427 lines
12 KiB
C++
427 lines
12 KiB
C++
/*
|
|
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.
|
|
*/
|
|
|
|
#ifndef B3_OVERLAPPING_PAIR_CACHE_H
|
|
#define B3_OVERLAPPING_PAIR_CACHE_H
|
|
|
|
#include "Bullet3Common/shared/b3Int2.h"
|
|
#include "Bullet3Common/b3AlignedObjectArray.h"
|
|
|
|
class b3Dispatcher;
|
|
#include "b3OverlappingPair.h"
|
|
|
|
typedef b3AlignedObjectArray<b3BroadphasePair> b3BroadphasePairArray;
|
|
|
|
struct b3OverlapCallback
|
|
{
|
|
virtual ~b3OverlapCallback()
|
|
{
|
|
}
|
|
//return true for deletion of the pair
|
|
virtual bool processOverlap(b3BroadphasePair& pair) = 0;
|
|
};
|
|
|
|
struct b3OverlapFilterCallback
|
|
{
|
|
virtual ~b3OverlapFilterCallback()
|
|
{
|
|
}
|
|
// return true when pairs need collision
|
|
virtual bool needBroadphaseCollision(int proxy0, int proxy1) const = 0;
|
|
};
|
|
|
|
extern int b3g_removePairs;
|
|
extern int b3g_addedPairs;
|
|
extern int b3g_findPairs;
|
|
|
|
const int B3_NULL_PAIR = 0xffffffff;
|
|
|
|
///The b3OverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the b3BroadphaseInterface broadphases.
|
|
///The b3HashedOverlappingPairCache and b3SortedOverlappingPairCache classes are two implementations.
|
|
class b3OverlappingPairCache
|
|
{
|
|
public:
|
|
virtual ~b3OverlappingPairCache() {} // this is needed so we can get to the derived class destructor
|
|
|
|
virtual b3BroadphasePair* getOverlappingPairArrayPtr() = 0;
|
|
|
|
virtual const b3BroadphasePair* getOverlappingPairArrayPtr() const = 0;
|
|
|
|
virtual b3BroadphasePairArray& getOverlappingPairArray() = 0;
|
|
|
|
virtual void cleanOverlappingPair(b3BroadphasePair& pair, b3Dispatcher* dispatcher) = 0;
|
|
|
|
virtual int getNumOverlappingPairs() const = 0;
|
|
|
|
virtual void cleanProxyFromPairs(int proxy, b3Dispatcher* dispatcher) = 0;
|
|
|
|
virtual void setOverlapFilterCallback(b3OverlapFilterCallback* callback) = 0;
|
|
|
|
virtual void processAllOverlappingPairs(b3OverlapCallback*, b3Dispatcher* dispatcher) = 0;
|
|
|
|
virtual b3BroadphasePair* findPair(int proxy0, int proxy1) = 0;
|
|
|
|
virtual bool hasDeferredRemoval() = 0;
|
|
|
|
//virtual void setInternalGhostPairCallback(b3OverlappingPairCallback* ghostPairCallback)=0;
|
|
|
|
virtual b3BroadphasePair* addOverlappingPair(int proxy0, int proxy1) = 0;
|
|
virtual void* removeOverlappingPair(int proxy0, int proxy1, b3Dispatcher* dispatcher) = 0;
|
|
virtual void removeOverlappingPairsContainingProxy(int /*proxy0*/, b3Dispatcher* /*dispatcher*/) = 0;
|
|
|
|
virtual void sortOverlappingPairs(b3Dispatcher* dispatcher) = 0;
|
|
};
|
|
|
|
/// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
|
|
class b3HashedOverlappingPairCache : public b3OverlappingPairCache
|
|
{
|
|
b3BroadphasePairArray m_overlappingPairArray;
|
|
b3OverlapFilterCallback* m_overlapFilterCallback;
|
|
// bool m_blockedForChanges;
|
|
|
|
public:
|
|
b3HashedOverlappingPairCache();
|
|
virtual ~b3HashedOverlappingPairCache();
|
|
|
|
virtual void removeOverlappingPairsContainingProxy(int proxy, b3Dispatcher* dispatcher);
|
|
|
|
virtual void* removeOverlappingPair(int proxy0, int proxy1, b3Dispatcher* dispatcher);
|
|
|
|
B3_FORCE_INLINE bool needsBroadphaseCollision(int proxy0, int proxy1) const
|
|
{
|
|
if (m_overlapFilterCallback)
|
|
return m_overlapFilterCallback->needBroadphaseCollision(proxy0, proxy1);
|
|
|
|
bool collides = true; //(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 b3BroadphasePair* addOverlappingPair(int proxy0, int proxy1)
|
|
{
|
|
b3g_addedPairs++;
|
|
|
|
if (!needsBroadphaseCollision(proxy0, proxy1))
|
|
return 0;
|
|
|
|
return internalAddPair(proxy0, proxy1);
|
|
}
|
|
|
|
void cleanProxyFromPairs(int proxy, b3Dispatcher* dispatcher);
|
|
|
|
virtual void processAllOverlappingPairs(b3OverlapCallback*, b3Dispatcher* dispatcher);
|
|
|
|
virtual b3BroadphasePair* getOverlappingPairArrayPtr()
|
|
{
|
|
return &m_overlappingPairArray[0];
|
|
}
|
|
|
|
const b3BroadphasePair* getOverlappingPairArrayPtr() const
|
|
{
|
|
return &m_overlappingPairArray[0];
|
|
}
|
|
|
|
b3BroadphasePairArray& getOverlappingPairArray()
|
|
{
|
|
return m_overlappingPairArray;
|
|
}
|
|
|
|
const b3BroadphasePairArray& getOverlappingPairArray() const
|
|
{
|
|
return m_overlappingPairArray;
|
|
}
|
|
|
|
void cleanOverlappingPair(b3BroadphasePair& pair, b3Dispatcher* dispatcher);
|
|
|
|
b3BroadphasePair* findPair(int proxy0, int proxy1);
|
|
|
|
int GetCount() const { return m_overlappingPairArray.size(); }
|
|
// b3BroadphasePair* GetPairs() { return m_pairs; }
|
|
|
|
b3OverlapFilterCallback* getOverlapFilterCallback()
|
|
{
|
|
return m_overlapFilterCallback;
|
|
}
|
|
|
|
void setOverlapFilterCallback(b3OverlapFilterCallback* callback)
|
|
{
|
|
m_overlapFilterCallback = callback;
|
|
}
|
|
|
|
int getNumOverlappingPairs() const
|
|
{
|
|
return m_overlappingPairArray.size();
|
|
}
|
|
|
|
private:
|
|
b3BroadphasePair* internalAddPair(int proxy0, int proxy1);
|
|
|
|
void growTables();
|
|
|
|
B3_FORCE_INLINE bool equalsPair(const b3BroadphasePair& pair, int proxyId1, int proxyId2)
|
|
{
|
|
return pair.x == proxyId1 && pair.y == proxyId2;
|
|
}
|
|
|
|
/*
|
|
// Thomas Wang's hash, see: http://www.concentric.net/~Ttwang/tech/inthash.htm
|
|
// This assumes proxyId1 and proxyId2 are 16-bit.
|
|
B3_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;
|
|
}
|
|
*/
|
|
|
|
B3_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
|
|
{
|
|
int key = static_cast<int>(((unsigned int)proxyId1) | (((unsigned int)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 static_cast<unsigned int>(key);
|
|
}
|
|
|
|
B3_FORCE_INLINE b3BroadphasePair* internalFindPair(int proxy0, int proxy1, int hash)
|
|
{
|
|
int proxyId1 = proxy0;
|
|
int proxyId2 = proxy1;
|
|
#if 0 // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat.
|
|
if (proxyId1 > proxyId2)
|
|
b3Swap(proxyId1, proxyId2);
|
|
#endif
|
|
|
|
int index = m_hashTable[hash];
|
|
|
|
while (index != B3_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
|
|
{
|
|
index = m_next[index];
|
|
}
|
|
|
|
if (index == B3_NULL_PAIR)
|
|
{
|
|
return NULL;
|
|
}
|
|
|
|
b3Assert(index < m_overlappingPairArray.size());
|
|
|
|
return &m_overlappingPairArray[index];
|
|
}
|
|
|
|
virtual bool hasDeferredRemoval()
|
|
{
|
|
return false;
|
|
}
|
|
|
|
/* virtual void setInternalGhostPairCallback(b3OverlappingPairCallback* ghostPairCallback)
|
|
{
|
|
m_ghostPairCallback = ghostPairCallback;
|
|
}
|
|
*/
|
|
|
|
virtual void sortOverlappingPairs(b3Dispatcher* dispatcher);
|
|
|
|
protected:
|
|
b3AlignedObjectArray<int> m_hashTable;
|
|
b3AlignedObjectArray<int> m_next;
|
|
// b3OverlappingPairCallback* m_ghostPairCallback;
|
|
};
|
|
|
|
///b3SortedOverlappingPairCache maintains the objects with overlapping AABB
|
|
///Typically managed by the Broadphase, Axis3Sweep or b3SimpleBroadphase
|
|
class b3SortedOverlappingPairCache : public b3OverlappingPairCache
|
|
{
|
|
protected:
|
|
//avoid brute-force finding all the time
|
|
b3BroadphasePairArray 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
|
|
b3OverlapFilterCallback* m_overlapFilterCallback;
|
|
|
|
// b3OverlappingPairCallback* m_ghostPairCallback;
|
|
|
|
public:
|
|
b3SortedOverlappingPairCache();
|
|
virtual ~b3SortedOverlappingPairCache();
|
|
|
|
virtual void processAllOverlappingPairs(b3OverlapCallback*, b3Dispatcher* dispatcher);
|
|
|
|
void* removeOverlappingPair(int proxy0, int proxy1, b3Dispatcher* dispatcher);
|
|
|
|
void cleanOverlappingPair(b3BroadphasePair& pair, b3Dispatcher* dispatcher);
|
|
|
|
b3BroadphasePair* addOverlappingPair(int proxy0, int proxy1);
|
|
|
|
b3BroadphasePair* findPair(int proxy0, int proxy1);
|
|
|
|
void cleanProxyFromPairs(int proxy, b3Dispatcher* dispatcher);
|
|
|
|
virtual void removeOverlappingPairsContainingProxy(int proxy, b3Dispatcher* dispatcher);
|
|
|
|
inline bool needsBroadphaseCollision(int proxy0, int proxy1) const
|
|
{
|
|
if (m_overlapFilterCallback)
|
|
return m_overlapFilterCallback->needBroadphaseCollision(proxy0, proxy1);
|
|
|
|
bool collides = true; //(proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
|
|
//collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
|
|
|
|
return collides;
|
|
}
|
|
|
|
b3BroadphasePairArray& getOverlappingPairArray()
|
|
{
|
|
return m_overlappingPairArray;
|
|
}
|
|
|
|
const b3BroadphasePairArray& getOverlappingPairArray() const
|
|
{
|
|
return m_overlappingPairArray;
|
|
}
|
|
|
|
b3BroadphasePair* getOverlappingPairArrayPtr()
|
|
{
|
|
return &m_overlappingPairArray[0];
|
|
}
|
|
|
|
const b3BroadphasePair* getOverlappingPairArrayPtr() const
|
|
{
|
|
return &m_overlappingPairArray[0];
|
|
}
|
|
|
|
int getNumOverlappingPairs() const
|
|
{
|
|
return m_overlappingPairArray.size();
|
|
}
|
|
|
|
b3OverlapFilterCallback* getOverlapFilterCallback()
|
|
{
|
|
return m_overlapFilterCallback;
|
|
}
|
|
|
|
void setOverlapFilterCallback(b3OverlapFilterCallback* callback)
|
|
{
|
|
m_overlapFilterCallback = callback;
|
|
}
|
|
|
|
virtual bool hasDeferredRemoval()
|
|
{
|
|
return m_hasDeferredRemoval;
|
|
}
|
|
|
|
/* virtual void setInternalGhostPairCallback(b3OverlappingPairCallback* ghostPairCallback)
|
|
{
|
|
m_ghostPairCallback = ghostPairCallback;
|
|
}
|
|
*/
|
|
virtual void sortOverlappingPairs(b3Dispatcher* dispatcher);
|
|
};
|
|
|
|
///b3NullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and unit testing.
|
|
class b3NullPairCache : public b3OverlappingPairCache
|
|
{
|
|
b3BroadphasePairArray m_overlappingPairArray;
|
|
|
|
public:
|
|
virtual b3BroadphasePair* getOverlappingPairArrayPtr()
|
|
{
|
|
return &m_overlappingPairArray[0];
|
|
}
|
|
const b3BroadphasePair* getOverlappingPairArrayPtr() const
|
|
{
|
|
return &m_overlappingPairArray[0];
|
|
}
|
|
b3BroadphasePairArray& getOverlappingPairArray()
|
|
{
|
|
return m_overlappingPairArray;
|
|
}
|
|
|
|
virtual void cleanOverlappingPair(b3BroadphasePair& /*pair*/, b3Dispatcher* /*dispatcher*/)
|
|
{
|
|
}
|
|
|
|
virtual int getNumOverlappingPairs() const
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
virtual void cleanProxyFromPairs(int /*proxy*/, b3Dispatcher* /*dispatcher*/)
|
|
{
|
|
}
|
|
|
|
virtual void setOverlapFilterCallback(b3OverlapFilterCallback* /*callback*/)
|
|
{
|
|
}
|
|
|
|
virtual void processAllOverlappingPairs(b3OverlapCallback*, b3Dispatcher* /*dispatcher*/)
|
|
{
|
|
}
|
|
|
|
virtual b3BroadphasePair* findPair(int /*proxy0*/, int /*proxy1*/)
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
virtual bool hasDeferredRemoval()
|
|
{
|
|
return true;
|
|
}
|
|
|
|
// virtual void setInternalGhostPairCallback(b3OverlappingPairCallback* /* ghostPairCallback */)
|
|
// {
|
|
//
|
|
// }
|
|
|
|
virtual b3BroadphasePair* addOverlappingPair(int /*proxy0*/, int /*proxy1*/)
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
virtual void* removeOverlappingPair(int /*proxy0*/, int /*proxy1*/, b3Dispatcher* /*dispatcher*/)
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
virtual void removeOverlappingPairsContainingProxy(int /*proxy0*/, b3Dispatcher* /*dispatcher*/)
|
|
{
|
|
}
|
|
|
|
virtual void sortOverlappingPairs(b3Dispatcher* dispatcher)
|
|
{
|
|
(void)dispatcher;
|
|
}
|
|
};
|
|
|
|
#endif //B3_OVERLAPPING_PAIR_CACHE_H
|