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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp')
-rw-r--r--thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp349
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diff --git a/thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp b/thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
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index f1d5f5476e..0000000000
--- a/thirdparty/bullet/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
+++ /dev/null
@@ -1,349 +0,0 @@
-/*
-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.
-*/
-
-#include "btSimpleBroadphase.h"
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransform.h"
-#include "LinearMath/btMatrix3x3.h"
-#include "LinearMath/btAabbUtil2.h"
-
-#include <new>
-
-extern int gOverlappingPairs;
-
-void btSimpleBroadphase::validate()
-{
- for (int i=0;i<m_numHandles;i++)
- {
- for (int j=i+1;j<m_numHandles;j++)
- {
- btAssert(&m_pHandles[i] != &m_pHandles[j]);
- }
- }
-
-}
-
-btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* overlappingPairCache)
- :m_pairCache(overlappingPairCache),
- m_ownsPairCache(false),
- m_invalidPair(0)
-{
-
- if (!overlappingPairCache)
- {
- void* mem = btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16);
- m_pairCache = new (mem)btHashedOverlappingPairCache();
- m_ownsPairCache = true;
- }
-
- // allocate handles buffer and put all handles on free list
- m_pHandlesRawPtr = btAlignedAlloc(sizeof(btSimpleBroadphaseProxy)*maxProxies,16);
- m_pHandles = new(m_pHandlesRawPtr) btSimpleBroadphaseProxy[maxProxies];
- m_maxHandles = maxProxies;
- m_numHandles = 0;
- m_firstFreeHandle = 0;
- m_LastHandleIndex = -1;
-
-
- {
- for (int i = m_firstFreeHandle; i < maxProxies; i++)
- {
- m_pHandles[i].SetNextFree(i + 1);
- m_pHandles[i].m_uniqueId = i+2;//any UID will do, we just avoid too trivial values (0,1) for debugging purposes
- }
- m_pHandles[maxProxies - 1].SetNextFree(0);
-
- }
-
-}
-
-btSimpleBroadphase::~btSimpleBroadphase()
-{
- btAlignedFree(m_pHandlesRawPtr);
-
- if (m_ownsPairCache)
- {
- m_pairCache->~btOverlappingPairCache();
- btAlignedFree(m_pairCache);
- }
-}
-
-
-btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr , int collisionFilterGroup, int collisionFilterMask, btDispatcher* /*dispatcher*/)
-{
- if (m_numHandles >= m_maxHandles)
- {
- btAssert(0);
- return 0; //should never happen, but don't let the game crash ;-)
- }
- btAssert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]);
-
- int newHandleIndex = allocHandle();
- btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask);
-
- return proxy;
-}
-
-class RemovingOverlapCallback : public btOverlapCallback
-{
-protected:
- virtual bool processOverlap(btBroadphasePair& pair)
- {
- (void)pair;
- btAssert(0);
- return false;
- }
-};
-
-class RemovePairContainingProxy
-{
-
- btBroadphaseProxy* m_targetProxy;
- public:
- virtual ~RemovePairContainingProxy()
- {
- }
-protected:
- virtual bool processOverlap(btBroadphasePair& pair)
- {
- btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0);
- btSimpleBroadphaseProxy* proxy1 = static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1);
-
- return ((m_targetProxy == proxy0 || m_targetProxy == proxy1));
- };
-};
-
-void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher* dispatcher)
-{
-
- btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg);
- freeHandle(proxy0);
-
- m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg,dispatcher);
-
- //validate();
-
-}
-
-void btSimpleBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
-{
- const btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
- aabbMin = sbp->m_aabbMin;
- aabbMax = sbp->m_aabbMax;
-}
-
-void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* /*dispatcher*/)
-{
- btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
- sbp->m_aabbMin = aabbMin;
- sbp->m_aabbMax = aabbMax;
-}
-
-void btSimpleBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin,const btVector3& aabbMax)
-{
- for (int i=0; i <= m_LastHandleIndex; i++)
- {
- btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
- if(!proxy->m_clientObject)
- {
- continue;
- }
- rayCallback.process(proxy);
- }
-}
-
-
-void btSimpleBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
-{
- for (int i=0; i <= m_LastHandleIndex; i++)
- {
- btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
- if(!proxy->m_clientObject)
- {
- continue;
- }
- if (TestAabbAgainstAabb2(aabbMin,aabbMax,proxy->m_aabbMin,proxy->m_aabbMax))
- {
- callback.process(proxy);
- }
- }
-}
-
-
-
-
-
-
-
-bool btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1)
-{
- return proxy0->m_aabbMin[0] <= proxy1->m_aabbMax[0] && proxy1->m_aabbMin[0] <= proxy0->m_aabbMax[0] &&
- proxy0->m_aabbMin[1] <= proxy1->m_aabbMax[1] && proxy1->m_aabbMin[1] <= proxy0->m_aabbMax[1] &&
- proxy0->m_aabbMin[2] <= proxy1->m_aabbMax[2] && proxy1->m_aabbMin[2] <= proxy0->m_aabbMax[2];
-
-}
-
-
-
-//then remove non-overlapping ones
-class CheckOverlapCallback : public btOverlapCallback
-{
-public:
- virtual bool processOverlap(btBroadphasePair& pair)
- {
- return (!btSimpleBroadphase::aabbOverlap(static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0),static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1)));
- }
-};
-
-void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
-{
- //first check for new overlapping pairs
- int i,j;
- if (m_numHandles >= 0)
- {
- int new_largest_index = -1;
- for (i=0; i <= m_LastHandleIndex; i++)
- {
- btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i];
- if(!proxy0->m_clientObject)
- {
- continue;
- }
- new_largest_index = i;
- for (j=i+1; j <= m_LastHandleIndex; j++)
- {
- btSimpleBroadphaseProxy* proxy1 = &m_pHandles[j];
- btAssert(proxy0 != proxy1);
- if(!proxy1->m_clientObject)
- {
- continue;
- }
-
- btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
- btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
-
- if (aabbOverlap(p0,p1))
- {
- if ( !m_pairCache->findPair(proxy0,proxy1))
- {
- m_pairCache->addOverlappingPair(proxy0,proxy1);
- }
- } else
- {
- if (!m_pairCache->hasDeferredRemoval())
- {
- if ( m_pairCache->findPair(proxy0,proxy1))
- {
- m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
- }
- }
- }
- }
- }
-
- m_LastHandleIndex = new_largest_index;
-
- if (m_ownsPairCache && m_pairCache->hasDeferredRemoval())
- {
-
- btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
-
- //perform a sort, to find duplicates and to sort 'invalid' pairs to the end
- overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
-
- overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
- m_invalidPair = 0;
-
-
- btBroadphasePair previousPair;
- previousPair.m_pProxy0 = 0;
- previousPair.m_pProxy1 = 0;
- previousPair.m_algorithm = 0;
-
-
- for (i=0;i<overlappingPairArray.size();i++)
- {
-
- btBroadphasePair& pair = overlappingPairArray[i];
-
- bool isDuplicate = (pair == previousPair);
-
- previousPair = pair;
-
- bool needsRemoval = false;
-
- if (!isDuplicate)
- {
- bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
-
- if (hasOverlap)
- {
- needsRemoval = false;//callback->processOverlap(pair);
- } else
- {
- needsRemoval = true;
- }
- } else
- {
- //remove duplicate
- needsRemoval = true;
- //should have no algorithm
- btAssert(!pair.m_algorithm);
- }
-
- if (needsRemoval)
- {
- m_pairCache->cleanOverlappingPair(pair,dispatcher);
-
- // m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
- // m_overlappingPairArray.pop_back();
- pair.m_pProxy0 = 0;
- pair.m_pProxy1 = 0;
- m_invalidPair++;
- gOverlappingPairs--;
- }
-
- }
-
- ///if you don't like to skip the invalid pairs in the array, execute following code:
-#define CLEAN_INVALID_PAIRS 1
-#ifdef CLEAN_INVALID_PAIRS
-
- //perform a sort, to sort 'invalid' pairs to the end
- overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
-
- overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
- m_invalidPair = 0;
-#endif//CLEAN_INVALID_PAIRS
-
- }
- }
-}
-
-
-bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
-{
- btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
- btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
- return aabbOverlap(p0,p1);
-}
-
-void btSimpleBroadphase::resetPool(btDispatcher* dispatcher)
-{
- //not yet
-}