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Start implementing SAPLayer creation and insertion.

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This commit is contained in:
Crozet Sébastien
2021-03-08 18:27:06 +01:00
parent 7983c25606
commit a967ace7d4
7 changed files with 235 additions and 57 deletions
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26
src/geometry/broad_phase_multi_sap/sap_utils.rs
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@@ -4,7 +4,8 @@ use parry::bounding_volume::AABB;
pub(crate) const NUM_SENTINELS: usize = 1;
pub(crate) const NEXT_FREE_SENTINEL: u32 = u32::MAX;
pub(crate) const SENTINEL_VALUE: Real = Real::MAX;
pub(crate) const CELL_WIDTH: Real = 20.0;
pub(crate) const REGION_WIDTH_BASE: Real = 20.0;
pub(crate) const REGION_WIDTH_POWER_BASIS: Real = 8.0;
pub(crate) fn sort2(a: u32, b: u32) -> (u32, u32) {
assert_ne!(a, b);
@@ -16,12 +17,25 @@ pub(crate) fn sort2(a: u32, b: u32) -> (u32, u32) {
}
}
pub(crate) fn point_key(point: Point<Real>) -> Point<i32> {
(point / CELL_WIDTH).coords.map(|e| e.floor() as i32).into()
pub(crate) fn point_key(point: Point<Real>, region_width: Real) -> Point<i32> {
(point / region_width)
.coords
.map(|e| e.floor() as i32)
.into()
}
pub(crate) fn region_aabb(index: Point<i32>) -> AABB {
let mins = index.coords.map(|i| i as Real * CELL_WIDTH).into();
let maxs = mins + Vector::repeat(CELL_WIDTH);
pub(crate) fn region_aabb(index: Point<i32>, region_width: Real) -> AABB {
let mins = index.coords.map(|i| i as Real * region_width).into();
let maxs = mins + Vector::repeat(region_width);
AABB::new(mins, maxs)
}
pub(crate) fn region_width(depth: i8) -> Real {
REGION_WIDTH_BASE * REGION_WIDTH_POWER_BASIS.powi(depth as i32)
}
pub(crate) fn layer_containing_aabb(aabb: &AABB) -> i8 {
let width = 2.0 * aabb.half_extents().norm();
// TODO: handle overflows in the f32 -> i8 conversion.
(width / REGION_WIDTH_BASE).log(REGION_WIDTH_POWER_BASIS) as i8
}