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Diffstat (limited to 'thirdparty/bullet/src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h | 206 |
1 files changed, 0 insertions, 206 deletions
diff --git a/thirdparty/bullet/src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h b/thirdparty/bullet/src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h deleted file mode 100644 index 7ac085d90c..0000000000 --- a/thirdparty/bullet/src/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h +++ /dev/null @@ -1,206 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2013 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. -*/ - -///b3DynamicBvhBroadphase implementation by Nathanael Presson -#ifndef B3_DBVT_BROADPHASE_H -#define B3_DBVT_BROADPHASE_H - -#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.h" -#include "Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.h" -#include "Bullet3Common/b3AlignedObjectArray.h" - -#include "b3BroadphaseCallback.h" - -// -// Compile time config -// - -#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 - -#if B3_DBVT_BP_PROFILE -#define B3_DBVT_BP_PROFILING_RATE 256 - -#endif - - - - -B3_ATTRIBUTE_ALIGNED16(struct) b3BroadphaseProxy -{ - -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 - }; - - //Usually the client b3CollisionObject or Rigidbody class - 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. - - b3Vector3 m_aabbMin; - b3Vector3 m_aabbMax; - - B3_FORCE_INLINE int getUid() const - { - return m_uniqueId; - } - - //used for memory pools - 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) - { - } -}; - - - - - -// -// b3DbvtProxy -// -struct b3DbvtProxy : b3BroadphaseProxy -{ - /* Fields */ - //b3DbvtAabbMm aabb; - 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) - { - links[0]=links[1]=0; - } -}; - -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 -{ - /* 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? -#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; -#endif - /* Methods */ - b3DynamicBvhBroadphase(int proxyCapacity, b3OverlappingPairCache* paircache=0); - virtual ~b3DynamicBvhBroadphase(); - 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); - - //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(); - - - ///reset broadphase internal structures, to ensure determinism/reproducability - virtual void resetPool(b3Dispatcher* dispatcher); - - void performDeferredRemoval(b3Dispatcher* dispatcher); - - void setVelocityPrediction(b3Scalar prediction) - { - m_prediction = prediction; - } - b3Scalar getVelocityPrediction() const - { - return m_prediction; - } - - ///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*/); - - //static void benchmark(b3BroadphaseInterface*); - - -}; - -#endif |