| /* |
| 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. |
| */ |
| #ifndef BT_MULTI_SAP_BROADPHASE |
| #define BT_MULTI_SAP_BROADPHASE |
| |
| #include "btBroadphaseInterface.h" |
| #include "LinearMath/btAlignedObjectArray.h" |
| #include "btOverlappingPairCache.h" |
| |
| |
| class btBroadphaseInterface; |
| class btSimpleBroadphase; |
| |
| |
| typedef btAlignedObjectArray<btBroadphaseInterface*> btSapBroadphaseArray; |
| |
| ///The btMultiSapBroadphase is a research project, not recommended to use in production. Use btAxisSweep3 or btDbvtBroadphase instead. |
| ///The btMultiSapBroadphase is a broadphase that contains multiple SAP broadphases. |
| ///The user can add SAP broadphases that cover the world. A btBroadphaseProxy can be in multiple child broadphases at the same time. |
| ///A btQuantizedBvh acceleration structures finds overlapping SAPs for each btBroadphaseProxy. |
| ///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328 |
| ///and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329 |
| class btMultiSapBroadphase :public btBroadphaseInterface |
| { |
| btSapBroadphaseArray m_sapBroadphases; |
| |
| btSimpleBroadphase* m_simpleBroadphase; |
| |
| btOverlappingPairCache* m_overlappingPairs; |
| |
| class btQuantizedBvh* m_optimizedAabbTree; |
| |
| |
| bool m_ownsPairCache; |
| |
| btOverlapFilterCallback* m_filterCallback; |
| |
| int m_invalidPair; |
| |
| struct btBridgeProxy |
| { |
| btBroadphaseProxy* m_childProxy; |
| btBroadphaseInterface* m_childBroadphase; |
| }; |
| |
| |
| public: |
| |
| struct btMultiSapProxy : public btBroadphaseProxy |
| { |
| |
| ///array with all the entries that this proxy belongs to |
| btAlignedObjectArray<btBridgeProxy*> m_bridgeProxies; |
| btVector3 m_aabbMin; |
| btVector3 m_aabbMax; |
| |
| int m_shapeType; |
| |
| /* void* m_userPtr; |
| short int m_collisionFilterGroup; |
| short int m_collisionFilterMask; |
| */ |
| btMultiSapProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask) |
| :btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask), |
| m_aabbMin(aabbMin), |
| m_aabbMax(aabbMax), |
| m_shapeType(shapeType) |
| { |
| m_multiSapParentProxy =this; |
| } |
| |
| |
| }; |
| |
| protected: |
| |
| |
| btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies; |
| |
| public: |
| |
| btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0); |
| |
| |
| btSapBroadphaseArray& getBroadphaseArray() |
| { |
| return m_sapBroadphases; |
| } |
| |
| const btSapBroadphaseArray& getBroadphaseArray() const |
| { |
| return m_sapBroadphases; |
| } |
| |
| virtual ~btMultiSapBroadphase(); |
| |
| virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy); |
| virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); |
| virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher); |
| virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; |
| |
| virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0)); |
| |
| void addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase); |
| |
| ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb |
| virtual void calculateOverlappingPairs(btDispatcher* dispatcher); |
| |
| bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); |
| |
| virtual btOverlappingPairCache* getOverlappingPairCache() |
| { |
| return m_overlappingPairs; |
| } |
| virtual const btOverlappingPairCache* getOverlappingPairCache() const |
| { |
| return m_overlappingPairs; |
| } |
| |
| ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame |
| ///will add some transform later |
| virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const |
| { |
| aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT); |
| aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); |
| } |
| |
| void buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax); |
| |
| virtual void printStats(); |
| |
| void quicksort (btBroadphasePairArray& a, int lo, int hi); |
| |
| ///reset broadphase internal structures, to ensure determinism/reproducability |
| virtual void resetPool(btDispatcher* dispatcher); |
| |
| }; |
| |
| #endif //BT_MULTI_SAP_BROADPHASE |