148 lines
5.1 KiB
C++
148 lines
5.1 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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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_SIMPLE_BROADPHASE_H
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#define BT_SIMPLE_BROADPHASE_H
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#include "btOverlappingPairCache.h"
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struct btSimpleBroadphaseProxy : public btBroadphaseProxy
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{
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int m_nextFree;
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// int m_handleId;
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btSimpleBroadphaseProxy(){};
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btSimpleBroadphaseProxy(const btVector3& minpt, const btVector3& maxpt, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask)
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: btBroadphaseProxy(minpt, maxpt, userPtr, collisionFilterGroup, collisionFilterMask)
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{
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(void)shapeType;
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}
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SIMD_FORCE_INLINE void SetNextFree(int next) { m_nextFree = next; }
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SIMD_FORCE_INLINE int GetNextFree() const { return m_nextFree; }
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};
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///The SimpleBroadphase is just a unit-test for btAxisSweep3, bt32BitAxisSweep3, or btDbvtBroadphase, so use those classes instead.
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///It is a brute force aabb culling broadphase based on O(n^2) aabb checks
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class btSimpleBroadphase : public btBroadphaseInterface
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{
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protected:
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int m_numHandles; // number of active handles
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int m_maxHandles; // max number of handles
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int m_LastHandleIndex;
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btSimpleBroadphaseProxy* m_pHandles; // handles pool
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void* m_pHandlesRawPtr;
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int m_firstFreeHandle; // free handles list
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int allocHandle()
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{
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btAssert(m_numHandles < m_maxHandles);
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int freeHandle = m_firstFreeHandle;
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m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
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m_numHandles++;
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if (freeHandle > m_LastHandleIndex)
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{
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m_LastHandleIndex = freeHandle;
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}
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return freeHandle;
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}
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void freeHandle(btSimpleBroadphaseProxy* proxy)
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{
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int handle = int(proxy - m_pHandles);
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btAssert(handle >= 0 && handle < m_maxHandles);
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if (handle == m_LastHandleIndex)
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{
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m_LastHandleIndex--;
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}
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proxy->SetNextFree(m_firstFreeHandle);
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m_firstFreeHandle = handle;
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proxy->m_clientObject = 0;
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m_numHandles--;
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}
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btOverlappingPairCache* m_pairCache;
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bool m_ownsPairCache;
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int m_invalidPair;
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inline btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy)
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{
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btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxy);
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return proxy0;
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}
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inline const btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const
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{
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const btSimpleBroadphaseProxy* proxy0 = static_cast<const btSimpleBroadphaseProxy*>(proxy);
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return proxy0;
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}
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///reset broadphase internal structures, to ensure determinism/reproducability
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virtual void resetPool(btDispatcher* dispatcher);
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void validate();
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protected:
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public:
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btSimpleBroadphase(int maxProxies = 16384, btOverlappingPairCache* overlappingPairCache = 0);
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virtual ~btSimpleBroadphase();
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static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0, btSimpleBroadphaseProxy* proxy1);
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virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
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virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
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virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
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virtual void setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher);
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virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const;
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virtual void rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin = btVector3(0, 0, 0), const btVector3& aabbMax = btVector3(0, 0, 0));
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virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
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btOverlappingPairCache* getOverlappingPairCache()
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{
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return m_pairCache;
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}
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const btOverlappingPairCache* getOverlappingPairCache() const
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{
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return m_pairCache;
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}
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bool testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
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///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
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///will add some transform later
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virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const
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{
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aabbMin.setValue(-BT_LARGE_FLOAT, -BT_LARGE_FLOAT, -BT_LARGE_FLOAT);
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aabbMax.setValue(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
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}
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virtual void printStats()
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{
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// printf("btSimpleBroadphase.h\n");
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// printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
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}
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};
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#endif //BT_SIMPLE_BROADPHASE_H
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