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Allow leaf nodes in ray cast #411

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Merged
RossNordby merged 1 commit into from
Aug 9, 2026
Merged

Allow leaf nodes in ray cast #411

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16 changes: 8 additions & 8 deletions BepuPhysics/Trees/Tree_RayCast.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@ public unsafe static bool Intersects(Vector3 min, Vector3 max, TreeRay* ray, out
internal readonly unsafe void RayCast<TLeafTester>(int nodeIndex, TreeRay* treeRay, RayData* rayData, Buffer<int> stack, BufferPool pool, ref TLeafTester leafTester) where TLeafTester : IRayLeafTester
{
Debug.Assert((nodeIndex >= 0 && nodeIndex < NodeCount) || (Encode(nodeIndex) >= 0 && Encode(nodeIndex) < LeafCount));
Debug.Assert(LeafCount >= 2, "This implementation assumes all nodes are filled.");
Debug.Assert(LeafCount >= 2 || nodeIndex < 0, "The node traversal assumes all nodes are filled; a single-leaf tree can only be entered through its encoded leaf index.");

int stackEnd = 0;
while (true)
Expand Down Expand Up @@ -55,14 +55,14 @@ internal readonly unsafe void RayCast<TLeafTester>(int nodeIndex, TreeRay* treeR
//Visit the earlier AABB intersection first.
if (stackEnd == stack.Length)
{
if (stack.Length == TraversalStackCapacity)
{
// First allocation is on the stack.
pool.TakeAtLeast<int>(TraversalStackCapacity * 2, out var newStack);
stack.CopyTo(0, newStack, 0, TraversalStackCapacity);
stack = newStack;
if (stack.Length == TraversalStackCapacity)
{
// First allocation is on the stack.
pool.TakeAtLeast<int>(TraversalStackCapacity * 2, out var newStack);
stack.CopyTo(0, newStack, 0, TraversalStackCapacity);
stack = newStack;
}
else
else
pool.Resize(ref stack, stackEnd * 2, stackEnd);
}
if (tA < tB)
Expand Down
16 changes: 8 additions & 8 deletions BepuPhysics/Trees/Tree_Sweep.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@ partial struct Tree
readonly unsafe void Sweep<TLeafTester>(int nodeIndex, Vector3 expansion, Vector3 origin, Vector3 direction, TreeRay* treeRay, Buffer<int> stack, BufferPool pool, ref TLeafTester leafTester) where TLeafTester : ISweepLeafTester
{
Debug.Assert((nodeIndex >= 0 && nodeIndex < NodeCount) || (Encode(nodeIndex) >= 0 && Encode(nodeIndex) < LeafCount));
Debug.Assert(LeafCount >= 2, "This implementation assumes all nodes are filled.");
Debug.Assert(LeafCount >= 2 || nodeIndex < 0, "The node traversal assumes all nodes are filled; a single-leaf tree can only be entered through its encoded leaf index.");

int stackEnd = 0;
while (true)
Expand Down Expand Up @@ -47,14 +47,14 @@ readonly unsafe void Sweep<TLeafTester>(int nodeIndex, Vector3 expansion, Vector
//Visit the earlier AABB intersection first.
if (stackEnd == stack.Length)
{
if (stack.Length == TraversalStackCapacity)
{
// First allocation is on the stack.
pool.TakeAtLeast<int>(TraversalStackCapacity * 2, out var newStack);
stack.CopyTo(0, newStack, 0, TraversalStackCapacity);
stack = newStack;
if (stack.Length == TraversalStackCapacity)
{
// First allocation is on the stack.
pool.TakeAtLeast<int>(TraversalStackCapacity * 2, out var newStack);
stack.CopyTo(0, newStack, 0, TraversalStackCapacity);
stack = newStack;
}
else
else
pool.Resize(ref stack, stackEnd * 2, stackEnd);
}
if (tA < tB)
Expand Down
64 changes: 32 additions & 32 deletions BepuPhysics/Trees/Tree_VolumeQuery.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@ partial struct Tree
unsafe readonly void GetOverlaps<TEnumerator>(int nodeIndex, BoundingBox boundingBox, Buffer<int> stack, BufferPool pool, ref TEnumerator leafEnumerator) where TEnumerator : IBreakableForEach<int>
{
Debug.Assert((nodeIndex >= 0 && nodeIndex < NodeCount) || (Encode(nodeIndex) >= 0 && Encode(nodeIndex) < LeafCount));
Debug.Assert(LeafCount >= 2, "This implementation assumes all nodes are filled.");
Debug.Assert(LeafCount >= 2 || nodeIndex < 0, "The node traversal assumes all nodes are filled; a single-leaf tree can only be entered through its encoded leaf index.");

int stackEnd = 0;
while (true)
Expand All @@ -38,17 +38,17 @@ unsafe readonly void GetOverlaps<TEnumerator>(int nodeIndex, BoundingBox boundin
nodeIndex = node.A.Index;
if (bIntersected)
{
if (stackEnd == stack.Length)
{
if (stack.Length == TraversalStackCapacity)
{
// First allocation is on the stack.
pool.TakeAtLeast<int>(TraversalStackCapacity * 2, out var newStack);
stack.CopyTo(0, newStack, 0, TraversalStackCapacity);
stack = newStack;
if (stackEnd == stack.Length)
{
if (stack.Length == TraversalStackCapacity)
{
// First allocation is on the stack.
pool.TakeAtLeast<int>(TraversalStackCapacity * 2, out var newStack);
stack.CopyTo(0, newStack, 0, TraversalStackCapacity);
stack = newStack;
}
else
pool.Resize(ref stack, stackEnd * 2, stackEnd);
else
pool.Resize(ref stack, stackEnd * 2, stackEnd);
}
stack[stackEnd++] = node.B.Index;

Expand All @@ -67,22 +67,22 @@ unsafe readonly void GetOverlaps<TEnumerator>(int nodeIndex, BoundingBox boundin
}
}
}
if (stack.Length > TraversalStackCapacity)
{
// We rented a larger stack at some point. Return it.
pool.Return(ref stack);
if (stack.Length > TraversalStackCapacity)
{
// We rented a larger stack at some point. Return it.
pool.Return(ref stack);
}
}

/// <summary>
/// Finds and processes all leaves with bounding boxes that overlap the specified axis-aligned bounding box. The <paramref name="leafEnumerator"/> is invoked
/// for each overlapping element.
/// </summary>
/// <typeparam name="TEnumerator">The type of the <see cref="IBreakableForEach{T}"/> enumerator used to process the overlapping elements.</typeparam>
/// <param name="boundingBox">Query to test against the bounding volume hierarchy.</param>
/// <summary>
/// Finds and processes all leaves with bounding boxes that overlap the specified axis-aligned bounding box. The <paramref name="leafEnumerator"/> is invoked
/// for each overlapping element.
/// </summary>
/// <typeparam name="TEnumerator">The type of the <see cref="IBreakableForEach{T}"/> enumerator used to process the overlapping elements.</typeparam>
/// <param name="boundingBox">Query to test against the bounding volume hierarchy.</param>
/// <param name="pool">The buffer pool used for temporary allocations during the operation. Only used if the tree is pathologically deep; stack memory is used preferentially.</param>
/// <param name="leafEnumerator">A reference to the enumerator that processes the indices of overlapping elements. The enumerator can
/// terminate early by returning <see langword="false"/> from its iteration.</param>
/// <param name="leafEnumerator">A reference to the enumerator that processes the indices of overlapping elements. The enumerator can
/// terminate early by returning <see langword="false"/> from its iteration.</param>
public readonly unsafe void GetOverlaps<TEnumerator>(BoundingBox boundingBox, BufferPool pool, ref TEnumerator leafEnumerator) where TEnumerator : IBreakableForEach<int>
{
if (LeafCount > 1)
Expand All @@ -102,16 +102,16 @@ public readonly unsafe void GetOverlaps<TEnumerator>(BoundingBox boundingBox, Bu
//If the leaf count is zero, then there's nothing to test against.
}

/// <summary>
/// Finds and processes all leaves with bounding boxes that overlap the specified axis-aligned bounding box. The <paramref name="leafEnumerator"/> is invoked
/// for each overlapping element.
/// </summary>
/// <typeparam name="TEnumerator">The type of the <see cref="IBreakableForEach{T}"/> enumerator used to process the overlapping elements.</typeparam>
/// <param name="min">The minimum corner of the axis-aligned bounding box.</param>
/// <param name="max">The maximum corner of the axis-aligned bounding box.</param>
/// <summary>
/// Finds and processes all leaves with bounding boxes that overlap the specified axis-aligned bounding box. The <paramref name="leafEnumerator"/> is invoked
/// for each overlapping element.
/// </summary>
/// <typeparam name="TEnumerator">The type of the <see cref="IBreakableForEach{T}"/> enumerator used to process the overlapping elements.</typeparam>
/// <param name="min">The minimum corner of the axis-aligned bounding box.</param>
/// <param name="max">The maximum corner of the axis-aligned bounding box.</param>
/// <param name="pool">The buffer pool used for temporary allocations during the operation. Only used if the tree is pathologically deep; stack memory is used preferentially.</param>
/// <param name="leafEnumerator">A reference to the enumerator that processes the indices of overlapping elements. The enumerator can
/// terminate early by returning <see langword="false"/> from its iteration.</param>
/// <param name="leafEnumerator">A reference to the enumerator that processes the indices of overlapping elements. The enumerator can
/// terminate early by returning <see langword="false"/> from its iteration.</param>
public readonly void GetOverlaps<TEnumerator>(Vector3 min, Vector3 max, BufferPool pool, ref TEnumerator leafEnumerator) where TEnumerator : IBreakableForEach<int>
{
GetOverlaps(new BoundingBox(min, max), pool, ref leafEnumerator);
Expand Down
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