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/*
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
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