| /* |
| 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 SIMPLE_BROADPHASE_H |
| #define SIMPLE_BROADPHASE_H |
| |
| |
| #include "btOverlappingPairCache.h" |
| |
| |
| struct btSimpleBroadphaseProxy : public btBroadphaseProxy |
| { |
| int m_nextFree; |
| |
| // int m_handleId; |
| |
| |
| btSimpleBroadphaseProxy() {}; |
| |
| btSimpleBroadphaseProxy(const btVector3& minpt,const btVector3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy) |
| :btBroadphaseProxy(minpt,maxpt,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy) |
| { |
| (void)shapeType; |
| } |
| |
| |
| SIMD_FORCE_INLINE void SetNextFree(int next) {m_nextFree = next;} |
| SIMD_FORCE_INLINE int GetNextFree() const {return m_nextFree;} |
| |
| |
| |
| |
| }; |
| |
| ///The SimpleBroadphase is just a unit-test for btAxisSweep3, bt32BitAxisSweep3, or btDbvtBroadphase, so use those classes instead. |
| ///It is a brute force aabb culling broadphase based on O(n^2) aabb checks |
| class btSimpleBroadphase : public btBroadphaseInterface |
| { |
| |
| protected: |
| |
| int m_numHandles; // number of active handles |
| int m_maxHandles; // max number of handles |
| int m_LastHandleIndex; |
| |
| btSimpleBroadphaseProxy* m_pHandles; // handles pool |
| |
| void* m_pHandlesRawPtr; |
| int m_firstFreeHandle; // free handles list |
| |
| int allocHandle() |
| { |
| btAssert(m_numHandles < m_maxHandles); |
| int freeHandle = m_firstFreeHandle; |
| m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree(); |
| m_numHandles++; |
| if(freeHandle > m_LastHandleIndex) |
| { |
| m_LastHandleIndex = freeHandle; |
| } |
| return freeHandle; |
| } |
| |
| void freeHandle(btSimpleBroadphaseProxy* proxy) |
| { |
| int handle = int(proxy-m_pHandles); |
| btAssert(handle >= 0 && handle < m_maxHandles); |
| if(handle == m_LastHandleIndex) |
| { |
| m_LastHandleIndex--; |
| } |
| proxy->SetNextFree(m_firstFreeHandle); |
| m_firstFreeHandle = handle; |
| |
| proxy->m_clientObject = 0; |
| |
| m_numHandles--; |
| } |
| |
| btOverlappingPairCache* m_pairCache; |
| bool m_ownsPairCache; |
| |
| int m_invalidPair; |
| |
| |
| |
| inline btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) |
| { |
| btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxy); |
| return proxy0; |
| } |
| |
| inline const btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const |
| { |
| const btSimpleBroadphaseProxy* proxy0 = static_cast<const btSimpleBroadphaseProxy*>(proxy); |
| return proxy0; |
| } |
| |
| ///reset broadphase internal structures, to ensure determinism/reproducability |
| virtual void resetPool(btDispatcher* dispatcher); |
| |
| |
| void validate(); |
| |
| protected: |
| |
| |
| |
| |
| public: |
| btSimpleBroadphase(int maxProxies=16384,btOverlappingPairCache* overlappingPairCache=0); |
| virtual ~btSimpleBroadphase(); |
| |
| |
| static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1); |
| |
| |
| 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 calculateOverlappingPairs(btDispatcher* dispatcher); |
| |
| 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)); |
| |
| btOverlappingPairCache* getOverlappingPairCache() |
| { |
| return m_pairCache; |
| } |
| const btOverlappingPairCache* getOverlappingPairCache() const |
| { |
| return m_pairCache; |
| } |
| |
| bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); |
| |
| |
| ///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); |
| } |
| |
| virtual void printStats() |
| { |
| // printf("btSimpleBroadphase.h\n"); |
| // printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles); |
| } |
| }; |
| |
| |
| |
| #endif //SIMPLE_BROADPHASE_H |
| |