| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
| |
| This software is provided 'as-is', without any express or implied warranty. |
| In no event will the authors be held liable for any damages arising from the use of this software. |
| Permission is granted to anyone to use this software for any purpose, |
| including commercial applications, and to alter it and redistribute it freely, |
| subject to the following restrictions: |
| |
| 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. |
| 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
| 3. This notice may not be removed or altered from any source distribution. |
| */ |
| |
| #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" |
| #include "BulletCollision/BroadphaseCollision/btDispatcher.h" |
| #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" |
| |
| #include "LinearMath/btVector3.h" |
| #include "LinearMath/btTransform.h" |
| #include "LinearMath/btMatrix3x3.h" |
| #include <new> |
| |
| extern int gOverlappingPairs; |
| |
| void btSimpleBroadphase::validate() |
| { |
| for (int i=0;i<m_numHandles;i++) |
| { |
| for (int j=i+1;j<m_numHandles;j++) |
| { |
| btAssert(&m_pHandles[i] != &m_pHandles[j]); |
| } |
| } |
| |
| } |
| |
| btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* overlappingPairCache) |
| :m_pairCache(overlappingPairCache), |
| m_ownsPairCache(false), |
| m_invalidPair(0) |
| { |
| |
| if (!overlappingPairCache) |
| { |
| void* mem = btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16); |
| m_pairCache = new (mem)btHashedOverlappingPairCache(); |
| m_ownsPairCache = true; |
| } |
| |
| // allocate handles buffer and put all handles on free list |
| m_pHandlesRawPtr = btAlignedAlloc(sizeof(btSimpleBroadphaseProxy)*maxProxies,16); |
| m_pHandles = new(m_pHandlesRawPtr) btSimpleBroadphaseProxy[maxProxies]; |
| m_maxHandles = maxProxies; |
| m_numHandles = 0; |
| m_firstFreeHandle = 0; |
| m_LastHandleIndex = -1; |
| |
| |
| { |
| for (int i = m_firstFreeHandle; i < maxProxies; i++) |
| { |
| m_pHandles[i].SetNextFree(i + 1); |
| m_pHandles[i].m_uniqueId = i+2;//any UID will do, we just avoid too trivial values (0,1) for debugging purposes |
| } |
| m_pHandles[maxProxies - 1].SetNextFree(0); |
| |
| } |
| |
| } |
| |
| btSimpleBroadphase::~btSimpleBroadphase() |
| { |
| btAlignedFree(m_pHandlesRawPtr); |
| |
| if (m_ownsPairCache) |
| { |
| m_pairCache->~btOverlappingPairCache(); |
| btAlignedFree(m_pairCache); |
| } |
| } |
| |
| |
| btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* /*dispatcher*/,void* multiSapProxy) |
| { |
| if (m_numHandles >= m_maxHandles) |
| { |
| btAssert(0); |
| return 0; //should never happen, but don't let the game crash ;-) |
| } |
| btAssert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]); |
| |
| int newHandleIndex = allocHandle(); |
| btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy); |
| |
| return proxy; |
| } |
| |
| class RemovingOverlapCallback : public btOverlapCallback |
| { |
| protected: |
| virtual bool processOverlap(btBroadphasePair& pair) |
| { |
| (void)pair; |
| btAssert(0); |
| return false; |
| } |
| }; |
| |
| class RemovePairContainingProxy |
| { |
| |
| btBroadphaseProxy* m_targetProxy; |
| public: |
| virtual ~RemovePairContainingProxy() |
| { |
| } |
| protected: |
| virtual bool processOverlap(btBroadphasePair& pair) |
| { |
| btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0); |
| btSimpleBroadphaseProxy* proxy1 = static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1); |
| |
| return ((m_targetProxy == proxy0 || m_targetProxy == proxy1)); |
| }; |
| }; |
| |
| void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher* dispatcher) |
| { |
| |
| btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg); |
| freeHandle(proxy0); |
| |
| m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg,dispatcher); |
| |
| //validate(); |
| |
| } |
| |
| void btSimpleBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const |
| { |
| const btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy); |
| aabbMin = sbp->m_aabbMin; |
| aabbMax = sbp->m_aabbMax; |
| } |
| |
| void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* /*dispatcher*/) |
| { |
| btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy); |
| sbp->m_aabbMin = aabbMin; |
| sbp->m_aabbMax = aabbMax; |
| } |
| |
| void btSimpleBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin,const btVector3& aabbMax) |
| { |
| for (int i=0; i <= m_LastHandleIndex; i++) |
| { |
| btSimpleBroadphaseProxy* proxy = &m_pHandles[i]; |
| if(!proxy->m_clientObject) |
| { |
| continue; |
| } |
| rayCallback.process(proxy); |
| } |
| } |
| |
| |
| |
| |
| |
| |
| |
| bool btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1) |
| { |
| return proxy0->m_aabbMin[0] <= proxy1->m_aabbMax[0] && proxy1->m_aabbMin[0] <= proxy0->m_aabbMax[0] && |
| proxy0->m_aabbMin[1] <= proxy1->m_aabbMax[1] && proxy1->m_aabbMin[1] <= proxy0->m_aabbMax[1] && |
| proxy0->m_aabbMin[2] <= proxy1->m_aabbMax[2] && proxy1->m_aabbMin[2] <= proxy0->m_aabbMax[2]; |
| |
| } |
| |
| |
| |
| //then remove non-overlapping ones |
| class CheckOverlapCallback : public btOverlapCallback |
| { |
| public: |
| virtual bool processOverlap(btBroadphasePair& pair) |
| { |
| return (!btSimpleBroadphase::aabbOverlap(static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0),static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1))); |
| } |
| }; |
| |
| void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher) |
| { |
| //first check for new overlapping pairs |
| int i,j; |
| if (m_numHandles >= 0) |
| { |
| int new_largest_index = -1; |
| for (i=0; i <= m_LastHandleIndex; i++) |
| { |
| btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i]; |
| if(!proxy0->m_clientObject) |
| { |
| continue; |
| } |
| new_largest_index = i; |
| for (j=i+1; j <= m_LastHandleIndex; j++) |
| { |
| btSimpleBroadphaseProxy* proxy1 = &m_pHandles[j]; |
| btAssert(proxy0 != proxy1); |
| if(!proxy1->m_clientObject) |
| { |
| continue; |
| } |
| |
| btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0); |
| btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1); |
| |
| if (aabbOverlap(p0,p1)) |
| { |
| if ( !m_pairCache->findPair(proxy0,proxy1)) |
| { |
| m_pairCache->addOverlappingPair(proxy0,proxy1); |
| } |
| } else |
| { |
| if (!m_pairCache->hasDeferredRemoval()) |
| { |
| if ( m_pairCache->findPair(proxy0,proxy1)) |
| { |
| m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher); |
| } |
| } |
| } |
| } |
| } |
| |
| m_LastHandleIndex = new_largest_index; |
| |
| if (m_ownsPairCache && m_pairCache->hasDeferredRemoval()) |
| { |
| |
| btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray(); |
| |
| //perform a sort, to find duplicates and to sort 'invalid' pairs to the end |
| overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); |
| |
| overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); |
| m_invalidPair = 0; |
| |
| |
| btBroadphasePair previousPair; |
| previousPair.m_pProxy0 = 0; |
| previousPair.m_pProxy1 = 0; |
| previousPair.m_algorithm = 0; |
| |
| |
| for (i=0;i<overlappingPairArray.size();i++) |
| { |
| |
| btBroadphasePair& pair = overlappingPairArray[i]; |
| |
| bool isDuplicate = (pair == previousPair); |
| |
| previousPair = pair; |
| |
| bool needsRemoval = false; |
| |
| if (!isDuplicate) |
| { |
| bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1); |
| |
| if (hasOverlap) |
| { |
| needsRemoval = false;//callback->processOverlap(pair); |
| } else |
| { |
| needsRemoval = true; |
| } |
| } else |
| { |
| //remove duplicate |
| needsRemoval = true; |
| //should have no algorithm |
| btAssert(!pair.m_algorithm); |
| } |
| |
| if (needsRemoval) |
| { |
| m_pairCache->cleanOverlappingPair(pair,dispatcher); |
| |
| // m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1); |
| // m_overlappingPairArray.pop_back(); |
| pair.m_pProxy0 = 0; |
| pair.m_pProxy1 = 0; |
| m_invalidPair++; |
| gOverlappingPairs--; |
| } |
| |
| } |
| |
| ///if you don't like to skip the invalid pairs in the array, execute following code: |
| #define CLEAN_INVALID_PAIRS 1 |
| #ifdef CLEAN_INVALID_PAIRS |
| |
| //perform a sort, to sort 'invalid' pairs to the end |
| overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); |
| |
| overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); |
| m_invalidPair = 0; |
| #endif//CLEAN_INVALID_PAIRS |
| |
| } |
| } |
| } |
| |
| |
| bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) |
| { |
| btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0); |
| btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1); |
| return aabbOverlap(p0,p1); |
| } |
| |
| void btSimpleBroadphase::resetPool(btDispatcher* dispatcher) |
| { |
| //not yet |
| } |