114 lines
3.6 KiB
C++
114 lines
3.6 KiB
C++
/*
|
|
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 btAxisSweep3;
|
|
class btSimpleBroadphase;
|
|
|
|
|
|
typedef btAlignedObjectArray<btAxisSweep3*> btSapBroadphaseArray;
|
|
|
|
///multi SAP broadphase
|
|
///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;
|
|
|
|
btOverlapFilterCallback* m_filterCallback;
|
|
|
|
int m_invalidPair;
|
|
|
|
struct btChildProxy
|
|
{
|
|
btBroadphaseProxy* m_proxy;
|
|
btBroadphaseInterface* m_childBroadphase;
|
|
};
|
|
|
|
struct btMultiSapProxy : public btBroadphaseProxy
|
|
{
|
|
|
|
///array with all the entries that this proxy belongs to
|
|
btAlignedObjectArray<btChildProxy*> m_childProxies;
|
|
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)
|
|
:m_aabbMin(aabbMin),
|
|
m_aabbMax(aabbMax),
|
|
m_shapeType(shapeType),
|
|
m_userPtr(userPtr),
|
|
m_collisionFilterGroup(collisionFilterGroup),
|
|
m_collisionFilterMask(collisionFilterMask)
|
|
{
|
|
|
|
}
|
|
|
|
|
|
};
|
|
|
|
btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies;
|
|
|
|
public:
|
|
|
|
btMultiSapBroadphase(int maxProxies = 16384);
|
|
|
|
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);
|
|
virtual void destroyProxy(btBroadphaseProxy* proxy);
|
|
virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax);
|
|
|
|
///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
|
|
virtual void calculateOverlappingPairs();
|
|
|
|
bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
|
|
|
|
virtual btOverlappingPairCache* getOverlappingPairCache()
|
|
{
|
|
return m_overlappingPairs;
|
|
}
|
|
virtual const btOverlappingPairCache* getOverlappingPairCache() const
|
|
{
|
|
return m_overlappingPairs;
|
|
}
|
|
};
|
|
|
|
#endif //BT_MULTI_SAP_BROADPHASE
|