e12c89e8c9
Document version and how to extract sources in thirdparty/README.md. Drop unnecessary CMake and Premake files. Simplify SCsub, drop unused one.
206 lines
7.5 KiB
C++
206 lines
7.5 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.
|
|
*/
|
|
|
|
///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
|