148 lines
6.1 KiB
C
148 lines
6.1 KiB
C
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///btDbvtBroadphase implementation by Nathanael Presson
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#ifndef BT_DBVT_BROADPHASE_H
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#define BT_DBVT_BROADPHASE_H
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#include "BulletCollision/BroadphaseCollision/btDbvt.h"
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#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
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//
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// Compile time config
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//
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#define DBVT_BP_PROFILE 0
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//#define DBVT_BP_SORTPAIRS 1
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#define DBVT_BP_PREVENTFALSEUPDATE 0
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#define DBVT_BP_ACCURATESLEEPING 0
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#define DBVT_BP_ENABLE_BENCHMARK 0
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#define DBVT_BP_MARGIN (btScalar)0.05
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#if DBVT_BP_PROFILE
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#define DBVT_BP_PROFILING_RATE 256
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#include "LinearMath/btQuickprof.h"
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#endif
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//
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// btDbvtProxy
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//
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struct btDbvtProxy : btBroadphaseProxy
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{
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/* Fields */
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//btDbvtAabbMm aabb;
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btDbvtNode* leaf;
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btDbvtProxy* links[2];
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int stage;
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/* ctor */
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btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr, int collisionFilterGroup, int collisionFilterMask) :
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btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
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{
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links[0]=links[1]=0;
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}
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};
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typedef btAlignedObjectArray<btDbvtProxy*> btDbvtProxyArray;
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///The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see btDbvt).
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///One tree is used for static/non-moving objects, and another tree is used for dynamic objects. Objects can move from one tree to the other.
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///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3.
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struct btDbvtBroadphase : btBroadphaseInterface
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{
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/* Config */
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enum {
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DYNAMIC_SET = 0, /* Dynamic set index */
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FIXED_SET = 1, /* Fixed set index */
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STAGECOUNT = 2 /* Number of stages */
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};
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/* Fields */
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btDbvt m_sets[2]; // Dbvt sets
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btDbvtProxy* m_stageRoots[STAGECOUNT+1]; // Stages list
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btOverlappingPairCache* m_paircache; // Pair cache
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btScalar m_prediction; // Velocity prediction
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int m_stageCurrent; // Current stage
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int m_fupdates; // % of fixed updates per frame
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int m_dupdates; // % of dynamic updates per frame
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int m_cupdates; // % of cleanup updates per frame
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int m_newpairs; // Number of pairs created
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int m_fixedleft; // Fixed optimization left
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unsigned m_updates_call; // Number of updates call
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unsigned m_updates_done; // Number of updates done
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btScalar m_updates_ratio; // m_updates_done/m_updates_call
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int m_pid; // Parse id
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int m_cid; // Cleanup index
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int m_gid; // Gen id
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bool m_releasepaircache; // Release pair cache on delete
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bool m_deferedcollide; // Defere dynamic/static collision to collide call
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bool m_needcleanup; // Need to run cleanup?
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btAlignedObjectArray< btAlignedObjectArray<const btDbvtNode*> > m_rayTestStacks;
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#if DBVT_BP_PROFILE
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btClock m_clock;
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struct {
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unsigned long m_total;
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unsigned long m_ddcollide;
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unsigned long m_fdcollide;
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unsigned long m_cleanup;
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unsigned long m_jobcount;
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} m_profiling;
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#endif
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/* Methods */
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btDbvtBroadphase(btOverlappingPairCache* paircache=0);
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~btDbvtBroadphase();
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void collide(btDispatcher* dispatcher);
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void optimize();
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/* btBroadphaseInterface Implementation */
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btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr, int collisionFilterGroup, int collisionFilterMask,btDispatcher* dispatcher);
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virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
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virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
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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));
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virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
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virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
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virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
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virtual btOverlappingPairCache* getOverlappingPairCache();
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virtual const btOverlappingPairCache* getOverlappingPairCache() const;
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virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
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virtual void printStats();
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///reset broadphase internal structures, to ensure determinism/reproducability
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virtual void resetPool(btDispatcher* dispatcher);
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void performDeferredRemoval(btDispatcher* dispatcher);
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void setVelocityPrediction(btScalar prediction)
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{
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m_prediction = prediction;
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}
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btScalar getVelocityPrediction() const
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{
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return m_prediction;
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}
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///this setAabbForceUpdate is similar to setAabb but always forces the aabb update.
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///it is not part of the btBroadphaseInterface but specific to btDbvtBroadphase.
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///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see
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///http://code.google.com/p/bullet/issues/detail?id=223
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void setAabbForceUpdate( btBroadphaseProxy* absproxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* /*dispatcher*/);
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static void benchmark(btBroadphaseInterface*);
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};
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#endif
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