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Diffstat (limited to 'thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h | 146 |
1 files changed, 0 insertions, 146 deletions
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h deleted file mode 100644 index a71feef53b..0000000000 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +++ /dev/null @@ -1,146 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -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. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -///btDbvtBroadphase implementation by Nathanael Presson -#ifndef BT_DBVT_BROADPHASE_H -#define BT_DBVT_BROADPHASE_H - -#include "BulletCollision/BroadphaseCollision/btDbvt.h" -#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" - -// -// Compile time config -// - -#define DBVT_BP_PROFILE 0 -//#define DBVT_BP_SORTPAIRS 1 -#define DBVT_BP_PREVENTFALSEUPDATE 0 -#define DBVT_BP_ACCURATESLEEPING 0 -#define DBVT_BP_ENABLE_BENCHMARK 0 -//#define DBVT_BP_MARGIN (btScalar)0.05 -extern btScalar gDbvtMargin; - -#if DBVT_BP_PROFILE -#define DBVT_BP_PROFILING_RATE 256 -#include "LinearMath/btQuickprof.h" -#endif - -// -// btDbvtProxy -// -struct btDbvtProxy : btBroadphaseProxy -{ - /* Fields */ - //btDbvtAabbMm aabb; - btDbvtNode* leaf; - btDbvtProxy* links[2]; - int stage; - /* ctor */ - btDbvtProxy(const btVector3& aabbMin, const btVector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask) : btBroadphaseProxy(aabbMin, aabbMax, userPtr, collisionFilterGroup, collisionFilterMask) - { - links[0] = links[1] = 0; - } -}; - -typedef btAlignedObjectArray<btDbvtProxy*> btDbvtProxyArray; - -///The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see btDbvt). -///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 btAxisSweep3 and bt32BitAxisSweep3. -struct btDbvtBroadphase : btBroadphaseInterface -{ - /* Config */ - enum - { - DYNAMIC_SET = 0, /* Dynamic set index */ - FIXED_SET = 1, /* Fixed set index */ - STAGECOUNT = 2 /* Number of stages */ - }; - /* Fields */ - btDbvt m_sets[2]; // Dbvt sets - btDbvtProxy* m_stageRoots[STAGECOUNT + 1]; // Stages list - btOverlappingPairCache* m_paircache; // Pair cache - btScalar 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 - btScalar m_updates_ratio; // m_updates_done/m_updates_call - int m_pid; // Parse id - int m_cid; // Cleanup index - int m_gid; // Gen id - 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? - btAlignedObjectArray<btAlignedObjectArray<const btDbvtNode*> > m_rayTestStacks; -#if DBVT_BP_PROFILE - btClock 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 */ - btDbvtBroadphase(btOverlappingPairCache* paircache = 0); - ~btDbvtBroadphase(); - void collide(btDispatcher* dispatcher); - void optimize(); - - /* btBroadphaseInterface Implementation */ - btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher); - virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher); - virtual void setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher); - 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)); - virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback); - - virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const; - virtual void calculateOverlappingPairs(btDispatcher* dispatcher); - virtual btOverlappingPairCache* getOverlappingPairCache(); - virtual const btOverlappingPairCache* getOverlappingPairCache() const; - virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const; - virtual void printStats(); - - ///reset broadphase internal structures, to ensure determinism/reproducability - virtual void resetPool(btDispatcher* dispatcher); - - void performDeferredRemoval(btDispatcher* dispatcher); - - void setVelocityPrediction(btScalar prediction) - { - m_prediction = prediction; - } - btScalar getVelocityPrediction() const - { - return m_prediction; - } - - ///this setAabbForceUpdate is similar to setAabb but always forces the aabb update. - ///it is not part of the btBroadphaseInterface but specific to btDbvtBroadphase. - ///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(btBroadphaseProxy* absproxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* /*dispatcher*/); - - static void benchmark(btBroadphaseInterface*); -}; - -#endif |