1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_SIMPLE_BROADPHASE_H
17 #define BT_SIMPLE_BROADPHASE_H
18 
19 #include "btOverlappingPairCache.h"
20 
21 struct btSimpleBroadphaseProxy : public btBroadphaseProxy
22 {
23 	int m_nextFree;
24 
25 	//	int			m_handleId;
26 
btSimpleBroadphaseProxybtSimpleBroadphaseProxy27 	btSimpleBroadphaseProxy(){};
28 
btSimpleBroadphaseProxybtSimpleBroadphaseProxy29 	btSimpleBroadphaseProxy(const btVector3& minpt, const btVector3& maxpt, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask)
30 		: btBroadphaseProxy(minpt, maxpt, userPtr, collisionFilterGroup, collisionFilterMask)
31 	{
32 		(void)shapeType;
33 	}
34 
SetNextFreebtSimpleBroadphaseProxy35 	SIMD_FORCE_INLINE void SetNextFree(int next) { m_nextFree = next; }
GetNextFreebtSimpleBroadphaseProxy36 	SIMD_FORCE_INLINE int GetNextFree() const { return m_nextFree; }
37 };
38 
39 ///The SimpleBroadphase is just a unit-test for btAxisSweep3, bt32BitAxisSweep3, or btDbvtBroadphase, so use those classes instead.
40 ///It is a brute force aabb culling broadphase based on O(n^2) aabb checks
41 class btSimpleBroadphase : public btBroadphaseInterface
42 {
43 protected:
44 	int m_numHandles;  // number of active handles
45 	int m_maxHandles;  // max number of handles
46 	int m_LastHandleIndex;
47 
48 	btSimpleBroadphaseProxy* m_pHandles;  // handles pool
49 
50 	void* m_pHandlesRawPtr;
51 	int m_firstFreeHandle;  // free handles list
52 
allocHandle()53 	int allocHandle()
54 	{
55 		btAssert(m_numHandles < m_maxHandles);
56 		int freeHandle = m_firstFreeHandle;
57 		m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
58 		m_numHandles++;
59 		if (freeHandle > m_LastHandleIndex)
60 		{
61 			m_LastHandleIndex = freeHandle;
62 		}
63 		return freeHandle;
64 	}
65 
freeHandle(btSimpleBroadphaseProxy * proxy)66 	void freeHandle(btSimpleBroadphaseProxy* proxy)
67 	{
68 		int handle = int(proxy - m_pHandles);
69 		btAssert(handle >= 0 && handle < m_maxHandles);
70 		if (handle == m_LastHandleIndex)
71 		{
72 			m_LastHandleIndex--;
73 		}
74 		proxy->SetNextFree(m_firstFreeHandle);
75 		m_firstFreeHandle = handle;
76 
77 		proxy->m_clientObject = 0;
78 
79 		m_numHandles--;
80 	}
81 
82 	btOverlappingPairCache* m_pairCache;
83 	bool m_ownsPairCache;
84 
85 	int m_invalidPair;
86 
getSimpleProxyFromProxy(btBroadphaseProxy * proxy)87 	inline btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy)
88 	{
89 		btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxy);
90 		return proxy0;
91 	}
92 
getSimpleProxyFromProxy(btBroadphaseProxy * proxy)93 	inline const btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const
94 	{
95 		const btSimpleBroadphaseProxy* proxy0 = static_cast<const btSimpleBroadphaseProxy*>(proxy);
96 		return proxy0;
97 	}
98 
99 	///reset broadphase internal structures, to ensure determinism/reproducability
100 	virtual void resetPool(btDispatcher* dispatcher);
101 
102 	void validate();
103 
104 protected:
105 public:
106 	btSimpleBroadphase(int maxProxies = 16384, btOverlappingPairCache* overlappingPairCache = 0);
107 	virtual ~btSimpleBroadphase();
108 
109 	static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0, btSimpleBroadphaseProxy* proxy1);
110 
111 	virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
112 
113 	virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
114 
115 	virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
116 	virtual void setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher);
117 	virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const;
118 
119 	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));
120 	virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
121 
getOverlappingPairCache()122 	btOverlappingPairCache* getOverlappingPairCache()
123 	{
124 		return m_pairCache;
125 	}
getOverlappingPairCache()126 	const btOverlappingPairCache* getOverlappingPairCache() const
127 	{
128 		return m_pairCache;
129 	}
130 
131 	bool testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
132 
133 	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
134 	///will add some transform later
getBroadphaseAabb(btVector3 & aabbMin,btVector3 & aabbMax)135 	virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const
136 	{
137 		aabbMin.setValue(-BT_LARGE_FLOAT, -BT_LARGE_FLOAT, -BT_LARGE_FLOAT);
138 		aabbMax.setValue(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
139 	}
140 
printStats()141 	virtual void printStats()
142 	{
143 		//		printf("btSimpleBroadphase.h\n");
144 		//		printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
145 	}
146 };
147 
148 #endif  //BT_SIMPLE_BROADPHASE_H
149