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 20 #include "btOverlappingPairCache.h" 21 22 23 struct btSimpleBroadphaseProxy : public btBroadphaseProxy 24 { 25 int m_nextFree; 26 27 // int m_handleId; 28 29 btSimpleBroadphaseProxybtSimpleBroadphaseProxy30 btSimpleBroadphaseProxy() {}; 31 btSimpleBroadphaseProxybtSimpleBroadphaseProxy32 btSimpleBroadphaseProxy(const btVector3& minpt,const btVector3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy) 33 :btBroadphaseProxy(minpt,maxpt,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy) 34 { 35 (void)shapeType; 36 } 37 38 SetNextFreebtSimpleBroadphaseProxy39 SIMD_FORCE_INLINE void SetNextFree(int next) {m_nextFree = next;} GetNextFreebtSimpleBroadphaseProxy40 SIMD_FORCE_INLINE int GetNextFree() const {return m_nextFree;} 41 42 43 44 45 }; 46 47 ///The SimpleBroadphase is just a unit-test for btAxisSweep3, bt32BitAxisSweep3, or btDbvtBroadphase, so use those classes instead. 48 ///It is a brute force aabb culling broadphase based on O(n^2) aabb checks 49 class btSimpleBroadphase : public btBroadphaseInterface 50 { 51 52 protected: 53 54 int m_numHandles; // number of active handles 55 int m_maxHandles; // max number of handles 56 int m_LastHandleIndex; 57 58 btSimpleBroadphaseProxy* m_pHandles; // handles pool 59 60 void* m_pHandlesRawPtr; 61 int m_firstFreeHandle; // free handles list 62 allocHandle()63 int allocHandle() 64 { 65 btAssert(m_numHandles < m_maxHandles); 66 int freeHandle = m_firstFreeHandle; 67 m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree(); 68 m_numHandles++; 69 if(freeHandle > m_LastHandleIndex) 70 { 71 m_LastHandleIndex = freeHandle; 72 } 73 return freeHandle; 74 } 75 freeHandle(btSimpleBroadphaseProxy * proxy)76 void freeHandle(btSimpleBroadphaseProxy* proxy) 77 { 78 int handle = int(proxy-m_pHandles); 79 btAssert(handle >= 0 && handle < m_maxHandles); 80 if(handle == m_LastHandleIndex) 81 { 82 m_LastHandleIndex--; 83 } 84 proxy->SetNextFree(m_firstFreeHandle); 85 m_firstFreeHandle = handle; 86 87 proxy->m_clientObject = 0; 88 89 m_numHandles--; 90 } 91 92 btOverlappingPairCache* m_pairCache; 93 bool m_ownsPairCache; 94 95 int m_invalidPair; 96 97 98 getSimpleProxyFromProxy(btBroadphaseProxy * proxy)99 inline btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) 100 { 101 btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxy); 102 return proxy0; 103 } 104 getSimpleProxyFromProxy(btBroadphaseProxy * proxy)105 inline const btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const 106 { 107 const btSimpleBroadphaseProxy* proxy0 = static_cast<const btSimpleBroadphaseProxy*>(proxy); 108 return proxy0; 109 } 110 111 ///reset broadphase internal structures, to ensure determinism/reproducability 112 virtual void resetPool(btDispatcher* dispatcher); 113 114 115 void validate(); 116 117 protected: 118 119 120 121 122 public: 123 btSimpleBroadphase(int maxProxies=16384,btOverlappingPairCache* overlappingPairCache=0); 124 virtual ~btSimpleBroadphase(); 125 126 127 static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1); 128 129 130 virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy); 131 132 virtual void calculateOverlappingPairs(btDispatcher* dispatcher); 133 134 virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); 135 virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher); 136 virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; 137 138 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)); 139 virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback); 140 getOverlappingPairCache()141 btOverlappingPairCache* getOverlappingPairCache() 142 { 143 return m_pairCache; 144 } getOverlappingPairCache()145 const btOverlappingPairCache* getOverlappingPairCache() const 146 { 147 return m_pairCache; 148 } 149 150 bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); 151 152 153 ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame 154 ///will add some transform later getBroadphaseAabb(btVector3 & aabbMin,btVector3 & aabbMax)155 virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const 156 { 157 aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT); 158 aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); 159 } 160 printStats()161 virtual void printStats() 162 { 163 // printf("btSimpleBroadphase.h\n"); 164 // printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles); 165 } 166 }; 167 168 169 170 #endif //BT_SIMPLE_BROADPHASE_H 171 172