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Fix BVH::ray_query() numerical precision #100475

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Fix BVH::ray_query() numerical precision #100475

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9 changes: 4 additions & 5 deletions core/math/dynamic_bvh.h
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Original file line number Diff line number Diff line change
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];

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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;
}
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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
6 changes: 4 additions & 2 deletions servers/rendering/renderer_scene_cull.cpp
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Expand Up @@ -1279,8 +1279,10 @@ 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);
Vector3 segment = p_to - p_from;
real_t length = segment.length();
scenario->indexers[Scenario::INDEXER_GEOMETRY].ray_query(p_from, segment / length, length, cull_ray);
scenario->indexers[Scenario::INDEXER_VOLUMES].ray_query(p_from, segment / length, length, cull_ray);
return cull_ray.instances;
}

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