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 #include "btSimpleBroadphase.h"
17 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
18 #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
19
20 #include "LinearMath/btVector3.h"
21 #include "LinearMath/btTransform.h"
22 #include "LinearMath/btMatrix3x3.h"
23 #include "LinearMath/btAabbUtil2.h"
24
25 #include <new>
26
validate()27 void btSimpleBroadphase::validate()
28 {
29 for (int i = 0; i < m_numHandles; i++)
30 {
31 for (int j = i + 1; j < m_numHandles; j++)
32 {
33 btAssert(&m_pHandles[i] != &m_pHandles[j]);
34 }
35 }
36 }
37
btSimpleBroadphase(int maxProxies,btOverlappingPairCache * overlappingPairCache)38 btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* overlappingPairCache)
39 : m_pairCache(overlappingPairCache),
40 m_ownsPairCache(false),
41 m_invalidPair(0)
42 {
43 if (!overlappingPairCache)
44 {
45 void* mem = btAlignedAlloc(sizeof(btHashedOverlappingPairCache), 16);
46 m_pairCache = new (mem) btHashedOverlappingPairCache();
47 m_ownsPairCache = true;
48 }
49
50 // allocate handles buffer and put all handles on free list
51 m_pHandlesRawPtr = btAlignedAlloc(sizeof(btSimpleBroadphaseProxy) * maxProxies, 16);
52 m_pHandles = new (m_pHandlesRawPtr) btSimpleBroadphaseProxy[maxProxies];
53 m_maxHandles = maxProxies;
54 m_numHandles = 0;
55 m_firstFreeHandle = 0;
56 m_LastHandleIndex = -1;
57
58 {
59 for (int i = m_firstFreeHandle; i < maxProxies; i++)
60 {
61 m_pHandles[i].SetNextFree(i + 1);
62 m_pHandles[i].m_uniqueId = i + 2; //any UID will do, we just avoid too trivial values (0,1) for debugging purposes
63 }
64 m_pHandles[maxProxies - 1].SetNextFree(0);
65 }
66 }
67
~btSimpleBroadphase()68 btSimpleBroadphase::~btSimpleBroadphase()
69 {
70 btAlignedFree(m_pHandlesRawPtr);
71
72 if (m_ownsPairCache)
73 {
74 m_pairCache->~btOverlappingPairCache();
75 btAlignedFree(m_pairCache);
76 }
77 }
78
createProxy(const btVector3 & aabbMin,const btVector3 & aabbMax,int shapeType,void * userPtr,int collisionFilterGroup,int collisionFilterMask,btDispatcher *)79 btBroadphaseProxy* btSimpleBroadphase::createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* /*dispatcher*/)
80 {
81 if (m_numHandles >= m_maxHandles)
82 {
83 btAssert(0);
84 return 0; //should never happen, but don't let the game crash ;-)
85 }
86 btAssert(aabbMin[0] <= aabbMax[0] && aabbMin[1] <= aabbMax[1] && aabbMin[2] <= aabbMax[2]);
87
88 int newHandleIndex = allocHandle();
89 btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex]) btSimpleBroadphaseProxy(aabbMin, aabbMax, shapeType, userPtr, collisionFilterGroup, collisionFilterMask);
90
91 return proxy;
92 }
93
94 class RemovingOverlapCallback : public btOverlapCallback
95 {
96 protected:
processOverlap(btBroadphasePair & pair)97 virtual bool processOverlap(btBroadphasePair& pair)
98 {
99 (void)pair;
100 btAssert(0);
101 return false;
102 }
103 };
104
105 class RemovePairContainingProxy
106 {
107 btBroadphaseProxy* m_targetProxy;
108
109 public:
~RemovePairContainingProxy()110 virtual ~RemovePairContainingProxy()
111 {
112 }
113
114 protected:
processOverlap(btBroadphasePair & pair)115 virtual bool processOverlap(btBroadphasePair& pair)
116 {
117 btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0);
118 btSimpleBroadphaseProxy* proxy1 = static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1);
119
120 return ((m_targetProxy == proxy0 || m_targetProxy == proxy1));
121 };
122 };
123
destroyProxy(btBroadphaseProxy * proxyOrg,btDispatcher * dispatcher)124 void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg, btDispatcher* dispatcher)
125 {
126 m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg, dispatcher);
127
128 btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg);
129 freeHandle(proxy0);
130
131 //validate();
132 }
133
getAabb(btBroadphaseProxy * proxy,btVector3 & aabbMin,btVector3 & aabbMax) const134 void btSimpleBroadphase::getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const
135 {
136 const btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
137 aabbMin = sbp->m_aabbMin;
138 aabbMax = sbp->m_aabbMax;
139 }
140
setAabb(btBroadphaseProxy * proxy,const btVector3 & aabbMin,const btVector3 & aabbMax,btDispatcher *)141 void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* /*dispatcher*/)
142 {
143 btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
144 sbp->m_aabbMin = aabbMin;
145 sbp->m_aabbMax = aabbMax;
146 }
147
rayTest(const btVector3 & rayFrom,const btVector3 & rayTo,btBroadphaseRayCallback & rayCallback,const btVector3 & aabbMin,const btVector3 & aabbMax)148 void btSimpleBroadphase::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin, const btVector3& aabbMax)
149 {
150 for (int i = 0; i <= m_LastHandleIndex; i++)
151 {
152 btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
153 if (!proxy->m_clientObject)
154 {
155 continue;
156 }
157 rayCallback.process(proxy);
158 }
159 }
160
aabbTest(const btVector3 & aabbMin,const btVector3 & aabbMax,btBroadphaseAabbCallback & callback)161 void btSimpleBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
162 {
163 for (int i = 0; i <= m_LastHandleIndex; i++)
164 {
165 btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
166 if (!proxy->m_clientObject)
167 {
168 continue;
169 }
170 if (TestAabbAgainstAabb2(aabbMin, aabbMax, proxy->m_aabbMin, proxy->m_aabbMax))
171 {
172 callback.process(proxy);
173 }
174 }
175 }
176
aabbOverlap(btSimpleBroadphaseProxy * proxy0,btSimpleBroadphaseProxy * proxy1)177 bool btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0, btSimpleBroadphaseProxy* proxy1)
178 {
179 return proxy0->m_aabbMin[0] <= proxy1->m_aabbMax[0] && proxy1->m_aabbMin[0] <= proxy0->m_aabbMax[0] &&
180 proxy0->m_aabbMin[1] <= proxy1->m_aabbMax[1] && proxy1->m_aabbMin[1] <= proxy0->m_aabbMax[1] &&
181 proxy0->m_aabbMin[2] <= proxy1->m_aabbMax[2] && proxy1->m_aabbMin[2] <= proxy0->m_aabbMax[2];
182 }
183
184 //then remove non-overlapping ones
185 class CheckOverlapCallback : public btOverlapCallback
186 {
187 public:
processOverlap(btBroadphasePair & pair)188 virtual bool processOverlap(btBroadphasePair& pair)
189 {
190 return (!btSimpleBroadphase::aabbOverlap(static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0), static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1)));
191 }
192 };
193
calculateOverlappingPairs(btDispatcher * dispatcher)194 void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
195 {
196 //first check for new overlapping pairs
197 int i, j;
198 if (m_numHandles >= 0)
199 {
200 int new_largest_index = -1;
201 for (i = 0; i <= m_LastHandleIndex; i++)
202 {
203 btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i];
204 if (!proxy0->m_clientObject)
205 {
206 continue;
207 }
208 new_largest_index = i;
209 for (j = i + 1; j <= m_LastHandleIndex; j++)
210 {
211 btSimpleBroadphaseProxy* proxy1 = &m_pHandles[j];
212 btAssert(proxy0 != proxy1);
213 if (!proxy1->m_clientObject)
214 {
215 continue;
216 }
217
218 btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
219 btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
220
221 if (aabbOverlap(p0, p1))
222 {
223 if (!m_pairCache->findPair(proxy0, proxy1))
224 {
225 m_pairCache->addOverlappingPair(proxy0, proxy1);
226 }
227 }
228 else
229 {
230 if (!m_pairCache->hasDeferredRemoval())
231 {
232 if (m_pairCache->findPair(proxy0, proxy1))
233 {
234 m_pairCache->removeOverlappingPair(proxy0, proxy1, dispatcher);
235 }
236 }
237 }
238 }
239 }
240
241 m_LastHandleIndex = new_largest_index;
242
243 if (m_ownsPairCache && m_pairCache->hasDeferredRemoval())
244 {
245 btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
246
247 //perform a sort, to find duplicates and to sort 'invalid' pairs to the end
248 overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
249
250 overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
251 m_invalidPair = 0;
252
253 btBroadphasePair previousPair;
254 previousPair.m_pProxy0 = 0;
255 previousPair.m_pProxy1 = 0;
256 previousPair.m_algorithm = 0;
257
258 for (i = 0; i < overlappingPairArray.size(); i++)
259 {
260 btBroadphasePair& pair = overlappingPairArray[i];
261
262 bool isDuplicate = (pair == previousPair);
263
264 previousPair = pair;
265
266 bool needsRemoval = false;
267
268 if (!isDuplicate)
269 {
270 bool hasOverlap = testAabbOverlap(pair.m_pProxy0, pair.m_pProxy1);
271
272 if (hasOverlap)
273 {
274 needsRemoval = false; //callback->processOverlap(pair);
275 }
276 else
277 {
278 needsRemoval = true;
279 }
280 }
281 else
282 {
283 //remove duplicate
284 needsRemoval = true;
285 //should have no algorithm
286 btAssert(!pair.m_algorithm);
287 }
288
289 if (needsRemoval)
290 {
291 m_pairCache->cleanOverlappingPair(pair, dispatcher);
292
293 // m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
294 // m_overlappingPairArray.pop_back();
295 pair.m_pProxy0 = 0;
296 pair.m_pProxy1 = 0;
297 m_invalidPair++;
298 }
299 }
300
301 ///if you don't like to skip the invalid pairs in the array, execute following code:
302 #define CLEAN_INVALID_PAIRS 1
303 #ifdef CLEAN_INVALID_PAIRS
304
305 //perform a sort, to sort 'invalid' pairs to the end
306 overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
307
308 overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
309 m_invalidPair = 0;
310 #endif //CLEAN_INVALID_PAIRS
311 }
312 }
313 }
314
testAabbOverlap(btBroadphaseProxy * proxy0,btBroadphaseProxy * proxy1)315 bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
316 {
317 btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
318 btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
319 return aabbOverlap(p0, p1);
320 }
321
resetPool(btDispatcher * dispatcher)322 void btSimpleBroadphase::resetPool(btDispatcher* dispatcher)
323 {
324 //not yet
325 }
326