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