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-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
-
-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.
-*/
-
-#ifndef BT_OVERLAPPING_PAIR_CACHE_H
-#define BT_OVERLAPPING_PAIR_CACHE_H
-
-
-#include "btBroadphaseInterface.h"
-#include "btBroadphaseProxy.h"
-#include "btOverlappingPairCallback.h"
-
-#include "LinearMath/btAlignedObjectArray.h"
-class btDispatcher;
-
-typedef btAlignedObjectArray<btBroadphasePair> btBroadphasePairArray;
-
-struct btOverlapCallback
-{
- virtual ~btOverlapCallback()
- {}
- //return true for deletion of the pair
- virtual bool processOverlap(btBroadphasePair& pair) = 0;
-
-};
-
-struct btOverlapFilterCallback
-{
- virtual ~btOverlapFilterCallback()
- {}
- // return true when pairs need collision
- virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const = 0;
-};
-
-
-
-
-
-
-
-extern int gRemovePairs;
-extern int gAddedPairs;
-extern int gFindPairs;
-
-const int BT_NULL_PAIR=0xffffffff;
-
-///The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
-///The btHashedOverlappingPairCache and btSortedOverlappingPairCache classes are two implementations.
-class btOverlappingPairCache : public btOverlappingPairCallback
-{
-public:
- virtual ~btOverlappingPairCache() {} // this is needed so we can get to the derived class destructor
-
- virtual btBroadphasePair* getOverlappingPairArrayPtr() = 0;
-
- virtual const btBroadphasePair* getOverlappingPairArrayPtr() const = 0;
-
- virtual btBroadphasePairArray& getOverlappingPairArray() = 0;
-
- virtual void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) = 0;
-
- virtual int getNumOverlappingPairs() const = 0;
-
- virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) = 0;
-
- virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0;
-
- virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher) = 0;
-
- virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0;
-
- virtual bool hasDeferredRemoval() = 0;
-
- virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)=0;
-
- virtual void sortOverlappingPairs(btDispatcher* dispatcher) = 0;
-
-
-};
-
-/// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
-
-ATTRIBUTE_ALIGNED16(class) btHashedOverlappingPairCache : public btOverlappingPairCache
-{
- btBroadphasePairArray m_overlappingPairArray;
- btOverlapFilterCallback* m_overlapFilterCallback;
-
-protected:
-
- btAlignedObjectArray<int> m_hashTable;
- btAlignedObjectArray<int> m_next;
- btOverlappingPairCallback* m_ghostPairCallback;
-
-
-public:
- BT_DECLARE_ALIGNED_ALLOCATOR();
-
- btHashedOverlappingPairCache();
- virtual ~btHashedOverlappingPairCache();
-
-
- void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-
- virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
-
- SIMD_FORCE_INLINE bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
- {
- if (m_overlapFilterCallback)
- return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
-
- bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
- collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-
- return collides;
- }
-
- // Add a pair and return the new pair. If the pair already exists,
- // no new pair is created and the old one is returned.
- virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
- {
- gAddedPairs++;
-
- if (!needsBroadphaseCollision(proxy0,proxy1))
- return 0;
-
- return internalAddPair(proxy0,proxy1);
- }
-
-
-
- void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-
-
- virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
-
- virtual btBroadphasePair* getOverlappingPairArrayPtr()
- {
- return &m_overlappingPairArray[0];
- }
-
- const btBroadphasePair* getOverlappingPairArrayPtr() const
- {
- return &m_overlappingPairArray[0];
- }
-
- btBroadphasePairArray& getOverlappingPairArray()
- {
- return m_overlappingPairArray;
- }
-
- const btBroadphasePairArray& getOverlappingPairArray() const
- {
- return m_overlappingPairArray;
- }
-
- void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
-
-
-
- btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
-
- int GetCount() const { return m_overlappingPairArray.size(); }
-// btBroadphasePair* GetPairs() { return m_pairs; }
-
- btOverlapFilterCallback* getOverlapFilterCallback()
- {
- return m_overlapFilterCallback;
- }
-
- void setOverlapFilterCallback(btOverlapFilterCallback* callback)
- {
- m_overlapFilterCallback = callback;
- }
-
- int getNumOverlappingPairs() const
- {
- return m_overlappingPairArray.size();
- }
-private:
-
- btBroadphasePair* internalAddPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
-
- void growTables();
-
- SIMD_FORCE_INLINE bool equalsPair(const btBroadphasePair& pair, int proxyId1, int proxyId2)
- {
- return pair.m_pProxy0->getUid() == proxyId1 && pair.m_pProxy1->getUid() == proxyId2;
- }
-
- /*
- // Thomas Wang's hash, see: http://www.concentric.net/~Ttwang/tech/inthash.htm
- // This assumes proxyId1 and proxyId2 are 16-bit.
- SIMD_FORCE_INLINE int getHash(int proxyId1, int proxyId2)
- {
- int key = (proxyId2 << 16) | proxyId1;
- key = ~key + (key << 15);
- key = key ^ (key >> 12);
- key = key + (key << 2);
- key = key ^ (key >> 4);
- key = key * 2057;
- key = key ^ (key >> 16);
- return key;
- }
- */
-
-
- SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
- {
- unsigned int key = proxyId1 | (proxyId2 << 16);
- // Thomas Wang's hash
-
- key += ~(key << 15);
- key ^= (key >> 10);
- key += (key << 3);
- key ^= (key >> 6);
- key += ~(key << 11);
- key ^= (key >> 16);
- return key;
- }
-
-
-
- SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, int hash)
- {
- int proxyId1 = proxy0->getUid();
- int proxyId2 = proxy1->getUid();
- #if 0 // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat.
- if (proxyId1 > proxyId2)
- btSwap(proxyId1, proxyId2);
- #endif
-
- int index = m_hashTable[hash];
-
- while( index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
- {
- index = m_next[index];
- }
-
- if ( index == BT_NULL_PAIR )
- {
- return NULL;
- }
-
- btAssert(index < m_overlappingPairArray.size());
-
- return &m_overlappingPairArray[index];
- }
-
- virtual bool hasDeferredRemoval()
- {
- return false;
- }
-
- virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)
- {
- m_ghostPairCallback = ghostPairCallback;
- }
-
- virtual void sortOverlappingPairs(btDispatcher* dispatcher);
-
-
-
-};
-
-
-
-
-///btSortedOverlappingPairCache maintains the objects with overlapping AABB
-///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase
-class btSortedOverlappingPairCache : public btOverlappingPairCache
-{
- protected:
- //avoid brute-force finding all the time
- btBroadphasePairArray m_overlappingPairArray;
-
- //during the dispatch, check that user doesn't destroy/create proxy
- bool m_blockedForChanges;
-
- ///by default, do the removal during the pair traversal
- bool m_hasDeferredRemoval;
-
- //if set, use the callback instead of the built in filter in needBroadphaseCollision
- btOverlapFilterCallback* m_overlapFilterCallback;
-
- btOverlappingPairCallback* m_ghostPairCallback;
-
- public:
-
- btSortedOverlappingPairCache();
- virtual ~btSortedOverlappingPairCache();
-
- virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
-
- void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
-
- void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
-
- btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
-
- btBroadphasePair* findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
-
-
- void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-
- void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-
-
- inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
- {
- if (m_overlapFilterCallback)
- return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
-
- bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
- collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
-
- return collides;
- }
-
- btBroadphasePairArray& getOverlappingPairArray()
- {
- return m_overlappingPairArray;
- }
-
- const btBroadphasePairArray& getOverlappingPairArray() const
- {
- return m_overlappingPairArray;
- }
-
-
-
-
- btBroadphasePair* getOverlappingPairArrayPtr()
- {
- return &m_overlappingPairArray[0];
- }
-
- const btBroadphasePair* getOverlappingPairArrayPtr() const
- {
- return &m_overlappingPairArray[0];
- }
-
- int getNumOverlappingPairs() const
- {
- return m_overlappingPairArray.size();
- }
-
- btOverlapFilterCallback* getOverlapFilterCallback()
- {
- return m_overlapFilterCallback;
- }
-
- void setOverlapFilterCallback(btOverlapFilterCallback* callback)
- {
- m_overlapFilterCallback = callback;
- }
-
- virtual bool hasDeferredRemoval()
- {
- return m_hasDeferredRemoval;
- }
-
- virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)
- {
- m_ghostPairCallback = ghostPairCallback;
- }
-
- virtual void sortOverlappingPairs(btDispatcher* dispatcher);
-
-
-};
-
-
-
-///btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and unit testing.
-class btNullPairCache : public btOverlappingPairCache
-{
-
- btBroadphasePairArray m_overlappingPairArray;
-
-public:
-
- virtual btBroadphasePair* getOverlappingPairArrayPtr()
- {
- return &m_overlappingPairArray[0];
- }
- const btBroadphasePair* getOverlappingPairArrayPtr() const
- {
- return &m_overlappingPairArray[0];
- }
- btBroadphasePairArray& getOverlappingPairArray()
- {
- return m_overlappingPairArray;
- }
-
- virtual void cleanOverlappingPair(btBroadphasePair& /*pair*/,btDispatcher* /*dispatcher*/)
- {
-
- }
-
- virtual int getNumOverlappingPairs() const
- {
- return 0;
- }
-
- virtual void cleanProxyFromPairs(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/)
- {
-
- }
-
- virtual void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/)
- {
- }
-
- virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* /*dispatcher*/)
- {
- }
-
- virtual btBroadphasePair* findPair(btBroadphaseProxy* /*proxy0*/, btBroadphaseProxy* /*proxy1*/)
- {
- return 0;
- }
-
- virtual bool hasDeferredRemoval()
- {
- return true;
- }
-
- virtual void setInternalGhostPairCallback(btOverlappingPairCallback* /* ghostPairCallback */)
- {
-
- }
-
- virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/)
- {
- return 0;
- }
-
- virtual void* removeOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/,btDispatcher* /*dispatcher*/)
- {
- return 0;
- }
-
- virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/)
- {
- }
-
- virtual void sortOverlappingPairs(btDispatcher* dispatcher)
- {
- (void) dispatcher;
- }
-
-
-};
-
-
-#endif //BT_OVERLAPPING_PAIR_CACHE_H
-
-
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