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Merged
Shchvova merged 2 commits into from
Sep 21, 2025
Merged

Add maskbits for raycast #9

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4790be3
Add maskbits for raycast
kan6868 Jul 18, 2025
cf90ff5
Add maskbits for raycast
kan6868 Jul 18, 2025
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4 changes: 2 additions & 2 deletions Box2D/Collision/b2BroadPhase.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,9 +37,9 @@ b2BroadPhase::~b2BroadPhase()
b2Free(m_pairBuffer);
}

int32 b2BroadPhase::CreateProxy(const b2AABB& aabb, void* userData)
int32 b2BroadPhase::CreateProxy(const b2AABB& aabb, void* userData, uint16 categoryBits)
{
int32 proxyId = m_tree.CreateProxy(aabb, userData);
int32 proxyId = m_tree.CreateProxy(aabb, userData, categoryBits);
++m_proxyCount;
BufferMove(proxyId);
return proxyId;
Expand Down
8 changes: 4 additions & 4 deletions Box2D/Collision/b2BroadPhase.h
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Expand Up @@ -46,7 +46,7 @@ class b2BroadPhase

/// Create a proxy with an initial AABB. Pairs are not reported until
/// UpdatePairs is called.
int32 CreateProxy(const b2AABB& aabb, void* userData);
int32 CreateProxy(const b2AABB& aabb, void* userData, uint16 categoryBits);

/// Destroy a proxy. It is up to the client to remove any pairs.
void DestroyProxy(int32 proxyId);
Expand Down Expand Up @@ -87,7 +87,7 @@ class b2BroadPhase
/// @param input the ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1).
/// @param callback a callback class that is called for each proxy that is hit by the ray.
template <typename T>
void RayCast(T* callback, const b2RayCastInput& input) const;
void RayCast(T* callback, const b2RayCastInput& input, uint16 maskBits) const;

/// Get the height of the embedded tree.
int32 GetTreeHeight() const;
Expand Down Expand Up @@ -220,9 +220,9 @@ inline void b2BroadPhase::Query(T* callback, const b2AABB& aabb) const
}

template <typename T>
inline void b2BroadPhase::RayCast(T* callback, const b2RayCastInput& input) const
inline void b2BroadPhase::RayCast(T* callback, const b2RayCastInput& input, uint16 maskBits) const
{
m_tree.RayCast(callback, input);
m_tree.RayCast(callback, input, maskBits);
}

inline void b2BroadPhase::ShiftOrigin(const b2Vec2& newOrigin)
Expand Down
29 changes: 25 additions & 4 deletions Box2D/Collision/b2DynamicTree.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,7 @@ int32 b2DynamicTree::AllocateNode()
m_nodes[nodeId].child1 = b2_nullNode;
m_nodes[nodeId].child2 = b2_nullNode;
m_nodes[nodeId].height = 0;
m_nodes[nodeId].categoryBits = _I16_MAX;
m_nodes[nodeId].userData = NULL;
m_nodes[nodeId].moved = false;
++m_nodeCount;
Expand All @@ -105,7 +106,7 @@ void b2DynamicTree::FreeNode(int32 nodeId)
// Create a proxy in the tree as a leaf node. We return the index
// of the node instead of a pointer so that we can grow
// the node pool.
int32 b2DynamicTree::CreateProxy(const b2AABB& aabb, void* userData)
int32 b2DynamicTree::CreateProxy(const b2AABB& aabb, void* userData, uint16 categoryBits)
{
int32 proxyId = AllocateNode();

Expand All @@ -115,8 +116,8 @@ int32 b2DynamicTree::CreateProxy(const b2AABB& aabb, void* userData)
m_nodes[proxyId].aabb.upperBound = aabb.upperBound + r;
m_nodes[proxyId].userData = userData;
m_nodes[proxyId].height = 0;
m_nodes[proxyId].categoryBits = categoryBits;
m_nodes[proxyId].moved = true;

InsertLeaf(proxyId);

return proxyId;
Expand Down Expand Up @@ -286,6 +287,7 @@ void b2DynamicTree::InsertLeaf(int32 leaf)
m_nodes[newParent].userData = NULL;
m_nodes[newParent].aabb.Combine(leafAABB, m_nodes[sibling].aabb);
m_nodes[newParent].height = m_nodes[sibling].height + 1;
m_nodes[newParent].categoryBits = m_nodes[leaf].categoryBits | m_nodes[sibling].categoryBits;

if (oldParent != b2_nullNode)
{
Expand Down Expand Up @@ -328,7 +330,7 @@ void b2DynamicTree::InsertLeaf(int32 leaf)

m_nodes[index].height = 1 + b2Max(m_nodes[child1].height, m_nodes[child2].height);
m_nodes[index].aabb.Combine(m_nodes[child1].aabb, m_nodes[child2].aabb);

m_nodes[newParent].categoryBits = m_nodes[child1].categoryBits | m_nodes[child2].categoryBits;
index = m_nodes[index].parent;
}

Expand Down Expand Up @@ -380,7 +382,7 @@ void b2DynamicTree::RemoveLeaf(int32 leaf)

m_nodes[index].aabb.Combine(m_nodes[child1].aabb, m_nodes[child2].aabb);
m_nodes[index].height = 1 + b2Max(m_nodes[child1].height, m_nodes[child2].height);

m_nodes[index].categoryBits = m_nodes[child1].categoryBits | m_nodes[child2].categoryBits;
index = m_nodes[index].parent;
}
}
Expand Down Expand Up @@ -460,6 +462,8 @@ int32 b2DynamicTree::Balance(int32 iA)

A->height = 1 + b2Max(B->height, G->height);
C->height = 1 + b2Max(A->height, F->height);
A->categoryBits = B->categoryBits | G->categoryBits;
C->categoryBits = A->categoryBits | F->categoryBits;
}
else
{
Expand All @@ -471,6 +475,9 @@ int32 b2DynamicTree::Balance(int32 iA)

A->height = 1 + b2Max(B->height, F->height);
C->height = 1 + b2Max(A->height, G->height);

A->categoryBits = B->categoryBits | F->categoryBits;
C->categoryBits = A->categoryBits | G->categoryBits;
}

return iC;
Expand Down Expand Up @@ -520,6 +527,9 @@ int32 b2DynamicTree::Balance(int32 iA)

A->height = 1 + b2Max(C->height, E->height);
B->height = 1 + b2Max(A->height, D->height);

A->categoryBits = C->categoryBits | E->categoryBits;
B->categoryBits = A->categoryBits | D->categoryBits;
}
else
{
Expand All @@ -531,6 +541,9 @@ int32 b2DynamicTree::Balance(int32 iA)

A->height = 1 + b2Max(C->height, D->height);
B->height = 1 + b2Max(A->height, E->height);

A->categoryBits = C->categoryBits | D->categoryBits;
B->categoryBits = A->categoryBits | E->categoryBits;
}

return iB;
Expand Down Expand Up @@ -576,6 +589,10 @@ float32 b2DynamicTree::GetAreaRatio() const
return totalArea / rootArea;
}

void b2DynamicTree::SetCategoryBits(uint16 categoryBits)
{
}

// Compute the height of a sub-tree.
int32 b2DynamicTree::ComputeHeight(int32 nodeId) const
{
Expand Down Expand Up @@ -672,6 +689,9 @@ void b2DynamicTree::ValidateMetrics(int32 index) const
b2Assert(aabb.lowerBound == node->aabb.lowerBound);
b2Assert(aabb.upperBound == node->aabb.upperBound);

uint16 categoryBits = m_nodes[child1].categoryBits | m_nodes[child2].categoryBits;
b2Assert(node->categoryBits == categoryBits);

ValidateMetrics(child1);
ValidateMetrics(child2);
}
Expand Down Expand Up @@ -777,6 +797,7 @@ void b2DynamicTree::RebuildBottomUp()
parent->child2 = index2;
parent->height = 1 + b2Max(child1->height, child2->height);
parent->aabb.Combine(child1->aabb, child2->aabb);
parent->categoryBits = child1->categoryBits | child2->categoryBits;
parent->parent = b2_nullNode;

child1->parent = parentIndex;
Expand Down
14 changes: 9 additions & 5 deletions Box2D/Collision/b2DynamicTree.h
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,6 @@
#include <Box2D/Common/b2GrowableStack.h>

#define b2_nullNode (-1)

/// A node in the dynamic tree. The client does not interact with this directly.
struct b2TreeNode
{
Expand All @@ -37,6 +36,9 @@ struct b2TreeNode

void* userData;

// Category bits for collision filtering
uint16 categoryBits;

union
{
int32 parent;
Expand Down Expand Up @@ -70,7 +72,7 @@ class b2DynamicTree
~b2DynamicTree();

/// Create a proxy. Provide a tight fitting AABB and a userData pointer.
int32 CreateProxy(const b2AABB& aabb, void* userData);
int32 CreateProxy(const b2AABB& aabb, void* userData, uint16 categoryBits);

/// Destroy a proxy. This asserts if the id is invalid.
void DestroyProxy(int32 proxyId);
Expand Down Expand Up @@ -104,7 +106,7 @@ class b2DynamicTree
/// @param input the ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1).
/// @param callback a callback class that is called for each proxy that is hit by the ray.
template <typename T>
void RayCast(T* callback, const b2RayCastInput& input) const;
void RayCast(T* callback, const b2RayCastInput& input, uint16 maskBits) const;

/// Validate this tree. For testing.
void Validate() const;
Expand All @@ -120,6 +122,8 @@ class b2DynamicTree
/// Get the ratio of the sum of the node areas to the root area.
float32 GetAreaRatio() const;

void SetCategoryBits(uint16 categoryBits);

/// Build an optimal tree. Very expensive. For testing.
void RebuildBottomUp();

Expand Down Expand Up @@ -218,7 +222,7 @@ inline void b2DynamicTree::Query(T* callback, const b2AABB& aabb) const
}

template <typename T>
inline void b2DynamicTree::RayCast(T* callback, const b2RayCastInput& input) const
inline void b2DynamicTree::RayCast(T* callback, const b2RayCastInput& input, uint16 maskBits) const
{
b2Vec2 p1 = input.p1;
b2Vec2 p2 = input.p2;
Expand Down Expand Up @@ -256,7 +260,7 @@ inline void b2DynamicTree::RayCast(T* callback, const b2RayCastInput& input) con

const b2TreeNode* node = m_nodes + nodeId;

if (b2TestOverlap(node->aabb, segmentAABB) == false)
if ((node->categoryBits & maskBits) == 0 || (b2TestOverlap(node->aabb, segmentAABB) == false))
{
continue;
}
Expand Down
2 changes: 1 addition & 1 deletion Box2D/Dynamics/b2Fixture.cpp
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Expand Up @@ -130,7 +130,7 @@ void b2Fixture::CreateProxies(b2BroadPhase* broadPhase, const b2Transform& xf)
{
b2FixtureProxy* proxy = m_proxies + i;
m_shape->ComputeAABB(&proxy->aabb, xf, i);
proxy->proxyId = broadPhase->CreateProxy(proxy->aabb, proxy);
proxy->proxyId = broadPhase->CreateProxy(proxy->aabb, proxy, m_filter.categoryBits);
proxy->fixture = this;
proxy->childIndex = i;
}
Expand Down
4 changes: 2 additions & 2 deletions Box2D/Dynamics/b2World.cpp
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Expand Up @@ -1119,7 +1119,7 @@ struct b2WorldRayCastWrapper
b2RayCastCallback* callback;
};

void b2World::RayCast(b2RayCastCallback* callback, const b2Vec2& point1, const b2Vec2& point2) const
void b2World::RayCast(b2RayCastCallback* callback, const b2Vec2& point1, const b2Vec2& point2, uint16 maskBits) const
{
b2WorldRayCastWrapper wrapper;
wrapper.broadPhase = &m_contactManager.m_broadPhase;
Expand All @@ -1128,7 +1128,7 @@ void b2World::RayCast(b2RayCastCallback* callback, const b2Vec2& point1, const b
input.maxFraction = 1.0f;
input.p1 = point1;
input.p2 = point2;
m_contactManager.m_broadPhase.RayCast(&wrapper, input);
m_contactManager.m_broadPhase.RayCast(&wrapper, input, maskBits);
for (b2ParticleSystem* p = m_particleSystemList; p; p = p->GetNext())
{
if (callback->ShouldQueryParticleSystem(p))
Expand Down
2 changes: 1 addition & 1 deletion Box2D/Dynamics/b2World.h
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Expand Up @@ -166,7 +166,7 @@ class b2World
/// @param callback a user implemented callback class.
/// @param point1 the ray starting point
/// @param point2 the ray ending point
void RayCast(b2RayCastCallback* callback, const b2Vec2& point1, const b2Vec2& point2) const;
void RayCast(b2RayCastCallback* callback, const b2Vec2& point1, const b2Vec2& point2, uint16 maskBits) const;

/// Get the world body list. With the returned body, use b2Body::GetNext to get
/// the next body in the world list. A NULL body indicates the end of the list.
Expand Down