62 lines
2.4 KiB
C++
62 lines
2.4 KiB
C++
/*
|
|
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_BATCHED_CONSTRAINTS_H
|
|
#define BT_BATCHED_CONSTRAINTS_H
|
|
|
|
#include "LinearMath/btThreads.h"
|
|
#include "LinearMath/btAlignedObjectArray.h"
|
|
#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
|
|
#include "BulletDynamics/ConstraintSolver/btSolverConstraint.h"
|
|
|
|
class btIDebugDraw;
|
|
|
|
struct btBatchedConstraints
|
|
{
|
|
enum BatchingMethod
|
|
{
|
|
BATCHING_METHOD_SPATIAL_GRID_2D,
|
|
BATCHING_METHOD_SPATIAL_GRID_3D,
|
|
BATCHING_METHOD_COUNT
|
|
};
|
|
struct Range
|
|
{
|
|
int begin;
|
|
int end;
|
|
|
|
Range() : begin(0), end(0) {}
|
|
Range(int _beg, int _end) : begin(_beg), end(_end) {}
|
|
};
|
|
|
|
btAlignedObjectArray<int> m_constraintIndices;
|
|
btAlignedObjectArray<Range> m_batches; // each batch is a range of indices in the m_constraintIndices array
|
|
btAlignedObjectArray<Range> m_phases; // each phase is range of indices in the m_batches array
|
|
btAlignedObjectArray<char> m_phaseGrainSize; // max grain size for each phase
|
|
btAlignedObjectArray<int> m_phaseOrder; // phases can be done in any order, so we can randomize the order here
|
|
btIDebugDraw* m_debugDrawer;
|
|
|
|
static bool s_debugDrawBatches;
|
|
|
|
btBatchedConstraints() { m_debugDrawer = NULL; }
|
|
void setup(btConstraintArray* constraints,
|
|
const btAlignedObjectArray<btSolverBody>& bodies,
|
|
BatchingMethod batchingMethod,
|
|
int minBatchSize,
|
|
int maxBatchSize,
|
|
btAlignedObjectArray<char>* scratchMemory);
|
|
bool validate(btConstraintArray* constraints, const btAlignedObjectArray<btSolverBody>& bodies) const;
|
|
};
|
|
|
|
#endif // BT_BATCHED_CONSTRAINTS_H
|