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