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-rw-r--r--thirdparty/bullet/src/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.cpp638
1 files changed, 0 insertions, 638 deletions
diff --git a/thirdparty/bullet/src/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.cpp b/thirdparty/bullet/src/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.cpp
deleted file mode 100644
index e4bda61624..0000000000
--- a/thirdparty/bullet/src/Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.cpp
+++ /dev/null
@@ -1,638 +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.
-*/
-
-
-
-#include "b3OverlappingPairCache.h"
-
-//#include "b3Dispatcher.h"
-//#include "b3CollisionAlgorithm.h"
-#include "Bullet3Geometry/b3AabbUtil.h"
-
-#include <stdio.h>
-
-int b3g_overlappingPairs = 0;
-int b3g_removePairs =0;
-int b3g_addedPairs =0;
-int b3g_findPairs =0;
-
-
-
-
-b3HashedOverlappingPairCache::b3HashedOverlappingPairCache():
- m_overlapFilterCallback(0)
-//, m_blockedForChanges(false)
-{
- int initialAllocatedSize= 2;
- m_overlappingPairArray.reserve(initialAllocatedSize);
- growTables();
-}
-
-
-
-
-b3HashedOverlappingPairCache::~b3HashedOverlappingPairCache()
-{
-}
-
-
-
-void b3HashedOverlappingPairCache::cleanOverlappingPair(b3BroadphasePair& pair,b3Dispatcher* dispatcher)
-{
-/* if (pair.m_algorithm)
- {
- {
- pair.m_algorithm->~b3CollisionAlgorithm();
- dispatcher->freeCollisionAlgorithm(pair.m_algorithm);
- pair.m_algorithm=0;
- }
- }
- */
-
-}
-
-
-
-
-void b3HashedOverlappingPairCache::cleanProxyFromPairs(int proxy,b3Dispatcher* dispatcher)
-{
-
- class CleanPairCallback : public b3OverlapCallback
- {
- int m_cleanProxy;
- b3OverlappingPairCache* m_pairCache;
- b3Dispatcher* m_dispatcher;
-
- public:
- CleanPairCallback(int cleanProxy,b3OverlappingPairCache* pairCache,b3Dispatcher* dispatcher)
- :m_cleanProxy(cleanProxy),
- m_pairCache(pairCache),
- m_dispatcher(dispatcher)
- {
- }
- virtual bool processOverlap(b3BroadphasePair& pair)
- {
- if ((pair.x == m_cleanProxy) ||
- (pair.y == m_cleanProxy))
- {
- m_pairCache->cleanOverlappingPair(pair,m_dispatcher);
- }
- return false;
- }
-
- };
-
- CleanPairCallback cleanPairs(proxy,this,dispatcher);
-
- processAllOverlappingPairs(&cleanPairs,dispatcher);
-
-}
-
-
-
-
-void b3HashedOverlappingPairCache::removeOverlappingPairsContainingProxy(int proxy,b3Dispatcher* dispatcher)
-{
-
- class RemovePairCallback : public b3OverlapCallback
- {
- int m_obsoleteProxy;
-
- public:
- RemovePairCallback(int obsoleteProxy)
- :m_obsoleteProxy(obsoleteProxy)
- {
- }
- virtual bool processOverlap(b3BroadphasePair& pair)
- {
- return ((pair.x == m_obsoleteProxy) ||
- (pair.y == m_obsoleteProxy));
- }
-
- };
-
-
- RemovePairCallback removeCallback(proxy);
-
- processAllOverlappingPairs(&removeCallback,dispatcher);
-}
-
-
-
-
-
-b3BroadphasePair* b3HashedOverlappingPairCache::findPair(int proxy0, int proxy1)
-{
- b3g_findPairs++;
- if(proxy0 >proxy1)
- b3Swap(proxy0,proxy1);
- int proxyId1 = proxy0;
- int proxyId2 = proxy1;
-
- /*if (proxyId1 > proxyId2)
- b3Swap(proxyId1, proxyId2);*/
-
- int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
-
- if (hash >= m_hashTable.size())
- {
- return NULL;
- }
-
- int index = m_hashTable[hash];
- while (index != B3_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
- {
- index = m_next[index];
- }
-
- if (index == B3_NULL_PAIR)
- {
- return NULL;
- }
-
- b3Assert(index < m_overlappingPairArray.size());
-
- return &m_overlappingPairArray[index];
-}
-
-//#include <stdio.h>
-
-void b3HashedOverlappingPairCache::growTables()
-{
-
- int newCapacity = m_overlappingPairArray.capacity();
-
- if (m_hashTable.size() < newCapacity)
- {
- //grow hashtable and next table
- int curHashtableSize = m_hashTable.size();
-
- m_hashTable.resize(newCapacity);
- m_next.resize(newCapacity);
-
-
- int i;
-
- for (i= 0; i < newCapacity; ++i)
- {
- m_hashTable[i] = B3_NULL_PAIR;
- }
- for (i = 0; i < newCapacity; ++i)
- {
- m_next[i] = B3_NULL_PAIR;
- }
-
- for(i=0;i<curHashtableSize;i++)
- {
-
- const b3BroadphasePair& pair = m_overlappingPairArray[i];
- int proxyId1 = pair.x;
- int proxyId2 = pair.y;
- /*if (proxyId1 > proxyId2)
- b3Swap(proxyId1, proxyId2);*/
- int hashValue = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1)); // New hash value with new mask
- m_next[i] = m_hashTable[hashValue];
- m_hashTable[hashValue] = i;
- }
-
-
- }
-}
-
-b3BroadphasePair* b3HashedOverlappingPairCache::internalAddPair(int proxy0, int proxy1)
-{
- if(proxy0>proxy1)
- b3Swap(proxy0,proxy1);
- int proxyId1 = proxy0;
- int proxyId2 = proxy1;
-
- /*if (proxyId1 > proxyId2)
- b3Swap(proxyId1, proxyId2);*/
-
- int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1)); // New hash value with new mask
-
-
- b3BroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
- if (pair != NULL)
- {
- return pair;
- }
- /*for(int i=0;i<m_overlappingPairArray.size();++i)
- {
- if( (m_overlappingPairArray[i].m_pProxy0==proxy0)&&
- (m_overlappingPairArray[i].m_pProxy1==proxy1))
- {
- printf("Adding duplicated %u<>%u\r\n",proxyId1,proxyId2);
- internalFindPair(proxy0, proxy1, hash);
- }
- }*/
- int count = m_overlappingPairArray.size();
- int oldCapacity = m_overlappingPairArray.capacity();
- pair = &m_overlappingPairArray.expandNonInitializing();
-
- //this is where we add an actual pair, so also call the 'ghost'
-// if (m_ghostPairCallback)
-// m_ghostPairCallback->addOverlappingPair(proxy0,proxy1);
-
- int newCapacity = m_overlappingPairArray.capacity();
-
- if (oldCapacity < newCapacity)
- {
- growTables();
- //hash with new capacity
- hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
- }
-
- *pair = b3MakeBroadphasePair(proxy0,proxy1);
-
-// pair->m_pProxy0 = proxy0;
-// pair->m_pProxy1 = proxy1;
- //pair->m_algorithm = 0;
- //pair->m_internalTmpValue = 0;
-
-
- m_next[count] = m_hashTable[hash];
- m_hashTable[hash] = count;
-
- return pair;
-}
-
-
-
-void* b3HashedOverlappingPairCache::removeOverlappingPair(int proxy0, int proxy1,b3Dispatcher* dispatcher)
-{
- b3g_removePairs++;
- if(proxy0>proxy1)
- b3Swap(proxy0,proxy1);
- int proxyId1 = proxy0;
- int proxyId2 = proxy1;
-
- /*if (proxyId1 > proxyId2)
- b3Swap(proxyId1, proxyId2);*/
-
- int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
-
- b3BroadphasePair* pair = internalFindPair(proxy0, proxy1, hash);
- if (pair == NULL)
- {
- return 0;
- }
-
- cleanOverlappingPair(*pair,dispatcher);
-
-
-
- int pairIndex = int(pair - &m_overlappingPairArray[0]);
- b3Assert(pairIndex < m_overlappingPairArray.size());
-
- // Remove the pair from the hash table.
- int index = m_hashTable[hash];
- b3Assert(index != B3_NULL_PAIR);
-
- int previous = B3_NULL_PAIR;
- while (index != pairIndex)
- {
- previous = index;
- index = m_next[index];
- }
-
- if (previous != B3_NULL_PAIR)
- {
- b3Assert(m_next[previous] == pairIndex);
- m_next[previous] = m_next[pairIndex];
- }
- else
- {
- m_hashTable[hash] = m_next[pairIndex];
- }
-
- // We now move the last pair into spot of the
- // pair being removed. We need to fix the hash
- // table indices to support the move.
-
- int lastPairIndex = m_overlappingPairArray.size() - 1;
-
- //if (m_ghostPairCallback)
- // m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
-
- // If the removed pair is the last pair, we are done.
- if (lastPairIndex == pairIndex)
- {
- m_overlappingPairArray.pop_back();
- return 0;
- }
-
- // Remove the last pair from the hash table.
- const b3BroadphasePair* last = &m_overlappingPairArray[lastPairIndex];
- /* missing swap here too, Nat. */
- int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->x), static_cast<unsigned int>(last->y)) & (m_overlappingPairArray.capacity()-1));
-
- index = m_hashTable[lastHash];
- b3Assert(index != B3_NULL_PAIR);
-
- previous = B3_NULL_PAIR;
- while (index != lastPairIndex)
- {
- previous = index;
- index = m_next[index];
- }
-
- if (previous != B3_NULL_PAIR)
- {
- b3Assert(m_next[previous] == lastPairIndex);
- m_next[previous] = m_next[lastPairIndex];
- }
- else
- {
- m_hashTable[lastHash] = m_next[lastPairIndex];
- }
-
- // Copy the last pair into the remove pair's spot.
- m_overlappingPairArray[pairIndex] = m_overlappingPairArray[lastPairIndex];
-
- // Insert the last pair into the hash table
- m_next[pairIndex] = m_hashTable[lastHash];
- m_hashTable[lastHash] = pairIndex;
-
- m_overlappingPairArray.pop_back();
-
- return 0;
-}
-//#include <stdio.h>
-
-void b3HashedOverlappingPairCache::processAllOverlappingPairs(b3OverlapCallback* callback,b3Dispatcher* dispatcher)
-{
-
- int i;
-
-// printf("m_overlappingPairArray.size()=%d\n",m_overlappingPairArray.size());
- for (i=0;i<m_overlappingPairArray.size();)
- {
-
- b3BroadphasePair* pair = &m_overlappingPairArray[i];
- if (callback->processOverlap(*pair))
- {
- removeOverlappingPair(pair->x,pair->y,dispatcher);
-
- b3g_overlappingPairs--;
- } else
- {
- i++;
- }
- }
-}
-
-
-
-
-
-void b3HashedOverlappingPairCache::sortOverlappingPairs(b3Dispatcher* dispatcher)
-{
- ///need to keep hashmap in sync with pair address, so rebuild all
- b3BroadphasePairArray tmpPairs;
- int i;
- for (i=0;i<m_overlappingPairArray.size();i++)
- {
- tmpPairs.push_back(m_overlappingPairArray[i]);
- }
-
- for (i=0;i<tmpPairs.size();i++)
- {
- removeOverlappingPair(tmpPairs[i].x,tmpPairs[i].y,dispatcher);
- }
-
- for (i = 0; i < m_next.size(); i++)
- {
- m_next[i] = B3_NULL_PAIR;
- }
-
- tmpPairs.quickSort(b3BroadphasePairSortPredicate());
-
- for (i=0;i<tmpPairs.size();i++)
- {
- addOverlappingPair(tmpPairs[i].x ,tmpPairs[i].y);
- }
-
-
-}
-
-
-void* b3SortedOverlappingPairCache::removeOverlappingPair(int proxy0,int proxy1, b3Dispatcher* dispatcher )
-{
- if (!hasDeferredRemoval())
- {
- b3BroadphasePair findPair = b3MakeBroadphasePair(proxy0,proxy1);
-
-
- int findIndex = m_overlappingPairArray.findLinearSearch(findPair);
- if (findIndex < m_overlappingPairArray.size())
- {
- b3g_overlappingPairs--;
- b3BroadphasePair& pair = m_overlappingPairArray[findIndex];
-
- cleanOverlappingPair(pair,dispatcher);
- //if (m_ghostPairCallback)
- // m_ghostPairCallback->removeOverlappingPair(proxy0, proxy1,dispatcher);
-
- m_overlappingPairArray.swap(findIndex,m_overlappingPairArray.capacity()-1);
- m_overlappingPairArray.pop_back();
- return 0;
- }
- }
-
- return 0;
-}
-
-
-
-
-
-
-
-
-b3BroadphasePair* b3SortedOverlappingPairCache::addOverlappingPair(int proxy0,int proxy1)
-{
- //don't add overlap with own
- b3Assert(proxy0 != proxy1);
-
- if (!needsBroadphaseCollision(proxy0,proxy1))
- return 0;
-
- b3BroadphasePair* pair = &m_overlappingPairArray.expandNonInitializing();
- *pair = b3MakeBroadphasePair(proxy0,proxy1);
-
-
- b3g_overlappingPairs++;
- b3g_addedPairs++;
-
-// if (m_ghostPairCallback)
-// m_ghostPairCallback->addOverlappingPair(proxy0, proxy1);
- return pair;
-
-}
-
-///this findPair becomes really slow. Either sort the list to speedup the query, or
-///use a different solution. It is mainly used for Removing overlapping pairs. Removal could be delayed.
-///we could keep a linked list in each proxy, and store pair in one of the proxies (with lowest memory address)
-///Also we can use a 2D bitmap, which can be useful for a future GPU implementation
- b3BroadphasePair* b3SortedOverlappingPairCache::findPair(int proxy0,int proxy1)
-{
- if (!needsBroadphaseCollision(proxy0,proxy1))
- return 0;
-
- b3BroadphasePair tmpPair = b3MakeBroadphasePair(proxy0,proxy1);
- int findIndex = m_overlappingPairArray.findLinearSearch(tmpPair);
-
- if (findIndex < m_overlappingPairArray.size())
- {
- //b3Assert(it != m_overlappingPairSet.end());
- b3BroadphasePair* pair = &m_overlappingPairArray[findIndex];
- return pair;
- }
- return 0;
-}
-
-
-
-
-
-
-
-
-
-
-//#include <stdio.h>
-
-void b3SortedOverlappingPairCache::processAllOverlappingPairs(b3OverlapCallback* callback,b3Dispatcher* dispatcher)
-{
-
- int i;
-
- for (i=0;i<m_overlappingPairArray.size();)
- {
-
- b3BroadphasePair* pair = &m_overlappingPairArray[i];
- if (callback->processOverlap(*pair))
- {
- cleanOverlappingPair(*pair,dispatcher);
- pair->x = -1;
- pair->y = -1;
- m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
- m_overlappingPairArray.pop_back();
- b3g_overlappingPairs--;
- } else
- {
- i++;
- }
- }
-}
-
-
-
-
-b3SortedOverlappingPairCache::b3SortedOverlappingPairCache():
- m_blockedForChanges(false),
- m_hasDeferredRemoval(true),
- m_overlapFilterCallback(0)
-
-{
- int initialAllocatedSize= 2;
- m_overlappingPairArray.reserve(initialAllocatedSize);
-}
-
-b3SortedOverlappingPairCache::~b3SortedOverlappingPairCache()
-{
-}
-
-void b3SortedOverlappingPairCache::cleanOverlappingPair(b3BroadphasePair& pair,b3Dispatcher* dispatcher)
-{
-/* if (pair.m_algorithm)
- {
- {
- pair.m_algorithm->~b3CollisionAlgorithm();
- dispatcher->freeCollisionAlgorithm(pair.m_algorithm);
- pair.m_algorithm=0;
- b3g_removePairs--;
- }
- }
- */
-}
-
-
-void b3SortedOverlappingPairCache::cleanProxyFromPairs(int proxy,b3Dispatcher* dispatcher)
-{
-
- class CleanPairCallback : public b3OverlapCallback
- {
- int m_cleanProxy;
- b3OverlappingPairCache* m_pairCache;
- b3Dispatcher* m_dispatcher;
-
- public:
- CleanPairCallback(int cleanProxy,b3OverlappingPairCache* pairCache,b3Dispatcher* dispatcher)
- :m_cleanProxy(cleanProxy),
- m_pairCache(pairCache),
- m_dispatcher(dispatcher)
- {
- }
- virtual bool processOverlap(b3BroadphasePair& pair)
- {
- if ((pair.x == m_cleanProxy) ||
- (pair.y == m_cleanProxy))
- {
- m_pairCache->cleanOverlappingPair(pair,m_dispatcher);
- }
- return false;
- }
-
- };
-
- CleanPairCallback cleanPairs(proxy,this,dispatcher);
-
- processAllOverlappingPairs(&cleanPairs,dispatcher);
-
-}
-
-
-void b3SortedOverlappingPairCache::removeOverlappingPairsContainingProxy(int proxy,b3Dispatcher* dispatcher)
-{
-
- class RemovePairCallback : public b3OverlapCallback
- {
- int m_obsoleteProxy;
-
- public:
- RemovePairCallback(int obsoleteProxy)
- :m_obsoleteProxy(obsoleteProxy)
- {
- }
- virtual bool processOverlap(b3BroadphasePair& pair)
- {
- return ((pair.x == m_obsoleteProxy) ||
- (pair.y == m_obsoleteProxy));
- }
-
- };
-
- RemovePairCallback removeCallback(proxy);
-
- processAllOverlappingPairs(&removeCallback,dispatcher);
-}
-
-void b3SortedOverlappingPairCache::sortOverlappingPairs(b3Dispatcher* dispatcher)
-{
- //should already be sorted
-}
-
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-25 17:54:23 +0000