Most spatial indexes use hashed storage, so you must provide a hash value too.
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static inline void cpSpatialIndexInsert(cpSpatialIndex *index, void *obj, cpHashValue hashid)
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{
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index->klass->insert(index, obj, hashid);
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}
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/// Remove an object from a spatial index.
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/// Most spatial indexes use hashed storage, so you must provide a hash value too.
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static inline void cpSpatialIndexRemove(cpSpatialIndex *index, void *obj, cpHashValue hashid)
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{
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index->klass->remove(index, obj, hashid);
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}
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/// Perform a full reindex of a spatial index.
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static inline void cpSpatialIndexReindex(cpSpatialIndex *index)
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{
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index->klass->reindex(index);
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}
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/// Reindex a single object in the spatial index.
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static inline void cpSpatialIndexReindexObject(cpSpatialIndex *index, void *obj, cpHashValue hashid)
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{
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index->klass->reindexObject(index, obj, hashid);
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}
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/// Perform a rectangle query against the spatial index, calling @c func for each potential match.
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static inline void cpSpatialIndexQuery(cpSpatialIndex *index, void *obj, cpBB bb, cpSpatialIndexQueryFunc func, void *data)
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{
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index->klass->query(index, obj, bb, func, data);
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}
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/// Perform a segment query against the spatial index, calling @c func for each potential match.
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static inline void cpSpatialIndexSegmentQuery(cpSpatialIndex *index, void *obj, cpVect a, cpVect b, cpFloat t_exit, cpSpatialIndexSegmentQueryFunc func, void *data)
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{
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index->klass->segmentQuery(index, obj, a, b, t_exit, func, data);
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}
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/// Simultaneously reindex and find all colliding objects.
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/// @c func will be called once for each potentially overlapping pair of objects found.
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/// If the spatial index was initialized with a static index, it will collide it's objects against that as well.
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static inline void cpSpatialIndexReindexQuery(cpSpatialIndex *index, cpSpatialIndexQueryFunc func, void *data)
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{
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index->klass->reindexQuery(index, func, data);
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}
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///@}
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