Optimize collision tree (skip checks for leafs without active bodies)

DrA1ex · Oct 6, 2023 · c5ca03e · c5ca03e
1 parent 4fde7c6
commit c5ca03e
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Showing 2 changed files with 16 additions and 7 deletions.
diff --git a/lib/physics/common/tree.js b/lib/physics/common/tree.js
@@ -15,20 +15,23 @@ class SpatialLeaf {
     segmentBoundary;
     /** @type{Body[]} */
     items;
+    containsActive = true;
 
     id = 0;
 
     /**
      * @param {number} id
      * @param {Body[]} items
      * @param {BoundaryBox} boundary
-     * @param {BoundaryBox} segmentBoundary
+     * @param {BoundaryBox} [segmentBoundary=null]
+     * @param {Boolean} [containsActive=true]
      */
-    constructor(id, items, boundary, segmentBoundary = null) {
+    constructor(id, items, boundary, segmentBoundary = null, containsActive = true) {
         this.id = id;
         this.items = items;
         this.boundary = boundary;
         this.segmentBoundary = segmentBoundary ?? boundary;
+        this.containsActive = containsActive;
     }
 
     addLeaf(leaf) {
@@ -86,7 +89,8 @@ export class SpatialTree {
 
                 if (filteredItems.length > 0) {
                     const boundaryBox = BoundaryBox.fromBodies(filteredItems, BoundaryBoxPool);
-                    const leaf = new SpatialLeaf(this.#leafId++, filteredItems, boundaryBox, segmentBoundary);
+                    const containsActive = current.containsActive && filteredItems.some(b => b.active);
+                    const leaf = new SpatialLeaf(this.#leafId++, filteredItems, boundaryBox, segmentBoundary, containsActive);
                     current.addLeaf(leaf);
                 }
             }

diff --git a/lib/physics/solver.js b/lib/physics/solver.js
@@ -202,13 +202,16 @@ export class ImpulseBasedSolver {
     }
 
     #processTreeLeaf(current) {
+        if (!current.containsActive) return;
+
         if (current.leafs.length > 0) {
             for (let i = 0; i < current.leafs.length; i++) {
                 const l1 = current.leafs[i];
                 for (let j = i + 1; j < current.leafs.length; j++) {
                     const l2 = current.leafs[j];
 
-                    if (GeomUtils.isBoundaryCollide(l1.boundary, l2.boundary)) {
+                    const containsActive = l1.containsActive || l2.containsActive;
+                    if (containsActive && GeomUtils.isBoundaryCollide(l1.boundary, l2.boundary)) {
                         this.#processLeafOuterCollisions(l1, l2);
                     }
                 }
@@ -217,7 +220,7 @@ export class ImpulseBasedSolver {
             }
 
             this.stepInfo.checkCount += current.leafs.length * (current.leafs.length + 1) / 2;
-        } else {
+        } else if (current.containsActive) {
             this.#processLeafInnerCollisions(current);
         }
     }
@@ -238,15 +241,17 @@ export class ImpulseBasedSolver {
             const collidingL1 = new Array(leaf1.leafs.length);
             let i = 0
             for (const l1 of leaf1.leafs) {
-                if (GeomUtils.isBoundaryCollide(l1.boundary, leaf2.boundary)) {
+                const containActive = l1.containsActive || leaf2.containsActive;
+                if (containActive && GeomUtils.isBoundaryCollide(l1.boundary, leaf2.boundary)) {
                     collidingL1[i++] = l1;
                 }
             }
 
             const collidingL2 = new Array(leaf2.leafs.length);
             let j = 0;
             for (const l2 of leaf2.leafs) {
-                if (GeomUtils.isBoundaryCollide(l2.boundary, leaf1.boundary)) {
+                const containActive = l2.containsActive || leaf1.containsActive;
+                if (containActive && GeomUtils.isBoundaryCollide(l2.boundary, leaf1.boundary)) {
                     collidingL2[j++] = l2;
                 }
             }