154 lines
5.5 KiB
C++
154 lines
5.5 KiB
C++
//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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//
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// btAxisSweep3.h
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//
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// Copyright (c) 2006 Simon Hobbs
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//
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// 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.
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//
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// 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:
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//
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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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//
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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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//
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// 3. This notice may not be removed or altered from any source distribution.
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#ifndef AXIS_SWEEP_3_H
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#define AXIS_SWEEP_3_H
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#include "LinearMath/btPoint3.h"
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#include "LinearMath/btVector3.h"
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#include "btOverlappingPairCache.h"
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#include "btBroadphaseInterface.h"
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#include "btBroadphaseProxy.h"
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//Enable BP_USE_FIXEDPOINT_INT_32 if you need more then 32767 objects
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//#define BP_USE_FIXEDPOINT_INT_32 1
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#ifdef BP_USE_FIXEDPOINT_INT_32
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#define BP_FP_INT_TYPE unsigned int
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#define BP_MAX_HANDLES 1500000 //arbitrary maximum number of handles
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#define BP_HANDLE_SENTINEL 0x7fffffff
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#define BP_HANDLE_MASK 0xfffffffe
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#else
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#define BP_FP_INT_TYPE unsigned short int
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#define BP_MAX_HANDLES 32767
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#define BP_HANDLE_SENTINEL 0xffff
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#define BP_HANDLE_MASK 0xfffe
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#endif //BP_USE_FIXEDPOINT_INT_32
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//#define DEBUG_BROADPHASE 1
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/// btAxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase.
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/// It uses arrays rather then lists for storage of the 3 axis. Also it operates using integer coordinates instead of floats.
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/// The testOverlap check is optimized to check the array index, rather then the actual AABB coordinates/pos
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class btAxisSweep3 : public btBroadphaseInterface
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{
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public:
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class Edge
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{
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public:
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BP_FP_INT_TYPE m_pos; // low bit is min/max
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BP_FP_INT_TYPE m_handle;
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BP_FP_INT_TYPE IsMax() const {return m_pos & 1;}
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};
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public:
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class Handle : public btBroadphaseProxy
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{
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public:
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// indexes into the edge arrays
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BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12
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BP_FP_INT_TYPE m_handleId;
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BP_FP_INT_TYPE m_pad;
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//void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
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inline void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;}
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inline BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];}
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}; // 24 bytes + 24 for Edge structures = 44 bytes total per entry
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protected:
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btPoint3 m_worldAabbMin; // overall system bounds
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btPoint3 m_worldAabbMax; // overall system bounds
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btVector3 m_quantize; // scaling factor for quantization
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BP_FP_INT_TYPE m_numHandles; // number of active handles
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int m_maxHandles; // max number of handles
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Handle* m_pHandles; // handles pool
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BP_FP_INT_TYPE m_firstFreeHandle; // free handles list
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Edge* m_pEdges[3]; // edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries)
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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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// allocation/deallocation
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BP_FP_INT_TYPE allocHandle();
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void freeHandle(BP_FP_INT_TYPE handle);
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bool testOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB);
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#ifdef DEBUG_BROADPHASE
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void debugPrintAxis(int axis,bool checkCardinality=true);
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#endif //DEBUG_BROADPHASE
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//Overlap* AddOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
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//void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
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void quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const;
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void sortMinDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
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void sortMinUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
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void sortMaxDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
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void sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
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public:
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btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles = 16384, btOverlappingPairCache* pairCache=0);
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virtual ~btAxisSweep3();
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virtual void calculateOverlappingPairs();
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BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask);
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void removeHandle(BP_FP_INT_TYPE handle);
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void updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax);
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inline Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;}
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void processAllOverlappingPairs(btOverlapCallback* callback);
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//Broadphase Interface
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virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
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virtual void destroyProxy(btBroadphaseProxy* proxy);
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virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax);
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bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
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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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};
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#endif
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