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Johxz
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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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#include "btMultiSapBroadphase.h"
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#include "btSimpleBroadphase.h"
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#include "LinearMath/btAabbUtil2.h"
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#include "btQuantizedBvh.h"
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/// btSapBroadphaseArray m_sapBroadphases;
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/// btOverlappingPairCache* m_overlappingPairs;
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extern int gOverlappingPairs;
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/*
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class btMultiSapSortedOverlappingPairCache : public btSortedOverlappingPairCache
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{
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public:
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virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
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{
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return btSortedOverlappingPairCache::addOverlappingPair((btBroadphaseProxy*)proxy0->m_multiSapParentProxy,(btBroadphaseProxy*)proxy1->m_multiSapParentProxy);
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}
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};
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*/
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btMultiSapBroadphase::btMultiSapBroadphase(int /*maxProxies*/,btOverlappingPairCache* pairCache)
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:m_overlappingPairs(pairCache),
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m_optimizedAabbTree(0),
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m_ownsPairCache(false),
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m_invalidPair(0)
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{
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if (!m_overlappingPairs)
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{
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m_ownsPairCache = true;
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void* mem = btAlignedAlloc(sizeof(btSortedOverlappingPairCache),16);
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m_overlappingPairs = new (mem)btSortedOverlappingPairCache();
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}
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struct btMultiSapOverlapFilterCallback : public btOverlapFilterCallback
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{
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virtual ~btMultiSapOverlapFilterCallback()
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{}
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// return true when pairs need collision
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virtual bool needBroadphaseCollision(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1) const
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{
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btBroadphaseProxy* multiProxy0 = (btBroadphaseProxy*)childProxy0->m_multiSapParentProxy;
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btBroadphaseProxy* multiProxy1 = (btBroadphaseProxy*)childProxy1->m_multiSapParentProxy;
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bool collides = (multiProxy0->m_collisionFilterGroup & multiProxy1->m_collisionFilterMask) != 0;
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collides = collides && (multiProxy1->m_collisionFilterGroup & multiProxy0->m_collisionFilterMask);
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return collides;
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}
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};
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void* mem = btAlignedAlloc(sizeof(btMultiSapOverlapFilterCallback),16);
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m_filterCallback = new (mem)btMultiSapOverlapFilterCallback();
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m_overlappingPairs->setOverlapFilterCallback(m_filterCallback);
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// mem = btAlignedAlloc(sizeof(btSimpleBroadphase),16);
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// m_simpleBroadphase = new (mem) btSimpleBroadphase(maxProxies,m_overlappingPairs);
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}
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btMultiSapBroadphase::~btMultiSapBroadphase()
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{
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if (m_ownsPairCache)
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{
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m_overlappingPairs->~btOverlappingPairCache();
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btAlignedFree(m_overlappingPairs);
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}
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}
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void btMultiSapBroadphase::buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax)
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{
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m_optimizedAabbTree = new btQuantizedBvh();
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m_optimizedAabbTree->setQuantizationValues(bvhAabbMin,bvhAabbMax);
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QuantizedNodeArray& nodes = m_optimizedAabbTree->getLeafNodeArray();
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for (int i=0;i<m_sapBroadphases.size();i++)
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{
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btQuantizedBvhNode node;
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btVector3 aabbMin,aabbMax;
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m_sapBroadphases[i]->getBroadphaseAabb(aabbMin,aabbMax);
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m_optimizedAabbTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
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m_optimizedAabbTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
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int partId = 0;
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node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | i;
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nodes.push_back(node);
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}
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m_optimizedAabbTree->buildInternal();
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}
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btBroadphaseProxy* btMultiSapBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* /*ignoreMe*/)
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{
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//void* ignoreMe -> we could think of recursive multi-sap, if someone is interested
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void* mem = btAlignedAlloc(sizeof(btMultiSapProxy),16);
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btMultiSapProxy* proxy = new (mem)btMultiSapProxy(aabbMin, aabbMax,shapeType,userPtr, collisionFilterGroup,collisionFilterMask);
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m_multiSapProxies.push_back(proxy);
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///this should deal with inserting/removal into child broadphases
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setAabb(proxy,aabbMin,aabbMax,dispatcher);
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return proxy;
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}
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void btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/)
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{
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///not yet
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btAssert(0);
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}
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void btMultiSapBroadphase::addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase)
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{
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void* mem = btAlignedAlloc(sizeof(btBridgeProxy),16);
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btBridgeProxy* bridgeProxyRef = new(mem) btBridgeProxy;
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bridgeProxyRef->m_childProxy = childProxy;
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bridgeProxyRef->m_childBroadphase = childBroadphase;
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parentMultiSapProxy->m_bridgeProxies.push_back(bridgeProxyRef);
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}
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bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax);
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bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax)
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{
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return
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amin.getX() >= bmin.getX() && amax.getX() <= bmax.getX() &&
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amin.getY() >= bmin.getY() && amax.getY() <= bmax.getY() &&
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amin.getZ() >= bmin.getZ() && amax.getZ() <= bmax.getZ();
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}
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void btMultiSapBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
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{
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btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
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aabbMin = multiProxy->m_aabbMin;
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aabbMax = multiProxy->m_aabbMax;
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}
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void btMultiSapBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin,const btVector3& aabbMax)
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{
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for (int i=0;i<m_multiSapProxies.size();i++)
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{
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rayCallback.process(m_multiSapProxies[i]);
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}
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}
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//#include <stdio.h>
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void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
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{
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btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
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multiProxy->m_aabbMin = aabbMin;
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multiProxy->m_aabbMax = aabbMax;
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// bool fullyContained = false;
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// bool alreadyInSimple = false;
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struct MyNodeOverlapCallback : public btNodeOverlapCallback
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{
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btMultiSapBroadphase* m_multiSap;
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btMultiSapProxy* m_multiProxy;
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btDispatcher* m_dispatcher;
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MyNodeOverlapCallback(btMultiSapBroadphase* multiSap,btMultiSapProxy* multiProxy,btDispatcher* dispatcher)
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:m_multiSap(multiSap),
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m_multiProxy(multiProxy),
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m_dispatcher(dispatcher)
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{
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}
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virtual void processNode(int /*nodeSubPart*/, int broadphaseIndex)
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{
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btBroadphaseInterface* childBroadphase = m_multiSap->getBroadphaseArray()[broadphaseIndex];
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int containingBroadphaseIndex = -1;
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//already found?
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for (int i=0;i<m_multiProxy->m_bridgeProxies.size();i++)
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{
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if (m_multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
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{
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containingBroadphaseIndex = i;
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break;
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}
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}
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if (containingBroadphaseIndex<0)
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{
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//add it
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btBroadphaseProxy* childProxy = childBroadphase->createProxy(m_multiProxy->m_aabbMin,m_multiProxy->m_aabbMax,m_multiProxy->m_shapeType,m_multiProxy->m_clientObject,m_multiProxy->m_collisionFilterGroup,m_multiProxy->m_collisionFilterMask, m_dispatcher,m_multiProxy);
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m_multiSap->addToChildBroadphase(m_multiProxy,childProxy,childBroadphase);
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}
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}
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};
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MyNodeOverlapCallback myNodeCallback(this,multiProxy,dispatcher);
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if (m_optimizedAabbTree)
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m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
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int i;
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for ( i=0;i<multiProxy->m_bridgeProxies.size();i++)
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{
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btVector3 worldAabbMin,worldAabbMax;
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multiProxy->m_bridgeProxies[i]->m_childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
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bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
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if (!overlapsBroadphase)
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{
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//remove it now
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btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[i];
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btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
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bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
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multiProxy->m_bridgeProxies.swap( i,multiProxy->m_bridgeProxies.size()-1);
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multiProxy->m_bridgeProxies.pop_back();
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}
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}
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/*
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if (1)
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{
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//find broadphase that contain this multiProxy
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int numChildBroadphases = getBroadphaseArray().size();
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for (int i=0;i<numChildBroadphases;i++)
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{
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btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
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btVector3 worldAabbMin,worldAabbMax;
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childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
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bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
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// fullyContained = fullyContained || boxIsContainedWithinBox(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
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int containingBroadphaseIndex = -1;
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//if already contains this
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for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
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{
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if (multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
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{
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containingBroadphaseIndex = i;
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}
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alreadyInSimple = alreadyInSimple || (multiProxy->m_bridgeProxies[i]->m_childBroadphase == m_simpleBroadphase);
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}
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if (overlapsBroadphase)
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{
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if (containingBroadphaseIndex<0)
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{
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btBroadphaseProxy* childProxy = childBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
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childProxy->m_multiSapParentProxy = multiProxy;
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addToChildBroadphase(multiProxy,childProxy,childBroadphase);
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}
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} else
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{
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if (containingBroadphaseIndex>=0)
|
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{
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//remove
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btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[containingBroadphaseIndex];
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btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
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bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
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multiProxy->m_bridgeProxies.swap( containingBroadphaseIndex,multiProxy->m_bridgeProxies.size()-1);
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multiProxy->m_bridgeProxies.pop_back();
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}
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}
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}
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///If we are in no other child broadphase, stick the proxy in the global 'simple' broadphase (brute force)
|
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///hopefully we don't end up with many entries here (can assert/provide feedback on stats)
|
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if (0)//!multiProxy->m_bridgeProxies.size())
|
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{
|
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///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
|
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///this is needed to be able to calculate the aabb overlap
|
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btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
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childProxy->m_multiSapParentProxy = multiProxy;
|
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addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
|
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}
|
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}
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|
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if (!multiProxy->m_bridgeProxies.size())
|
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{
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///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
|
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///this is needed to be able to calculate the aabb overlap
|
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btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
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childProxy->m_multiSapParentProxy = multiProxy;
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addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
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}
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*/
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//update
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for ( i=0;i<multiProxy->m_bridgeProxies.size();i++)
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{
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btBridgeProxy* bridgeProxyRef = multiProxy->m_bridgeProxies[i];
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bridgeProxyRef->m_childBroadphase->setAabb(bridgeProxyRef->m_childProxy,aabbMin,aabbMax,dispatcher);
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}
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}
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bool stopUpdating=false;
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class btMultiSapBroadphasePairSortPredicate
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{
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public:
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bool operator() ( const btBroadphasePair& a1, const btBroadphasePair& b1 ) const
|
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{
|
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btMultiSapBroadphase::btMultiSapProxy* aProxy0 = a1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy0->m_multiSapParentProxy : 0;
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btMultiSapBroadphase::btMultiSapProxy* aProxy1 = a1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy1->m_multiSapParentProxy : 0;
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btMultiSapBroadphase::btMultiSapProxy* bProxy0 = b1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy0->m_multiSapParentProxy : 0;
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btMultiSapBroadphase::btMultiSapProxy* bProxy1 = b1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy1->m_multiSapParentProxy : 0;
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||||
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return aProxy0 > bProxy0 ||
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(aProxy0 == bProxy0 && aProxy1 > bProxy1) ||
|
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(aProxy0 == bProxy0 && aProxy1 == bProxy1 && a1.m_algorithm > b1.m_algorithm);
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}
|
||||
};
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||||
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||||
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///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
|
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void btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
|
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{
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// m_simpleBroadphase->calculateOverlappingPairs(dispatcher);
|
||||
|
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if (!stopUpdating && getOverlappingPairCache()->hasDeferredRemoval())
|
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{
|
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btBroadphasePairArray& overlappingPairArray = getOverlappingPairCache()->getOverlappingPairArray();
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// quicksort(overlappingPairArray,0,overlappingPairArray.size());
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overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
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//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
|
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// overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
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overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
|
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m_invalidPair = 0;
|
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|
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int i;
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|
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btBroadphasePair previousPair;
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previousPair.m_pProxy0 = 0;
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previousPair.m_pProxy1 = 0;
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previousPair.m_algorithm = 0;
|
||||
|
||||
|
||||
for (i=0;i<overlappingPairArray.size();i++)
|
||||
{
|
||||
|
||||
btBroadphasePair& pair = overlappingPairArray[i];
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|
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btMultiSapProxy* aProxy0 = pair.m_pProxy0 ? (btMultiSapProxy*)pair.m_pProxy0->m_multiSapParentProxy : 0;
|
||||
btMultiSapProxy* aProxy1 = pair.m_pProxy1 ? (btMultiSapProxy*)pair.m_pProxy1->m_multiSapParentProxy : 0;
|
||||
btMultiSapProxy* bProxy0 = previousPair.m_pProxy0 ? (btMultiSapProxy*)previousPair.m_pProxy0->m_multiSapParentProxy : 0;
|
||||
btMultiSapProxy* bProxy1 = previousPair.m_pProxy1 ? (btMultiSapProxy*)previousPair.m_pProxy1->m_multiSapParentProxy : 0;
|
||||
|
||||
bool isDuplicate = (aProxy0 == bProxy0) && (aProxy1 == bProxy1);
|
||||
|
||||
previousPair = pair;
|
||||
|
||||
bool needsRemoval = false;
|
||||
|
||||
if (!isDuplicate)
|
||||
{
|
||||
bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
|
||||
|
||||
if (hasOverlap)
|
||||
{
|
||||
needsRemoval = false;//callback->processOverlap(pair);
|
||||
} else
|
||||
{
|
||||
needsRemoval = true;
|
||||
}
|
||||
} else
|
||||
{
|
||||
//remove duplicate
|
||||
needsRemoval = true;
|
||||
//should have no algorithm
|
||||
btAssert(!pair.m_algorithm);
|
||||
}
|
||||
|
||||
if (needsRemoval)
|
||||
{
|
||||
getOverlappingPairCache()->cleanOverlappingPair(pair,dispatcher);
|
||||
|
||||
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
|
||||
// m_overlappingPairArray.pop_back();
|
||||
pair.m_pProxy0 = 0;
|
||||
pair.m_pProxy1 = 0;
|
||||
m_invalidPair++;
|
||||
gOverlappingPairs--;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
///if you don't like to skip the invalid pairs in the array, execute following code:
|
||||
#define CLEAN_INVALID_PAIRS 1
|
||||
#ifdef CLEAN_INVALID_PAIRS
|
||||
|
||||
//perform a sort, to sort 'invalid' pairs to the end
|
||||
//overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
|
||||
overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
|
||||
|
||||
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
|
||||
m_invalidPair = 0;
|
||||
#endif//CLEAN_INVALID_PAIRS
|
||||
|
||||
//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
bool btMultiSapBroadphase::testAabbOverlap(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1)
|
||||
{
|
||||
btMultiSapProxy* multiSapProxy0 = (btMultiSapProxy*)childProxy0->m_multiSapParentProxy;
|
||||
btMultiSapProxy* multiSapProxy1 = (btMultiSapProxy*)childProxy1->m_multiSapParentProxy;
|
||||
|
||||
return TestAabbAgainstAabb2(multiSapProxy0->m_aabbMin,multiSapProxy0->m_aabbMax,
|
||||
multiSapProxy1->m_aabbMin,multiSapProxy1->m_aabbMax);
|
||||
|
||||
}
|
||||
|
||||
|
||||
void btMultiSapBroadphase::printStats()
|
||||
{
|
||||
/* printf("---------------------------------\n");
|
||||
|
||||
printf("btMultiSapBroadphase.h\n");
|
||||
printf("numHandles = %d\n",m_multiSapProxies.size());
|
||||
//find broadphase that contain this multiProxy
|
||||
int numChildBroadphases = getBroadphaseArray().size();
|
||||
for (int i=0;i<numChildBroadphases;i++)
|
||||
{
|
||||
|
||||
btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
|
||||
childBroadphase->printStats();
|
||||
|
||||
}
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
void btMultiSapBroadphase::resetPool(btDispatcher* dispatcher)
|
||||
{
|
||||
// not yet
|
||||
}
|
||||
|
|
@ -1,151 +0,0 @@
|
|||
/*
|
||||
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_MULTI_SAP_BROADPHASE
|
||||
#define BT_MULTI_SAP_BROADPHASE
|
||||
|
||||
#include "btBroadphaseInterface.h"
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
#include "btOverlappingPairCache.h"
|
||||
|
||||
|
||||
class btBroadphaseInterface;
|
||||
class btSimpleBroadphase;
|
||||
|
||||
|
||||
typedef btAlignedObjectArray<btBroadphaseInterface*> btSapBroadphaseArray;
|
||||
|
||||
///The btMultiSapBroadphase is a research project, not recommended to use in production. Use btAxisSweep3 or btDbvtBroadphase instead.
|
||||
///The btMultiSapBroadphase is a broadphase that contains multiple SAP broadphases.
|
||||
///The user can add SAP broadphases that cover the world. A btBroadphaseProxy can be in multiple child broadphases at the same time.
|
||||
///A btQuantizedBvh acceleration structures finds overlapping SAPs for each btBroadphaseProxy.
|
||||
///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328
|
||||
///and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
|
||||
class btMultiSapBroadphase :public btBroadphaseInterface
|
||||
{
|
||||
btSapBroadphaseArray m_sapBroadphases;
|
||||
|
||||
btSimpleBroadphase* m_simpleBroadphase;
|
||||
|
||||
btOverlappingPairCache* m_overlappingPairs;
|
||||
|
||||
class btQuantizedBvh* m_optimizedAabbTree;
|
||||
|
||||
|
||||
bool m_ownsPairCache;
|
||||
|
||||
btOverlapFilterCallback* m_filterCallback;
|
||||
|
||||
int m_invalidPair;
|
||||
|
||||
struct btBridgeProxy
|
||||
{
|
||||
btBroadphaseProxy* m_childProxy;
|
||||
btBroadphaseInterface* m_childBroadphase;
|
||||
};
|
||||
|
||||
|
||||
public:
|
||||
|
||||
struct btMultiSapProxy : public btBroadphaseProxy
|
||||
{
|
||||
|
||||
///array with all the entries that this proxy belongs to
|
||||
btAlignedObjectArray<btBridgeProxy*> m_bridgeProxies;
|
||||
btVector3 m_aabbMin;
|
||||
btVector3 m_aabbMax;
|
||||
|
||||
int m_shapeType;
|
||||
|
||||
/* void* m_userPtr;
|
||||
short int m_collisionFilterGroup;
|
||||
short int m_collisionFilterMask;
|
||||
*/
|
||||
btMultiSapProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
|
||||
:btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask),
|
||||
m_aabbMin(aabbMin),
|
||||
m_aabbMax(aabbMax),
|
||||
m_shapeType(shapeType)
|
||||
{
|
||||
m_multiSapParentProxy =this;
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
protected:
|
||||
|
||||
|
||||
btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies;
|
||||
|
||||
public:
|
||||
|
||||
btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0);
|
||||
|
||||
|
||||
btSapBroadphaseArray& getBroadphaseArray()
|
||||
{
|
||||
return m_sapBroadphases;
|
||||
}
|
||||
|
||||
const btSapBroadphaseArray& getBroadphaseArray() const
|
||||
{
|
||||
return m_sapBroadphases;
|
||||
}
|
||||
|
||||
virtual ~btMultiSapBroadphase();
|
||||
|
||||
virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
|
||||
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
|
||||
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
|
||||
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
|
||||
|
||||
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));
|
||||
|
||||
void addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase);
|
||||
|
||||
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
|
||||
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
|
||||
|
||||
bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
|
||||
|
||||
virtual btOverlappingPairCache* getOverlappingPairCache()
|
||||
{
|
||||
return m_overlappingPairs;
|
||||
}
|
||||
virtual const btOverlappingPairCache* getOverlappingPairCache() const
|
||||
{
|
||||
return m_overlappingPairs;
|
||||
}
|
||||
|
||||
///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
|
||||
///will add some transform later
|
||||
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
|
||||
{
|
||||
aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
|
||||
aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
|
||||
}
|
||||
|
||||
void buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax);
|
||||
|
||||
virtual void printStats();
|
||||
|
||||
void quicksort (btBroadphasePairArray& a, int lo, int hi);
|
||||
|
||||
///reset broadphase internal structures, to ensure determinism/reproducability
|
||||
virtual void resetPool(btDispatcher* dispatcher);
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_MULTI_SAP_BROADPHASE
|
||||
Loading…
Add table
Add a link
Reference in a new issue