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[BVH precision] Make scene culling use precision-proof version of BVH::ray_query() #100480

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[BVH precision] Make scene culling use precision-proof version of BVH::ray_query() #100480

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4456c09
Fix `BVH::ray_query()` numerical precision
Flarkk Dec 16, 2024
fd02a1b
Make scene culling use precision-proof `BVH::ray_query()`
Flarkk Dec 16, 2024
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9 changes: 4 additions & 5 deletions core/math/dynamic_bvh.h
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Expand Up @@ -310,7 +310,7 @@ class DynamicBVH {
template <typename QueryResult>
_FORCE_INLINE_ void convex_query(const Plane *p_planes, int p_plane_count, const Vector3 *p_points, int p_point_count, QueryResult &r_result);
template <typename QueryResult>
_FORCE_INLINE_ void ray_query(const Vector3 &p_from, const Vector3 &p_to, QueryResult &r_result);
_FORCE_INLINE_ void ray_query(const Vector3 &p_from, const Vector3 &p_dir, real_t p_length, QueryResult &r_result);

void set_index(uint32_t p_index);
uint32_t get_index() const;
Expand Down Expand Up @@ -416,13 +416,12 @@ void DynamicBVH::convex_query(const Plane *p_planes, int p_plane_count, const Ve
} while (depth > 0);
}
template <typename QueryResult>
void DynamicBVH::ray_query(const Vector3 &p_from, const Vector3 &p_to, QueryResult &r_result) {
void DynamicBVH::ray_query(const Vector3 &p_from, const Vector3 &p_dir, real_t p_length, QueryResult &r_result) {
if (!bvh_root) {
return;
}

Vector3 ray_dir = (p_to - p_from);
ray_dir.normalize();
Vector3 ray_dir = p_dir;

///what about division by zero? --> just set rayDirection[i] to INF/B3_LARGE_FLOAT
Vector3 inv_dir;
Expand All @@ -431,7 +430,7 @@ void DynamicBVH::ray_query(const Vector3 &p_from, const Vector3 &p_to, QueryResu
inv_dir[2] = ray_dir[2] == real_t(0.0) ? real_t(1e20) : real_t(1.0) / ray_dir[2];
unsigned int signs[3] = { inv_dir[0] < 0.0, inv_dir[1] < 0.0, inv_dir[2] < 0.0 };

real_t lambda_max = ray_dir.dot(p_to - p_from);
real_t lambda_max = p_length;

Vector3 bounds[2];

Expand Down
5 changes: 3 additions & 2 deletions doc/classes/RenderingServer.xml
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Expand Up @@ -2023,8 +2023,9 @@
<method name="instances_cull_ray" qualifiers="const">
<return type="PackedInt64Array" />
<param index="0" name="from" type="Vector3" />
<param index="1" name="to" type="Vector3" />
<param index="2" name="scenario" type="RID" default="RID()" />
<param index="1" name="direction" type="Vector3" />
<param index="2" name="distance" type="float" />
<param index="3" name="scenario" type="RID" default="RID()" />
<description>
Returns an array of object IDs intersecting with the provided 3D ray. Only 3D nodes that inherit from [VisualInstance3D] are considered, such as [MeshInstance3D] or [DirectionalLight3D]. Use [method @GlobalScope.instance_from_id] to obtain the actual nodes. A scenario RID must be provided, which is available in the [World3D] you want to query. This forces an update for all resources queued to update.
[b]Warning:[/b] This function is primarily intended for editor usage. For in-game use cases, prefer physics collision.
Expand Down
4 changes: 3 additions & 1 deletion editor/plugins/node_3d_editor_plugin.cpp
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Expand Up @@ -9579,7 +9579,9 @@ Vector<Node3D *> Node3DEditor::gizmo_bvh_ray_query(const Vector3 &p_ray_start, c
}
} result;

gizmo_bvh.ray_query(p_ray_start, p_ray_end, result);
Vector3 segment = p_ray_end - p_ray_start;
real_t length = segment.length();
gizmo_bvh.ray_query(p_ray_start, segment / length, length, result);

return result.nodes;
}
Expand Down
4 changes: 3 additions & 1 deletion modules/godot_physics_3d/godot_soft_body_3d.cpp
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Expand Up @@ -1153,7 +1153,9 @@ void GodotSoftBody3D::query_ray(const Vector3 &p_from, const Vector3 &p_to, Godo
query_result.result_callback = p_result_callback;
query_result.userdata = p_userdata;

face_tree.ray_query(p_from, p_to, query_result);
Vector3 segment = p_to - p_from;
real_t length = segment.length();
face_tree.ray_query(p_from, segment / length, length, query_result);
}

void GodotSoftBody3D::initialize_face_tree() {
Expand Down
9 changes: 6 additions & 3 deletions scene/debugger/scene_debugger.cpp
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Expand Up @@ -1872,15 +1872,18 @@ void RuntimeNodeSelect::_find_3d_items_at_pos(const Point2 &p_pos, Vector<Select
}

Vector3 ray, pos, to;
real_t dist;
if (root->get_viewport()->is_camera_3d_override_enabled()) {
Viewport *vp = root->get_viewport();
ray = vp->camera_3d_override_project_ray_normal(p_pos);
pos = vp->camera_3d_override_project_ray_origin(p_pos);
to = pos + ray * vp->get_camera_3d_override_properties()["z_far"];
dist = vp->get_camera_3d_override_properties()["z_far"];
to = pos + ray * dist;
} else {
ray = camera->project_ray_normal(p_pos);
pos = camera->project_ray_origin(p_pos);
to = pos + ray * camera->get_far();
dist = camera->get_far();
to = pos + ray * dist;
}

// Start with physical objects.
Expand Down Expand Up @@ -1920,7 +1923,7 @@ void RuntimeNodeSelect::_find_3d_items_at_pos(const Point2 &p_pos, Vector<Select
}

// Then go for the meshes.
Vector<ObjectID> items = RS::get_singleton()->instances_cull_ray(pos, to, root->get_world_3d()->get_scenario());
Vector<ObjectID> items = RS::get_singleton()->instances_cull_ray(pos, ray, dist, root->get_world_3d()->get_scenario());
for (int i = 0; i < items.size(); i++) {
Object *obj = ObjectDB::get_instance(items[i]);
GeometryInstance3D *geo_instance = nullptr;
Expand Down
6 changes: 3 additions & 3 deletions servers/rendering/renderer_scene_cull.cpp
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Expand Up @@ -1261,7 +1261,7 @@ Vector<ObjectID> RendererSceneCull::instances_cull_aabb(const AABB &p_aabb, RID
return cull_aabb.instances;
}

Vector<ObjectID> RendererSceneCull::instances_cull_ray(const Vector3 &p_from, const Vector3 &p_to, RID p_scenario) const {
Vector<ObjectID> RendererSceneCull::instances_cull_ray(const Vector3 &p_from, const Vector3 &p_dir, real_t p_dist, RID p_scenario) const {
Vector<ObjectID> instances;
Scenario *scenario = scenario_owner.get_or_null(p_scenario);
ERR_FAIL_NULL_V(scenario, instances);
Expand All @@ -1279,8 +1279,8 @@ Vector<ObjectID> RendererSceneCull::instances_cull_ray(const Vector3 &p_from, co
};

CullRay cull_ray;
scenario->indexers[Scenario::INDEXER_GEOMETRY].ray_query(p_from, p_to, cull_ray);
scenario->indexers[Scenario::INDEXER_VOLUMES].ray_query(p_from, p_to, cull_ray);
scenario->indexers[Scenario::INDEXER_GEOMETRY].ray_query(p_from, p_dir, p_dist, cull_ray);
scenario->indexers[Scenario::INDEXER_VOLUMES].ray_query(p_from, p_dir, p_dist, cull_ray);
return cull_ray.instances;
}

Expand Down
2 changes: 1 addition & 1 deletion servers/rendering/renderer_scene_cull.h
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Expand Up @@ -1082,7 +1082,7 @@ class RendererSceneCull : public RenderingMethod {

// don't use these in a game!
virtual Vector<ObjectID> instances_cull_aabb(const AABB &p_aabb, RID p_scenario = RID()) const;
virtual Vector<ObjectID> instances_cull_ray(const Vector3 &p_from, const Vector3 &p_to, RID p_scenario = RID()) const;
virtual Vector<ObjectID> instances_cull_ray(const Vector3 &p_from, const Vector3 &p_dir, real_t p_dist, RID p_scenario = RID()) const;
virtual Vector<ObjectID> instances_cull_convex(const Vector<Plane> &p_convex, RID p_scenario = RID()) const;

virtual void instance_geometry_set_flag(RID p_instance, RS::InstanceFlags p_flags, bool p_enabled);
Expand Down
2 changes: 1 addition & 1 deletion servers/rendering/rendering_method.h
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Expand Up @@ -102,7 +102,7 @@ class RenderingMethod {

// don't use these in a game!
virtual Vector<ObjectID> instances_cull_aabb(const AABB &p_aabb, RID p_scenario = RID()) const = 0;
virtual Vector<ObjectID> instances_cull_ray(const Vector3 &p_from, const Vector3 &p_to, RID p_scenario = RID()) const = 0;
virtual Vector<ObjectID> instances_cull_ray(const Vector3 &p_from, const Vector3 &p_dir, real_t p_dist, RID p_scenario = RID()) const = 0;
virtual Vector<ObjectID> instances_cull_convex(const Vector<Plane> &p_convex, RID p_scenario = RID()) const = 0;

virtual void instance_geometry_set_flag(RID p_instance, RS::InstanceFlags p_flags, bool p_enabled) = 0;
Expand Down
2 changes: 1 addition & 1 deletion servers/rendering/rendering_server_default.h
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Expand Up @@ -894,7 +894,7 @@ class RenderingServerDefault : public RenderingServer {

// don't use these in a game!
FUNC2RC(Vector<ObjectID>, instances_cull_aabb, const AABB &, RID)
FUNC3RC(Vector<ObjectID>, instances_cull_ray, const Vector3 &, const Vector3 &, RID)
FUNC4RC(Vector<ObjectID>, instances_cull_ray, const Vector3 &, const Vector3 &, real_t, RID)
FUNC2RC(Vector<ObjectID>, instances_cull_convex, const Vector<Plane> &, RID)

FUNC3(instance_geometry_set_flag, RID, InstanceFlags, bool)
Expand Down
6 changes: 3 additions & 3 deletions servers/rendering_server.cpp
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Expand Up @@ -87,8 +87,8 @@ PackedInt64Array RenderingServer::_instances_cull_aabb_bind(const AABB &p_aabb,
return to_int_array(ids);
}

PackedInt64Array RenderingServer::_instances_cull_ray_bind(const Vector3 &p_from, const Vector3 &p_to, RID p_scenario) const {
Vector<ObjectID> ids = instances_cull_ray(p_from, p_to, p_scenario);
PackedInt64Array RenderingServer::_instances_cull_ray_bind(const Vector3 &p_from, const Vector3 &p_dir, real_t p_dist, RID p_scenario) const {
Vector<ObjectID> ids = instances_cull_ray(p_from, p_dir, p_dist, p_scenario);
return to_int_array(ids);
}

Expand Down Expand Up @@ -3174,7 +3174,7 @@ void RenderingServer::_bind_methods() {
ClassDB::bind_method(D_METHOD("instance_geometry_get_shader_parameter_list", "instance"), &RenderingServer::_instance_geometry_get_shader_parameter_list);

ClassDB::bind_method(D_METHOD("instances_cull_aabb", "aabb", "scenario"), &RenderingServer::_instances_cull_aabb_bind, DEFVAL(RID()));
ClassDB::bind_method(D_METHOD("instances_cull_ray", "from", "to", "scenario"), &RenderingServer::_instances_cull_ray_bind, DEFVAL(RID()));
ClassDB::bind_method(D_METHOD("instances_cull_ray", "from", "direction", "distance", "scenario"), &RenderingServer::_instances_cull_ray_bind, DEFVAL(RID()));
ClassDB::bind_method(D_METHOD("instances_cull_convex", "convex", "scenario"), &RenderingServer::_instances_cull_convex_bind, DEFVAL(RID()));

BIND_ENUM_CONSTANT(INSTANCE_NONE);
Expand Down
4 changes: 2 additions & 2 deletions servers/rendering_server.h
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Expand Up @@ -1405,11 +1405,11 @@ class RenderingServer : public Object {

// Don't use these in a game!
virtual Vector<ObjectID> instances_cull_aabb(const AABB &p_aabb, RID p_scenario = RID()) const = 0;
virtual Vector<ObjectID> instances_cull_ray(const Vector3 &p_from, const Vector3 &p_to, RID p_scenario = RID()) const = 0;
virtual Vector<ObjectID> instances_cull_ray(const Vector3 &p_from, const Vector3 &p_dir, real_t p_dist, RID p_scenario = RID()) const = 0;
virtual Vector<ObjectID> instances_cull_convex(const Vector<Plane> &p_convex, RID p_scenario = RID()) const = 0;

PackedInt64Array _instances_cull_aabb_bind(const AABB &p_aabb, RID p_scenario = RID()) const;
PackedInt64Array _instances_cull_ray_bind(const Vector3 &p_from, const Vector3 &p_to, RID p_scenario = RID()) const;
PackedInt64Array _instances_cull_ray_bind(const Vector3 &p_from, const Vector3 &p_dir, real_t p_dist, RID p_scenario = RID()) const;
PackedInt64Array _instances_cull_convex_bind(const TypedArray<Plane> &p_convex, RID p_scenario = RID()) const;

enum InstanceFlags {
Expand Down