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 #ifndef BT_MULTI_SAP_BROADPHASE
16 #define BT_MULTI_SAP_BROADPHASE
17 
18 #include "btBroadphaseInterface.h"
19 #include "LinearMath/btAlignedObjectArray.h"
20 #include "btOverlappingPairCache.h"
21 
22 
23 class btBroadphaseInterface;
24 class btSimpleBroadphase;
25 
26 
27 typedef btAlignedObjectArray<btBroadphaseInterface*> btSapBroadphaseArray;
28 
29 ///The btMultiSapBroadphase is a research project, not recommended to use in production. Use btAxisSweep3 or btDbvtBroadphase instead.
30 ///The btMultiSapBroadphase is a broadphase that contains multiple SAP broadphases.
31 ///The user can add SAP broadphases that cover the world. A btBroadphaseProxy can be in multiple child broadphases at the same time.
32 ///A btQuantizedBvh acceleration structures finds overlapping SAPs for each btBroadphaseProxy.
33 ///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328
34 ///and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
35 class btMultiSapBroadphase :public btBroadphaseInterface
36 {
37 	btSapBroadphaseArray	m_sapBroadphases;
38 
39 	btSimpleBroadphase*		m_simpleBroadphase;
40 
41 	btOverlappingPairCache*	m_overlappingPairs;
42 
43 	class btQuantizedBvh*			m_optimizedAabbTree;
44 
45 
46 	bool					m_ownsPairCache;
47 
48 	btOverlapFilterCallback*	m_filterCallback;
49 
50 	int			m_invalidPair;
51 
52 	struct	btBridgeProxy
53 	{
54 		btBroadphaseProxy*		m_childProxy;
55 		btBroadphaseInterface*	m_childBroadphase;
56 	};
57 
58 
59 public:
60 
61 	struct	btMultiSapProxy	: public btBroadphaseProxy
62 	{
63 
64 		///array with all the entries that this proxy belongs to
65 		btAlignedObjectArray<btBridgeProxy*> m_bridgeProxies;
66 		btVector3	m_aabbMin;
67 		btVector3	m_aabbMax;
68 
69 		int	m_shapeType;
70 
71 /*		void*	m_userPtr;
72 		short int	m_collisionFilterGroup;
73 		short int	m_collisionFilterMask;
74 */
btMultiSapProxybtMultiSapProxy75 		btMultiSapProxy(const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
76 			:btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask),
77 			m_aabbMin(aabbMin),
78 			m_aabbMax(aabbMax),
79 			m_shapeType(shapeType)
80 		{
81 			m_multiSapParentProxy =this;
82 		}
83 
84 
85 	};
86 
87 protected:
88 
89 
90 	btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies;
91 
92 public:
93 
94 	btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0);
95 
96 
getBroadphaseArray()97 	btSapBroadphaseArray&	getBroadphaseArray()
98 	{
99 		return m_sapBroadphases;
100 	}
101 
getBroadphaseArray()102 	const btSapBroadphaseArray&	getBroadphaseArray() const
103 	{
104 		return m_sapBroadphases;
105 	}
106 
107 	virtual ~btMultiSapBroadphase();
108 
109 	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
110 	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
111 	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
112 	virtual void	getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
113 
114 	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));
115 
116 	void	addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface*	childBroadphase);
117 
118 	///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
119 	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher);
120 
121 	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
122 
getOverlappingPairCache()123 	virtual	btOverlappingPairCache*	getOverlappingPairCache()
124 	{
125 		return m_overlappingPairs;
126 	}
getOverlappingPairCache()127 	virtual	const btOverlappingPairCache*	getOverlappingPairCache() const
128 	{
129 		return m_overlappingPairs;
130 	}
131 
132 	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
133 	///will add some transform later
getBroadphaseAabb(btVector3 & aabbMin,btVector3 & aabbMax)134 	virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
135 	{
136 		aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
137 		aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
138 	}
139 
140 	void	buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax);
141 
142 	virtual void	printStats();
143 
144 	void quicksort (btBroadphasePairArray& a, int lo, int hi);
145 
146 	///reset broadphase internal structures, to ensure determinism/reproducability
147 	virtual void resetPool(btDispatcher* dispatcher);
148 
149 };
150 
151 #endif //BT_MULTI_SAP_BROADPHASE
152