diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h | 193 |
1 files changed, 89 insertions, 104 deletions
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h index f6e1202a69..825caeef56 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h @@ -16,11 +16,10 @@ subject to the following restrictions: #ifndef BT_BROADPHASE_PROXY_H #define BT_BROADPHASE_PROXY_H -#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE +#include "LinearMath/btScalar.h" //for SIMD_FORCE_INLINE #include "LinearMath/btVector3.h" #include "LinearMath/btAlignedAllocator.h" - /// btDispatcher uses these types /// IMPORTANT NOTE:The types are ordered polyhedral, implicit convex and concave /// to facilitate type checking @@ -35,8 +34,8 @@ enum BroadphaseNativeTypes CONVEX_HULL_SHAPE_PROXYTYPE, CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE, CUSTOM_POLYHEDRAL_SHAPE_TYPE, -//implicit convex shapes -IMPLICIT_CONVEX_SHAPES_START_HERE, + //implicit convex shapes + IMPLICIT_CONVEX_SHAPES_START_HERE, SPHERE_SHAPE_PROXYTYPE, MULTI_SPHERE_SHAPE_PROXYTYPE, CAPSULE_SHAPE_PROXYTYPE, @@ -49,8 +48,8 @@ IMPLICIT_CONVEX_SHAPES_START_HERE, BOX_2D_SHAPE_PROXYTYPE, CONVEX_2D_SHAPE_PROXYTYPE, CUSTOM_CONVEX_SHAPE_TYPE, -//concave shapes -CONCAVE_SHAPES_START_HERE, + //concave shapes + CONCAVE_SHAPES_START_HERE, //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy! TRIANGLE_MESH_SHAPE_PROXYTYPE, SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE, @@ -58,16 +57,16 @@ CONCAVE_SHAPES_START_HERE, FAST_CONCAVE_MESH_PROXYTYPE, //terrain TERRAIN_SHAPE_PROXYTYPE, -///Used for GIMPACT Trimesh integration + ///Used for GIMPACT Trimesh integration GIMPACT_SHAPE_PROXYTYPE, -///Multimaterial mesh - MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE, - + ///Multimaterial mesh + MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE, + EMPTY_SHAPE_PROXYTYPE, STATIC_PLANE_PROXYTYPE, CUSTOM_CONCAVE_SHAPE_TYPE, - SDF_SHAPE_PROXYTYPE=CUSTOM_CONCAVE_SHAPE_TYPE, -CONCAVE_SHAPES_END_HERE, + SDF_SHAPE_PROXYTYPE = CUSTOM_CONCAVE_SHAPE_TYPE, + CONCAVE_SHAPES_END_HERE, COMPOUND_SHAPE_PROXYTYPE, @@ -77,38 +76,37 @@ CONCAVE_SHAPES_END_HERE, INVALID_SHAPE_PROXYTYPE, MAX_BROADPHASE_COLLISION_TYPES - -}; +}; -///The btBroadphaseProxy is the main class that can be used with the Bullet broadphases. +///The btBroadphaseProxy is the main class that can be used with the Bullet broadphases. ///It stores collision shape type information, collision filter information and a client object, typically a btCollisionObject or btRigidBody. -ATTRIBUTE_ALIGNED16(struct) btBroadphaseProxy +ATTRIBUTE_ALIGNED16(struct) +btBroadphaseProxy { + BT_DECLARE_ALIGNED_ALLOCATOR(); -BT_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 btCollisionObject or Rigidbody class - void* m_clientObject; - int m_collisionFilterGroup; - int m_collisionFilterMask; + 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. - btVector3 m_aabbMin; - btVector3 m_aabbMax; + btVector3 m_aabbMin; + btVector3 m_aabbMax; SIMD_FORCE_INLINE int getUid() const { @@ -116,47 +114,45 @@ BT_DECLARE_ALIGNED_ALLOCATOR(); } //used for memory pools - btBroadphaseProxy() :m_clientObject(0) + btBroadphaseProxy() : m_clientObject(0) { } - btBroadphaseProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr, int collisionFilterGroup, int collisionFilterMask) - :m_clientObject(userPtr), - m_collisionFilterGroup(collisionFilterGroup), - m_collisionFilterMask(collisionFilterMask), - m_aabbMin(aabbMin), - m_aabbMax(aabbMax) + btBroadphaseProxy(const btVector3& aabbMin, const btVector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask) + : m_clientObject(userPtr), + m_collisionFilterGroup(collisionFilterGroup), + m_collisionFilterMask(collisionFilterMask), + m_aabbMin(aabbMin), + m_aabbMax(aabbMax) { } - - static SIMD_FORCE_INLINE bool isPolyhedral(int proxyType) { - return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE); + return (proxyType < IMPLICIT_CONVEX_SHAPES_START_HERE); } - static SIMD_FORCE_INLINE bool isConvex(int proxyType) + static SIMD_FORCE_INLINE bool isConvex(int proxyType) { return (proxyType < CONCAVE_SHAPES_START_HERE); } - static SIMD_FORCE_INLINE bool isNonMoving(int proxyType) + static SIMD_FORCE_INLINE bool isNonMoving(int proxyType) { - return (isConcave(proxyType) && !(proxyType==GIMPACT_SHAPE_PROXYTYPE)); + return (isConcave(proxyType) && !(proxyType == GIMPACT_SHAPE_PROXYTYPE)); } - static SIMD_FORCE_INLINE bool isConcave(int proxyType) + static SIMD_FORCE_INLINE bool isConcave(int proxyType) { return ((proxyType > CONCAVE_SHAPES_START_HERE) && - (proxyType < CONCAVE_SHAPES_END_HERE)); + (proxyType < CONCAVE_SHAPES_END_HERE)); } - static SIMD_FORCE_INLINE bool isCompound(int proxyType) + static SIMD_FORCE_INLINE bool isCompound(int proxyType) { return (proxyType == COMPOUND_SHAPE_PROXYTYPE); } - static SIMD_FORCE_INLINE bool isSoftBody(int proxyType) + static SIMD_FORCE_INLINE bool isSoftBody(int proxyType) { return (proxyType == SOFTBODY_SHAPE_PROXYTYPE); } @@ -168,67 +164,62 @@ BT_DECLARE_ALIGNED_ALLOCATOR(); static SIMD_FORCE_INLINE bool isConvex2d(int proxyType) { - return (proxyType == BOX_2D_SHAPE_PROXYTYPE) || (proxyType == CONVEX_2D_SHAPE_PROXYTYPE); + return (proxyType == BOX_2D_SHAPE_PROXYTYPE) || (proxyType == CONVEX_2D_SHAPE_PROXYTYPE); } - - -} -; +}; class btCollisionAlgorithm; struct btBroadphaseProxy; - - ///The btBroadphasePair class contains a pair of aabb-overlapping objects. ///A btDispatcher can search a btCollisionAlgorithm that performs exact/narrowphase collision detection on the actual collision shapes. -ATTRIBUTE_ALIGNED16(struct) btBroadphasePair +ATTRIBUTE_ALIGNED16(struct) +btBroadphasePair { - btBroadphasePair () - : - m_pProxy0(0), - m_pProxy1(0), - m_algorithm(0), - m_internalInfo1(0) + btBroadphasePair() + : m_pProxy0(0), + m_pProxy1(0), + m_algorithm(0), + m_internalInfo1(0) { } -BT_DECLARE_ALIGNED_ALLOCATOR(); + BT_DECLARE_ALIGNED_ALLOCATOR(); btBroadphasePair(const btBroadphasePair& other) - : m_pProxy0(other.m_pProxy0), - m_pProxy1(other.m_pProxy1), - m_algorithm(other.m_algorithm), - m_internalInfo1(other.m_internalInfo1) + : m_pProxy0(other.m_pProxy0), + m_pProxy1(other.m_pProxy1), + m_algorithm(other.m_algorithm), + m_internalInfo1(other.m_internalInfo1) { } - btBroadphasePair(btBroadphaseProxy& proxy0,btBroadphaseProxy& proxy1) + btBroadphasePair(btBroadphaseProxy & proxy0, btBroadphaseProxy & proxy1) { - //keep them sorted, so the std::set operations work if (proxy0.m_uniqueId < proxy1.m_uniqueId) - { - m_pProxy0 = &proxy0; - m_pProxy1 = &proxy1; - } - else - { - m_pProxy0 = &proxy1; - m_pProxy1 = &proxy0; - } + { + m_pProxy0 = &proxy0; + m_pProxy1 = &proxy1; + } + else + { + m_pProxy0 = &proxy1; + m_pProxy1 = &proxy0; + } m_algorithm = 0; m_internalInfo1 = 0; - } - + btBroadphaseProxy* m_pProxy0; btBroadphaseProxy* m_pProxy1; - - mutable btCollisionAlgorithm* m_algorithm; - union { void* m_internalInfo1; int m_internalTmpValue;};//don't use this data, it will be removed in future version. + mutable btCollisionAlgorithm* m_algorithm; + union { + void* m_internalInfo1; + int m_internalTmpValue; + }; //don't use this data, it will be removed in future version. }; /* @@ -240,31 +231,25 @@ SIMD_FORCE_INLINE bool operator<(const btBroadphasePair& a, const btBroadphasePa } */ - - class btBroadphasePairSortPredicate { - public: - - bool operator() ( const btBroadphasePair& a, const btBroadphasePair& b ) const - { - const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1; - const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1; - const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1; - const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1; - - return uidA0 > uidB0 || - (a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) || - (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm); - } +public: + bool operator()(const btBroadphasePair& a, const btBroadphasePair& b) const + { + const int uidA0 = a.m_pProxy0 ? a.m_pProxy0->m_uniqueId : -1; + const int uidB0 = b.m_pProxy0 ? b.m_pProxy0->m_uniqueId : -1; + const int uidA1 = a.m_pProxy1 ? a.m_pProxy1->m_uniqueId : -1; + const int uidB1 = b.m_pProxy1 ? b.m_pProxy1->m_uniqueId : -1; + + return uidA0 > uidB0 || + (a.m_pProxy0 == b.m_pProxy0 && uidA1 > uidB1) || + (a.m_pProxy0 == b.m_pProxy0 && a.m_pProxy1 == b.m_pProxy1 && a.m_algorithm > b.m_algorithm); + } }; - -SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b) +SIMD_FORCE_INLINE bool operator==(const btBroadphasePair& a, const btBroadphasePair& b) { - return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1); + return (a.m_pProxy0 == b.m_pProxy0) && (a.m_pProxy1 == b.m_pProxy1); } - -#endif //BT_BROADPHASE_PROXY_H - +#endif //BT_BROADPHASE_PROXY_H |