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-rw-r--r--thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h195
1 files changed, 93 insertions, 102 deletions
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h
index 7ac085d90c..c235e40148 100644
--- a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h
+++ b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h
@@ -27,46 +27,43 @@ subject to the following restrictions:
// Compile time config
//
-#define B3_DBVT_BP_PROFILE 0
+#define B3_DBVT_BP_PROFILE 0
//#define B3_DBVT_BP_SORTPAIRS 1
-#define B3_DBVT_BP_PREVENTFALSEUPDATE 0
-#define B3_DBVT_BP_ACCURATESLEEPING 0
-#define B3_DBVT_BP_ENABLE_BENCHMARK 0
-#define B3_DBVT_BP_MARGIN (b3Scalar)0.05
+#define B3_DBVT_BP_PREVENTFALSEUPDATE 0
+#define B3_DBVT_BP_ACCURATESLEEPING 0
+#define B3_DBVT_BP_ENABLE_BENCHMARK 0
+#define B3_DBVT_BP_MARGIN (b3Scalar)0.05
#if B3_DBVT_BP_PROFILE
-#define B3_DBVT_BP_PROFILING_RATE 256
+#define B3_DBVT_BP_PROFILING_RATE 256
#endif
-
-
-
-B3_ATTRIBUTE_ALIGNED16(struct) b3BroadphaseProxy
+B3_ATTRIBUTE_ALIGNED16(struct)
+b3BroadphaseProxy
{
+ B3_DECLARE_ALIGNED_ALLOCATOR();
-B3_DECLARE_ALIGNED_ALLOCATOR();
-
///optional filtering to cull potential collisions
enum CollisionFilterGroups
{
- DefaultFilter = 1,
- StaticFilter = 2,
- KinematicFilter = 4,
- DebrisFilter = 8,
- SensorTrigger = 16,
- CharacterFilter = 32,
- AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
+ DefaultFilter = 1,
+ StaticFilter = 2,
+ KinematicFilter = 4,
+ DebrisFilter = 8,
+ SensorTrigger = 16,
+ CharacterFilter = 32,
+ AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
};
//Usually the client b3CollisionObject or Rigidbody class
- void* m_clientObject;
+ void* m_clientObject;
int m_collisionFilterGroup;
int m_collisionFilterMask;
- int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
+ int m_uniqueId; //m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
- b3Vector3 m_aabbMin;
- b3Vector3 m_aabbMax;
+ b3Vector3 m_aabbMin;
+ b3Vector3 m_aabbMax;
B3_FORCE_INLINE int getUid() const
{
@@ -74,116 +71,112 @@ B3_DECLARE_ALIGNED_ALLOCATOR();
}
//used for memory pools
- b3BroadphaseProxy() :m_clientObject(0)
+ b3BroadphaseProxy() : m_clientObject(0)
{
}
- b3BroadphaseProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,void* userPtr, int collisionFilterGroup, int collisionFilterMask)
- :m_clientObject(userPtr),
- m_collisionFilterGroup(collisionFilterGroup),
- m_collisionFilterMask(collisionFilterMask),
- m_aabbMin(aabbMin),
- m_aabbMax(aabbMax)
+ b3BroadphaseProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask)
+ : m_clientObject(userPtr),
+ m_collisionFilterGroup(collisionFilterGroup),
+ m_collisionFilterMask(collisionFilterMask),
+ m_aabbMin(aabbMin),
+ m_aabbMax(aabbMax)
{
}
};
-
-
-
-
//
// b3DbvtProxy
//
struct b3DbvtProxy : b3BroadphaseProxy
{
- /* Fields */
+ /* Fields */
//b3DbvtAabbMm aabb;
- b3DbvtNode* leaf;
- b3DbvtProxy* links[2];
- int stage;
- /* ctor */
+ b3DbvtNode* leaf;
+ b3DbvtProxy* links[2];
+ int stage;
+ /* ctor */
explicit b3DbvtProxy() {}
- b3DbvtProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,void* userPtr, int collisionFilterGroup, int collisionFilterMask) :
- b3BroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
+ b3DbvtProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask) : b3BroadphaseProxy(aabbMin, aabbMax, userPtr, collisionFilterGroup, collisionFilterMask)
{
- links[0]=links[1]=0;
+ links[0] = links[1] = 0;
}
};
-typedef b3AlignedObjectArray<b3DbvtProxy*> b3DbvtProxyArray;
+typedef b3AlignedObjectArray<b3DbvtProxy*> b3DbvtProxyArray;
///The b3DynamicBvhBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see b3DynamicBvh).
///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.
///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 b3AxisSweep3 and b332BitAxisSweep3.
-struct b3DynamicBvhBroadphase
+struct b3DynamicBvhBroadphase
{
- /* Config */
- enum {
- DYNAMIC_SET = 0, /* Dynamic set index */
- FIXED_SET = 1, /* Fixed set index */
- STAGECOUNT = 2 /* Number of stages */
+ /* Config */
+ enum
+ {
+ DYNAMIC_SET = 0, /* Dynamic set index */
+ FIXED_SET = 1, /* Fixed set index */
+ STAGECOUNT = 2 /* Number of stages */
};
- /* Fields */
- b3DynamicBvh m_sets[2]; // Dbvt sets
- b3DbvtProxy* m_stageRoots[STAGECOUNT+1]; // Stages list
-
- b3AlignedObjectArray<b3DbvtProxy> m_proxies;
- b3OverlappingPairCache* m_paircache; // Pair cache
- b3Scalar m_prediction; // Velocity prediction
- int m_stageCurrent; // Current stage
- int m_fupdates; // % of fixed updates per frame
- int m_dupdates; // % of dynamic updates per frame
- int m_cupdates; // % of cleanup updates per frame
- int m_newpairs; // Number of pairs created
- int m_fixedleft; // Fixed optimization left
- unsigned m_updates_call; // Number of updates call
- unsigned m_updates_done; // Number of updates done
- b3Scalar m_updates_ratio; // m_updates_done/m_updates_call
- int m_pid; // Parse id
- int m_cid; // Cleanup index
- bool m_releasepaircache; // Release pair cache on delete
- bool m_deferedcollide; // Defere dynamic/static collision to collide call
- bool m_needcleanup; // Need to run cleanup?
+ /* Fields */
+ b3DynamicBvh m_sets[2]; // Dbvt sets
+ b3DbvtProxy* m_stageRoots[STAGECOUNT + 1]; // Stages list
+
+ b3AlignedObjectArray<b3DbvtProxy> m_proxies;
+ b3OverlappingPairCache* m_paircache; // Pair cache
+ b3Scalar m_prediction; // Velocity prediction
+ int m_stageCurrent; // Current stage
+ int m_fupdates; // % of fixed updates per frame
+ int m_dupdates; // % of dynamic updates per frame
+ int m_cupdates; // % of cleanup updates per frame
+ int m_newpairs; // Number of pairs created
+ int m_fixedleft; // Fixed optimization left
+ unsigned m_updates_call; // Number of updates call
+ unsigned m_updates_done; // Number of updates done
+ b3Scalar m_updates_ratio; // m_updates_done/m_updates_call
+ int m_pid; // Parse id
+ int m_cid; // Cleanup index
+ bool m_releasepaircache; // Release pair cache on delete
+ bool m_deferedcollide; // Defere dynamic/static collision to collide call
+ bool m_needcleanup; // Need to run cleanup?
#if B3_DBVT_BP_PROFILE
- b3Clock m_clock;
- struct {
- unsigned long m_total;
- unsigned long m_ddcollide;
- unsigned long m_fdcollide;
- unsigned long m_cleanup;
- unsigned long m_jobcount;
- } m_profiling;
+ b3Clock m_clock;
+ struct
+ {
+ unsigned long m_total;
+ unsigned long m_ddcollide;
+ unsigned long m_fdcollide;
+ unsigned long m_cleanup;
+ unsigned long m_jobcount;
+ } m_profiling;
#endif
- /* Methods */
- b3DynamicBvhBroadphase(int proxyCapacity, b3OverlappingPairCache* paircache=0);
+ /* Methods */
+ b3DynamicBvhBroadphase(int proxyCapacity, b3OverlappingPairCache* paircache = 0);
virtual ~b3DynamicBvhBroadphase();
- void collide(b3Dispatcher* dispatcher);
- void optimize();
-
+ void collide(b3Dispatcher* dispatcher);
+ void optimize();
+
/* b3BroadphaseInterface Implementation */
- b3BroadphaseProxy* createProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,int objectIndex,void* userPtr, int collisionFilterGroup, int collisionFilterMask);
- virtual void destroyProxy(b3BroadphaseProxy* proxy,b3Dispatcher* dispatcher);
- virtual void setAabb(int objectId,const b3Vector3& aabbMin,const b3Vector3& aabbMax,b3Dispatcher* dispatcher);
- virtual void rayTest(const b3Vector3& rayFrom,const b3Vector3& rayTo, b3BroadphaseRayCallback& rayCallback, const b3Vector3& aabbMin=b3MakeVector3(0,0,0), const b3Vector3& aabbMax = b3MakeVector3(0,0,0));
- virtual void aabbTest(const b3Vector3& aabbMin, const b3Vector3& aabbMax, b3BroadphaseAabbCallback& callback);
+ b3BroadphaseProxy* createProxy(const b3Vector3& aabbMin, const b3Vector3& aabbMax, int objectIndex, void* userPtr, int collisionFilterGroup, int collisionFilterMask);
+ virtual void destroyProxy(b3BroadphaseProxy* proxy, b3Dispatcher* dispatcher);
+ virtual void setAabb(int objectId, const b3Vector3& aabbMin, const b3Vector3& aabbMax, b3Dispatcher* dispatcher);
+ virtual void rayTest(const b3Vector3& rayFrom, const b3Vector3& rayTo, b3BroadphaseRayCallback& rayCallback, const b3Vector3& aabbMin = b3MakeVector3(0, 0, 0), const b3Vector3& aabbMax = b3MakeVector3(0, 0, 0));
+ virtual void aabbTest(const b3Vector3& aabbMin, const b3Vector3& aabbMax, b3BroadphaseAabbCallback& callback);
//virtual void getAabb(b3BroadphaseProxy* proxy,b3Vector3& aabbMin, b3Vector3& aabbMax ) const;
- virtual void getAabb(int objectId,b3Vector3& aabbMin, b3Vector3& aabbMax ) const;
- virtual void calculateOverlappingPairs(b3Dispatcher* dispatcher=0);
- virtual b3OverlappingPairCache* getOverlappingPairCache();
- virtual const b3OverlappingPairCache* getOverlappingPairCache() const;
- virtual void getBroadphaseAabb(b3Vector3& aabbMin,b3Vector3& aabbMax) const;
- virtual void printStats();
-
+ virtual void getAabb(int objectId, b3Vector3& aabbMin, b3Vector3& aabbMax) const;
+ virtual void calculateOverlappingPairs(b3Dispatcher* dispatcher = 0);
+ virtual b3OverlappingPairCache* getOverlappingPairCache();
+ virtual const b3OverlappingPairCache* getOverlappingPairCache() const;
+ virtual void getBroadphaseAabb(b3Vector3& aabbMin, b3Vector3& aabbMax) const;
+ virtual void printStats();
///reset broadphase internal structures, to ensure determinism/reproducability
virtual void resetPool(b3Dispatcher* dispatcher);
- void performDeferredRemoval(b3Dispatcher* dispatcher);
-
- void setVelocityPrediction(b3Scalar prediction)
+ void performDeferredRemoval(b3Dispatcher* dispatcher);
+
+ void setVelocityPrediction(b3Scalar prediction)
{
m_prediction = prediction;
}
@@ -192,15 +185,13 @@ struct b3DynamicBvhBroadphase
return m_prediction;
}
- ///this setAabbForceUpdate is similar to setAabb but always forces the aabb update.
+ ///this setAabbForceUpdate is similar to setAabb but always forces the aabb update.
///it is not part of the b3BroadphaseInterface but specific to b3DynamicBvhBroadphase.
///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see
///http://code.google.com/p/bullet/issues/detail?id=223
- void setAabbForceUpdate( b3BroadphaseProxy* absproxy,const b3Vector3& aabbMin,const b3Vector3& aabbMax,b3Dispatcher* /*dispatcher*/);
+ void setAabbForceUpdate(b3BroadphaseProxy* absproxy, const b3Vector3& aabbMin, const b3Vector3& aabbMax, b3Dispatcher* /*dispatcher*/);
//static void benchmark(b3BroadphaseInterface*);
-
-
};
#endif
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