187 lines
6.3 KiB
C++
187 lines
6.3 KiB
C++
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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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/// btSapBroadphaseArray m_sapBroadphases;
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/// btOverlappingPairCache* m_overlappingPairs;
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extern int gOverlappingPairs;
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btMultiSapBroadphase::btMultiSapBroadphase(int maxProxies)
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:m_invalidPair(0)
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{
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m_overlappingPairs = new btOverlappingPairCache();
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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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btMultiSapProxy* multiSapProxy0 = (btMultiSapProxy*)childProxy0->m_multiSapParentProxy;
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btMultiSapProxy* multiSapProxy1 = (btMultiSapProxy*)childProxy1->m_multiSapParentProxy;
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bool collides = (multiSapProxy0->m_collisionFilterGroup & multiSapProxy1->m_collisionFilterMask) != 0;
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collides = collides && (multiSapProxy1->m_collisionFilterGroup & multiSapProxy0->m_collisionFilterMask);
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return collides;
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}
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};
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m_filterCallback = new btMultiSapOverlapFilterCallback();
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m_overlappingPairs->setOverlapFilterCallback(m_filterCallback);
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m_simpleBroadphase = new btSimpleBroadphase(maxProxies,m_overlappingPairs);
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}
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btMultiSapBroadphase::~btMultiSapBroadphase()
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{
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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)
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{
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btMultiSapProxy* proxy = new btMultiSapProxy(aabbMin, aabbMax,shapeType,userPtr, collisionFilterGroup,collisionFilterMask);
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m_multiSapProxies.push_back(proxy);
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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* simpleProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask);
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simpleProxy->m_multiSapParentProxy = proxy;
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btChildProxy* childProxyRef = new btChildProxy();
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childProxyRef->m_proxy = simpleProxy;
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childProxyRef->m_childBroadphase = m_simpleBroadphase;
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proxy->m_childProxies.push_back(childProxyRef);
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///this should deal with inserting/removal into child broadphases
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setAabb(proxy,aabbMin,aabbMax);
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return proxy;
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}
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void btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* proxy)
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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::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax)
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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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for (int i=0;i<multiProxy->m_childProxies.size();i++)
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{
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btChildProxy* childProxyRef = multiProxy->m_childProxies[i];
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childProxyRef->m_childBroadphase->setAabb(childProxyRef->m_proxy,aabbMin,aabbMax);
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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()
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{
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m_simpleBroadphase->calculateOverlappingPairs();
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btBroadphasePairArray& overlappingPairArray = m_overlappingPairs->getOverlappingPairArray();
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//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
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overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
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overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
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m_invalidPair = 0;
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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;
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int i;
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for (i=0;i<overlappingPairArray.size();i++)
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{
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btBroadphasePair& pair = overlappingPairArray[i];
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bool isDuplicate = (pair == previousPair);
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previousPair = pair;
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bool needsRemoval = false;
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if (!isDuplicate)
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{
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bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
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if (hasOverlap)
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{
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needsRemoval = false;//callback->processOverlap(pair);
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} else
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{
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needsRemoval = true;
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}
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} else
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{
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//remove duplicate
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needsRemoval = true;
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//should have no algorithm
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btAssert(!pair.m_algorithm);
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}
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if (needsRemoval)
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{
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m_overlappingPairs->cleanOverlappingPair(pair);
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// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
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// m_overlappingPairArray.pop_back();
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pair.m_pProxy0 = 0;
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pair.m_pProxy1 = 0;
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m_invalidPair++;
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gOverlappingPairs--;
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}
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}
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///if you don't like to skip the invalid pairs in the array, execute following code:
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#define CLEAN_INVALID_PAIRS 1
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#ifdef CLEAN_INVALID_PAIRS
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//perform a sort, to sort 'invalid' pairs to the end
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overlappingPairArray.heapSort(btBroadphasePairSortPredicate());
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overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
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m_invalidPair = 0;
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#endif//CLEAN_INVALID_PAIRS
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}
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bool btMultiSapBroadphase::testAabbOverlap(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1)
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{
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btMultiSapProxy* multiSapProxy0 = (btMultiSapProxy*)childProxy0->m_multiSapParentProxy;
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btMultiSapProxy* multiSapProxy1 = (btMultiSapProxy*)childProxy1->m_multiSapParentProxy;
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return TestAabbAgainstAabb2(multiSapProxy0->m_aabbMin,multiSapProxy0->m_aabbMax,
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multiSapProxy1->m_aabbMin,multiSapProxy1->m_aabbMax);
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}
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