e12c89e8c9
Document version and how to extract sources in thirdparty/README.md. Drop unnecessary CMake and Premake files. Simplify SCsub, drop unused one.
148 lines
6.1 KiB
C++
148 lines
6.1 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2009 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.
|
|
*/
|
|
|
|
///btDbvtBroadphase implementation by Nathanael Presson
|
|
#ifndef BT_DBVT_BROADPHASE_H
|
|
#define BT_DBVT_BROADPHASE_H
|
|
|
|
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
|
|
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
|
|
|
|
//
|
|
// Compile time config
|
|
//
|
|
|
|
#define DBVT_BP_PROFILE 0
|
|
//#define DBVT_BP_SORTPAIRS 1
|
|
#define DBVT_BP_PREVENTFALSEUPDATE 0
|
|
#define DBVT_BP_ACCURATESLEEPING 0
|
|
#define DBVT_BP_ENABLE_BENCHMARK 0
|
|
#define DBVT_BP_MARGIN (btScalar)0.05
|
|
|
|
#if DBVT_BP_PROFILE
|
|
#define DBVT_BP_PROFILING_RATE 256
|
|
#include "LinearMath/btQuickprof.h"
|
|
#endif
|
|
|
|
//
|
|
// btDbvtProxy
|
|
//
|
|
struct btDbvtProxy : btBroadphaseProxy
|
|
{
|
|
/* Fields */
|
|
//btDbvtAabbMm aabb;
|
|
btDbvtNode* leaf;
|
|
btDbvtProxy* links[2];
|
|
int stage;
|
|
/* ctor */
|
|
btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr, int collisionFilterGroup, int collisionFilterMask) :
|
|
btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
|
|
{
|
|
links[0]=links[1]=0;
|
|
}
|
|
};
|
|
|
|
typedef btAlignedObjectArray<btDbvtProxy*> btDbvtProxyArray;
|
|
|
|
///The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see btDbvt).
|
|
///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 btAxisSweep3 and bt32BitAxisSweep3.
|
|
struct btDbvtBroadphase : btBroadphaseInterface
|
|
{
|
|
/* Config */
|
|
enum {
|
|
DYNAMIC_SET = 0, /* Dynamic set index */
|
|
FIXED_SET = 1, /* Fixed set index */
|
|
STAGECOUNT = 2 /* Number of stages */
|
|
};
|
|
/* Fields */
|
|
btDbvt m_sets[2]; // Dbvt sets
|
|
btDbvtProxy* m_stageRoots[STAGECOUNT+1]; // Stages list
|
|
btOverlappingPairCache* m_paircache; // Pair cache
|
|
btScalar 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
|
|
btScalar m_updates_ratio; // m_updates_done/m_updates_call
|
|
int m_pid; // Parse id
|
|
int m_cid; // Cleanup index
|
|
int m_gid; // Gen id
|
|
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?
|
|
btAlignedObjectArray< btAlignedObjectArray<const btDbvtNode*> > m_rayTestStacks;
|
|
#if DBVT_BP_PROFILE
|
|
btClock 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 */
|
|
btDbvtBroadphase(btOverlappingPairCache* paircache=0);
|
|
~btDbvtBroadphase();
|
|
void collide(btDispatcher* dispatcher);
|
|
void optimize();
|
|
|
|
/* btBroadphaseInterface Implementation */
|
|
btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr, int collisionFilterGroup, int collisionFilterMask,btDispatcher* dispatcher);
|
|
virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
|
|
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
|
|
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));
|
|
virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
|
|
|
|
virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
|
|
virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
|
|
virtual btOverlappingPairCache* getOverlappingPairCache();
|
|
virtual const btOverlappingPairCache* getOverlappingPairCache() const;
|
|
virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
|
|
virtual void printStats();
|
|
|
|
|
|
///reset broadphase internal structures, to ensure determinism/reproducability
|
|
virtual void resetPool(btDispatcher* dispatcher);
|
|
|
|
void performDeferredRemoval(btDispatcher* dispatcher);
|
|
|
|
void setVelocityPrediction(btScalar prediction)
|
|
{
|
|
m_prediction = prediction;
|
|
}
|
|
btScalar getVelocityPrediction() const
|
|
{
|
|
return m_prediction;
|
|
}
|
|
|
|
///this setAabbForceUpdate is similar to setAabb but always forces the aabb update.
|
|
///it is not part of the btBroadphaseInterface but specific to btDbvtBroadphase.
|
|
///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( btBroadphaseProxy* absproxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* /*dispatcher*/);
|
|
|
|
static void benchmark(btBroadphaseInterface*);
|
|
|
|
|
|
};
|
|
|
|
#endif
|