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A BVH over the surfaces' boxes for raycast, locate and closest - #37
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Raycast, locate without a hint and closest went through every surface, testing its box before descending into its own BVH; maps of terrain built from point clouds have thousands of small surfaces, and that loop dominated the cost. rebuild_geometry_accels() now also builds a BVH over the surfaces' boxes: raycasts visit only the surfaces whose boxes the ray enters, and closest_navcel() visits the nearest boxes first, pruning the farther ones. Surfaces added without a rebuild fall back to the linear loop. Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
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Raycast, locate without a hint and closest went through every surface of the map, testing its box before descending into its own BVH. Maps built from point clouds of terrain have thousands of small surfaces, and that loop dominated the cost.
rebuild_geometry_accels()now also builds a BVH over the surfaces' boxes.closest_navcel()visits the nearest boxes first and prunes those farther than the best so far.One thread, simulated excavation at 0.2 m (746 k NavCels, about 5 000 surfaces):
On a three-floor garage (124 k NavCels, few surfaces) nothing changes beyond noise.
Five new tests check raycast, closest and locate against brute force over every NavCel on 600 overlapping surfaces, and cover surfaces added without a rebuild, empty maps and single-surface maps.