Merge pull request #28328 from godotengine/revert-25543-optimize_bullet_heightfield_raycast2

Revert "Implemented terrain raycast acceleration"

modules/bullet/shape_bullet.cpp

@@ -148,13 +148,7 @@ btHeightfieldTerrainShape *ShapeBullet::create_shape_height_field(PoolVector<rea
 	const bool flipQuadEdges = false;
 	const void *heightsPtr = p_heights.read().ptr();
 
-	btHeightfieldTerrainShape *heightfield = bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges));
-
-	// The shape can be created without params when you do PhysicsServer.shape_create(PhysicsServer.SHAPE_HEIGHTMAP)
-	if (heightsPtr)
-		heightfield->buildAccelerator(16);
-
-	return heightfield;
+	return bulletnew(btHeightfieldTerrainShape(p_width, p_depth, heightsPtr, ignoredHeightScale, p_min_height, p_max_height, YAxis, PHY_FLOAT, flipQuadEdges));
 }
 
 btRayShape *ShapeBullet::create_shape_ray(real_t p_length, bool p_slips_on_slope) {

thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -19,10 +19,9 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
 #include "BulletCollision/CollisionShapes/btConvexShape.h"
 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
-#include "BulletCollision/CollisionShapes/btSphereShape.h" //for raycasting
-#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h" //for raycasting
-#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h" //for raycasting
-#include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h" //for raycasting
+#include "BulletCollision/CollisionShapes/btSphereShape.h"                 //for raycasting
+#include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"        //for raycasting
+#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"  //for raycasting
 #include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
 #include "BulletCollision/CollisionShapes/btCompoundShape.h"
 #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
@@ -414,18 +413,6 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans, co
 				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
 				triangleMesh->performRaycast(&rcb, rayFromLocalScaled, rayToLocalScaled);
 			}
-			else if (collisionShape->getShapeType()==TERRAIN_SHAPE_PROXYTYPE)
-			{
-				///optimized version for btHeightfieldTerrainShape
-				btHeightfieldTerrainShape* heightField = (btHeightfieldTerrainShape*)collisionShape;
-				btTransform worldTocollisionObject = colObjWorldTransform.inverse();
-				btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
-				btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
-
-				BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),heightField,colObjWorldTransform);
-				rcb.m_hitFraction = resultCallback.m_closestHitFraction;
-				heightField->performRaycast(&rcb, rayFromLocal, rayToLocal);
-			}
 			else
 			{
 				//generic (slower) case

thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp

@@ -73,10 +73,6 @@ void btHeightfieldTerrainShape::initialize(
 	m_useZigzagSubdivision = false;
 	m_upAxis = upAxis;
 	m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.));
-	m_vboundsGrid = NULL;
-	m_vboundsChunkSize = 0;
-	m_vboundsGridWidth = 0;
-	m_vboundsGridLength = 0;
 
 	// determine min/max axis-aligned bounding box (aabb) values
 	switch (m_upAxis)
@@ -112,7 +108,6 @@ void btHeightfieldTerrainShape::initialize(
 
 btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
 {
-	clearAccelerator();
 }
 
 void btHeightfieldTerrainShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
@@ -328,8 +323,6 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
 		}
 	}
 
-	// TODO If m_vboundsGrid is available, use it to determine if we really need to process this area
-
 	for (int j = startJ; j < endJ; j++)
 	{
 		for (int x = startX; x < endX; x++)
@@ -380,416 +373,3 @@ const btVector3& btHeightfieldTerrainShape::getLocalScaling() const
 {
 	return m_localScaling;
 }
-
-
-
-struct GridRaycastState
-{
-	int x; // Next quad coords
-	int z;
-	int prev_x; // Previous quad coords
-	int prev_z;
-	btScalar param; // Exit param for previous quad
-	btScalar prevParam; // Enter param for previous quad
-	btScalar maxDistanceFlat;
-	btScalar maxDistance3d;
-};
-
-
-// TODO Does it really need to take 3D vectors?
-/// Iterates through a virtual 2D grid of unit-sized square cells,
-/// and executes an action on each cell intersecting the given segment, ordered from begin to end.
-/// Initially inspired by http://www.cse.yorku.ca/~amana/research/grid.pdf
-template <typename Action_T>
-void gridRaycast(Action_T &quadAction, const btVector3 &beginPos, const btVector3 &endPos)
-{
-	GridRaycastState rs;
-	rs.maxDistance3d = beginPos.distance(endPos);
-	if (rs.maxDistance3d < 0.0001)
-		// Consider the ray is too small to hit anything
-		return;
-
-	btScalar rayDirectionFlatX = endPos[0] - beginPos[0];
-	btScalar rayDirectionFlatZ = endPos[2] - beginPos[2];
-	rs.maxDistanceFlat = btSqrt(rayDirectionFlatX * rayDirectionFlatX + rayDirectionFlatZ * rayDirectionFlatZ);
-
-	if(rs.maxDistanceFlat < 0.0001)
-	{
-		// Consider the ray vertical
-		rayDirectionFlatX = 0;
-		rayDirectionFlatZ = 0;
-	}
-	else
-	{
-		rayDirectionFlatX /= rs.maxDistanceFlat;
-		rayDirectionFlatZ /= rs.maxDistanceFlat;
-	}
-
-	const int xiStep = rayDirectionFlatX > 0 ? 1 : rayDirectionFlatX < 0 ? -1 : 0;
-	const int ziStep = rayDirectionFlatZ > 0 ? 1 : rayDirectionFlatZ < 0 ? -1 : 0;
-
-	const float infinite = 9999999;
-	const btScalar paramDeltaX = xiStep != 0 ? 1.f / btFabs(rayDirectionFlatX) : infinite;
-	const btScalar paramDeltaZ = ziStep != 0 ? 1.f / btFabs(rayDirectionFlatZ) : infinite;
-
-	// pos = param * dir
-	btScalar paramCrossX; // At which value of `param` we will cross a x-axis lane?
-	btScalar paramCrossZ; // At which value of `param` we will cross a z-axis lane?
-
-	// paramCrossX and paramCrossZ are initialized as being the first cross
-	// X initialization
-	if (xiStep != 0)
-	{
-		if (xiStep == 1)
-			paramCrossX = (ceil(beginPos[0]) - beginPos[0]) * paramDeltaX;
-		else
-			paramCrossX = (beginPos[0] - floor(beginPos[0])) * paramDeltaX;
-	}
-	else
-		paramCrossX = infinite; // Will never cross on X
-
-	// Z initialization
-	if (ziStep != 0)
-	{
-		if (ziStep == 1)
-			paramCrossZ = (ceil(beginPos[2]) - beginPos[2]) * paramDeltaZ;
-		else
-			paramCrossZ = (beginPos[2] - floor(beginPos[2])) * paramDeltaZ;
-	}
-	else
-		paramCrossZ = infinite; // Will never cross on Z
-
-	rs.x = static_cast<int>(floor(beginPos[0]));
-	rs.z = static_cast<int>(floor(beginPos[2]));
-
-	// Workaround cases where the ray starts at an integer position
-	if (paramCrossX == 0.0)
-	{
-		paramCrossX += paramDeltaX;
-		// If going backwards, we should ignore the position we would get by the above flooring,
-		// because the ray is not heading in that direction
-		if (xiStep == -1)
-			rs.x -= 1;
-	}
-
-	if (paramCrossZ == 0.0)
-	{
-		paramCrossZ += paramDeltaZ;
-		if (ziStep == -1)
-			rs.z -= 1;
-	}
-
-	rs.prev_x = rs.x;
-	rs.prev_z = rs.z;
-	rs.param = 0;
-
-	while (true)
-	{
-		rs.prev_x = rs.x;
-		rs.prev_z = rs.z;
-		rs.prevParam = rs.param;
-
-		if (paramCrossX < paramCrossZ)
-		{
-			// X lane
-			rs.x += xiStep;
-			// Assign before advancing the param,
-			// to be in sync with the initialization step
-			rs.param = paramCrossX;
-			paramCrossX += paramDeltaX;
-		}
-		else
-		{
-			// Z lane
-			rs.z += ziStep;
-			rs.param = paramCrossZ;
-			paramCrossZ += paramDeltaZ;
-		}
-
-		if (rs.param > rs.maxDistanceFlat)
-		{
-			rs.param = rs.maxDistanceFlat;
-			quadAction(rs);
-			break;
-		}
-		else
-			quadAction(rs);
-	}
-}
-
-
-struct ProcessTrianglesAction
-{
-	const btHeightfieldTerrainShape *shape;
-	bool flipQuadEdges;
-	bool useDiamondSubdivision;
-	int width;
-	int length;
-	btTriangleCallback* callback;
-
-	void exec(int x, int z) const
-	{
-		if(x < 0 || z < 0 || x >= width || z >= length)
-			return;
-
-		btVector3 vertices[3];
-
-		// Check quad
-		if (flipQuadEdges || (useDiamondSubdivision && (((z + x) & 1) > 0)))
-		{
-			// First triangle
-			shape->getVertex(x, z, vertices[0]);
-			shape->getVertex(x + 1, z, vertices[1]);
-			shape->getVertex(x + 1, z + 1, vertices[2]);
-			callback->processTriangle(vertices, x, z);
-
-			// Second triangle
-			shape->getVertex(x, z, vertices[0]);
-			shape->getVertex(x + 1, z + 1, vertices[1]);
-			shape->getVertex(x, z + 1, vertices[2]);
-			callback->processTriangle(vertices, x, z);
-		}
-		else
-		{
-			// First triangle
-			shape->getVertex(x, z, vertices[0]);
-			shape->getVertex(x, z + 1, vertices[1]);
-			shape->getVertex(x + 1, z, vertices[2]);
-			callback->processTriangle(vertices, x, z);
-
-			// Second triangle
-			shape->getVertex(x + 1, z, vertices[0]);
-			shape->getVertex(x, z + 1, vertices[1]);
-			shape->getVertex(x + 1, z + 1, vertices[2]);
-			callback->processTriangle(vertices, x, z);
-		}
-	}
-
-	void operator ()(const GridRaycastState &bs) const
-	{
-		exec(bs.prev_x, bs.prev_z);
-	}
-};
-
-
-struct ProcessVBoundsAction
-{
-	const btHeightfieldTerrainShape::Range *vbounds;
-	int width;
-	int length;
-	int chunkSize;
-
-	btVector3 rayBegin;
-	btVector3 rayEnd;
-	btVector3 rayDir;
-
-	ProcessTrianglesAction processTriangles;
-
-	void operator ()(const GridRaycastState &rs) const
-	{
-		int x = rs.prev_x;
-		int z = rs.prev_z;
-
-		if(x < 0 || z < 0 || x >= width || z >= length)
-			return;
-
-		const btHeightfieldTerrainShape::Range chunk = vbounds[x + z * width];
-
-		btVector3 enterPos;
-		btVector3 exitPos;
-
-		if (rs.maxDistanceFlat > 0.0001)
-		{
-			btScalar flatTo3d = chunkSize * rs.maxDistance3d / rs.maxDistanceFlat;
-			btScalar enterParam3d = rs.prevParam * flatTo3d;
-			btScalar exitParam3d = rs.param * flatTo3d;
-			enterPos = rayBegin + rayDir * enterParam3d;
-			exitPos = rayBegin + rayDir * exitParam3d;
-
-			// We did enter the flat projection of the AABB,
-			// but we have to check if we intersect it on the vertical axis
-			if (enterPos[1] > chunk.max && exitPos[1] > chunk.max)
-				return;
-			if (enterPos[1] < chunk.min && exitPos[1] < chunk.min)
-				return;
-		}
-		else
-		{
-			// Consider the ray vertical
-			// (though we shouldn't reach this often because there is an early check up-front)
-			enterPos = rayBegin;
-			exitPos = rayEnd;
-		}
-
-		gridRaycast(processTriangles, enterPos, exitPos);
-		// Note: it could be possible to have more than one grid at different levels,
-		// to do this there would be a branch using a pointer to another ProcessVBoundsAction
-	}
-};
-
-
-// TODO How do I interrupt the ray when there is a hit? `callback` does not return any result
-/// Performs a raycast using a hierarchical Bresenham algorithm.
-/// Does not allocate any memory by itself.
-void btHeightfieldTerrainShape::performRaycast(btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget) const
-{
-	// Transform to cell-local
-	btVector3 beginPos = raySource / m_localScaling;
-	btVector3 endPos = rayTarget / m_localScaling;
-	beginPos += m_localOrigin;
-	endPos += m_localOrigin;
-
-	ProcessTrianglesAction processTriangles;
-	processTriangles.shape = this;
-	processTriangles.flipQuadEdges = m_flipQuadEdges;
-	processTriangles.useDiamondSubdivision = m_useDiamondSubdivision;
-	processTriangles.callback = callback;
-	processTriangles.width = m_heightStickWidth - 1;
-	processTriangles.length = m_heightStickLength - 1;
-
-	// TODO Transform vectors to account for m_upAxis
-	int iBeginX = static_cast<int>(floor(beginPos[0]));
-	int iBeginZ = static_cast<int>(floor(beginPos[2]));
-	int iEndX = static_cast<int>(floor(endPos[0]));
-	int iEndZ = static_cast<int>(floor(endPos[2]));
-
-	if (iBeginX == iEndX && iBeginZ == iEndZ)
-	{
-		// The ray will never cross quads within the plane,
-		// so directly process triangles within one quad
-		// (typically, vertical rays should end up here)
-		processTriangles.exec(iBeginX, iEndZ);
-		return;
-	}
-
-	if (m_vboundsGrid == NULL)
-	{
-		// Process all quads intersecting the flat projection of the ray
-		gridRaycast(processTriangles, beginPos, endPos);
-	}
-	else
-	{
-		btVector3 rayDiff = endPos - beginPos;
-		btScalar flatDistance2 = rayDiff[0] * rayDiff[0] + rayDiff[2] * rayDiff[2];
-		if (flatDistance2 < m_vboundsChunkSize * m_vboundsChunkSize)
-		{
-			// Don't use chunks, the ray is too short in the plane
-			gridRaycast(processTriangles, beginPos, endPos);
-		}
-
-		ProcessVBoundsAction processVBounds;
-		processVBounds.width = m_vboundsGridWidth;
-		processVBounds.length = m_vboundsGridLength;
-		processVBounds.vbounds = m_vboundsGrid;
-		processVBounds.rayBegin = beginPos;
-		processVBounds.rayEnd = endPos;
-		processVBounds.rayDir = rayDiff.normalized();
-		processVBounds.processTriangles = processTriangles;
-		processVBounds.chunkSize = m_vboundsChunkSize;
-		// The ray is long, run raycast on a higher-level grid
-		gridRaycast(processVBounds, beginPos / m_vboundsChunkSize, endPos / m_vboundsChunkSize);
-	}
-}
-
-
-/// Builds a grid data structure storing the min and max heights of the terrain in chunks.
-/// if chunkSize is zero, that accelerator is removed.
-/// If you modify the heights, you need to rebuild this accelerator.
-void btHeightfieldTerrainShape::buildAccelerator(int chunkSize)
-{
-	if (chunkSize <= 0)
-	{
-		clearAccelerator();
-		return;
-	}
-
-	m_vboundsChunkSize = chunkSize;
-	int nChunksX = m_heightStickWidth / chunkSize;
-	int nChunksZ = m_heightStickLength / chunkSize;
-
-	if (m_heightStickWidth % chunkSize > 0)
-		++nChunksX; // In case terrain size isn't dividable by chunk size
-	if (m_heightStickLength % chunkSize > 0)
-		++nChunksZ;
-
-	if(m_vboundsGridWidth != nChunksX || m_vboundsGridLength != nChunksZ)
-	{
-		clearAccelerator();
-		m_vboundsGridWidth = nChunksX;
-		m_vboundsGridLength = nChunksZ;
-	}
-
-	if (nChunksX == 0 || nChunksZ == 0)
-		return;
-
-	// TODO What is the recommended way to allocate this?
-	// This data structure is only reallocated if the required size changed
-	if (m_vboundsGrid == NULL)
-		m_vboundsGrid = new Range[nChunksX * nChunksZ];
-
-	// Compute min and max height for all chunks
-	for (int cz = 0; cz < nChunksZ; ++cz)
-	{
-		int z0 = cz * chunkSize;
-
-		for (int cx = 0; cx < nChunksX; ++cx)
-		{
-			int x0 = cx * chunkSize;
-
-			Range r;
-
-			r.min = getRawHeightFieldValue(x0, z0);
-			r.max = r.min;
-
-			// Compute min and max height for this chunk.
-			// We have to include one extra cell to account for neighbors.
-			// Here is why:
-			// Say we have a flat terrain, and a plateau that fits a chunk perfectly.
-			//
-			//   Left        Right
-			// 0---0---0---1---1---1
-			// |   |   |   |   |   |
-			// 0---0---0---1---1---1
-			// |   |   |   |   |   |
-			// 0---0---0---1---1---1
-			//           x
-			//
-			// If the AABB for the Left chunk did not share vertices with the Right,
-			// then we would fail collision tests at x due to a gap.
-			//
-			for (int z = z0; z < z0 + chunkSize + 1; ++z)
-			{
-				if (z >= m_heightStickLength)
-					continue;
-
-				for (int x = x0; x < x0 + chunkSize + 1; ++x)
-				{
-					if (x >= m_heightStickWidth)
-						continue;
-
-					btScalar height = getRawHeightFieldValue(x, z);
-
-					if (height < r.min)
-						r.min = height;
-					else if (height > r.max)
-						r.max = height;
-				}
-			}
-
-			m_vboundsGrid[cx + cz * nChunksX] = r;
-		}
-	}
-}
-
-
-void btHeightfieldTerrainShape::clearAccelerator()
-{
-	if (m_vboundsGrid)
-	{
-		// TODO What is the recommended way to deallocate this?
-		delete[] m_vboundsGrid;
-		m_vboundsGrid = 0;
-	}
-}
-
-

thirdparty/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h

@@ -18,7 +18,6 @@ subject to the following restrictions:
 
 #include "btConcaveShape.h"
 
-
 ///btHeightfieldTerrainShape simulates a 2D heightfield terrain
 /**
   The caller is responsible for maintaining the heightfield array; this
@@ -72,12 +71,6 @@ subject to the following restrictions:
 ATTRIBUTE_ALIGNED16(class)
 btHeightfieldTerrainShape : public btConcaveShape
 {
-public:
-	struct Range {
-		btScalar min;
-		btScalar max;
-	};
-
 protected:
 	btVector3 m_localAabbMin;
 	btVector3 m_localAabbMax;
@@ -107,14 +100,9 @@ protected:
 
 	btVector3 m_localScaling;
 
-	// Accelerator
-	Range *m_vboundsGrid;
-	int m_vboundsGridWidth;
-	int m_vboundsGridLength;
-	int m_vboundsChunkSize;
-
 	virtual btScalar getRawHeightFieldValue(int x, int y) const;
 	void quantizeWithClamp(int* out, const btVector3& point, int isMax) const;
+	void getVertex(int x, int y, btVector3& vertex) const;
 
 	/// protected initialization
 	/**
@@ -166,13 +154,6 @@ public:
 	virtual void setLocalScaling(const btVector3& scaling);
 
 	virtual const btVector3& getLocalScaling() const;
-	
-	void		getVertex(int x,int y,btVector3& vertex) const;
-
-	void performRaycast (btTriangleCallback* callback, const btVector3& raySource, const btVector3& rayTarget) const;
-
-	void buildAccelerator(int chunkSize=16);
-	void clearAccelerator();
 
 	//debugging
 	virtual const char* getName() const { return "HEIGHTFIELD"; }