470 lines
13 KiB
C
470 lines
13 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 OVERLAPPING_PAIR_CACHE_H
|
||
|
|
#define OVERLAPPING_PAIR_CACHE_H
|
||
|
|
|
||
|
|
|
||
|
|
#include "btBroadphaseInterface.h"
|
||
|
|
#include "btBroadphaseProxy.h"
|
||
|
|
#include "btOverlappingPairCallback.h"
|
||
|
|
|
||
|
|
#include "LinearMath/btAlignedObjectArray.h"
|
||
|
|
class btDispatcher;
|
||
|
|
|
||
|
|
typedef btAlignedObjectArray<btBroadphasePair> btBroadphasePairArray;
|
||
|
|
|
||
|
|
struct btOverlapCallback
|
||
|
|
{
|
||
|
|
virtual ~btOverlapCallback()
|
||
|
|
{}
|
||
|
|
//return true for deletion of the pair
|
||
|
|
virtual bool processOverlap(btBroadphasePair& pair) = 0;
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
struct btOverlapFilterCallback
|
||
|
|
{
|
||
|
|
virtual ~btOverlapFilterCallback()
|
||
|
|
{}
|
||
|
|
// return true when pairs need collision
|
||
|
|
virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const = 0;
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
extern int gRemovePairs;
|
||
|
|
extern int gAddedPairs;
|
||
|
|
extern int gFindPairs;
|
||
|
|
|
||
|
|
const int BT_NULL_PAIR=0xffffffff;
|
||
|
|
|
||
|
|
///The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
|
||
|
|
///The btHashedOverlappingPairCache and btSortedOverlappingPairCache classes are two implementations.
|
||
|
|
class btOverlappingPairCache : public btOverlappingPairCallback
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
virtual ~btOverlappingPairCache() {} // this is needed so we can get to the derived class destructor
|
||
|
|
|
||
|
|
virtual btBroadphasePair* getOverlappingPairArrayPtr() = 0;
|
||
|
|
|
||
|
|
virtual const btBroadphasePair* getOverlappingPairArrayPtr() const = 0;
|
||
|
|
|
||
|
|
virtual btBroadphasePairArray& getOverlappingPairArray() = 0;
|
||
|
|
|
||
|
|
virtual void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) = 0;
|
||
|
|
|
||
|
|
virtual int getNumOverlappingPairs() const = 0;
|
||
|
|
|
||
|
|
virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) = 0;
|
||
|
|
|
||
|
|
virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0;
|
||
|
|
|
||
|
|
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher) = 0;
|
||
|
|
|
||
|
|
virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0;
|
||
|
|
|
||
|
|
virtual bool hasDeferredRemoval() = 0;
|
||
|
|
|
||
|
|
virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)=0;
|
||
|
|
|
||
|
|
virtual void sortOverlappingPairs(btDispatcher* dispatcher) = 0;
|
||
|
|
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
/// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
|
||
|
|
class btHashedOverlappingPairCache : public btOverlappingPairCache
|
||
|
|
{
|
||
|
|
btBroadphasePairArray m_overlappingPairArray;
|
||
|
|
btOverlapFilterCallback* m_overlapFilterCallback;
|
||
|
|
bool m_blockedForChanges;
|
||
|
|
|
||
|
|
|
||
|
|
public:
|
||
|
|
btHashedOverlappingPairCache();
|
||
|
|
virtual ~btHashedOverlappingPairCache();
|
||
|
|
|
||
|
|
|
||
|
|
void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
|
||
|
|
|
||
|
|
virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
|
||
|
|
|
||
|
|
SIMD_FORCE_INLINE bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
|
||
|
|
{
|
||
|
|
if (m_overlapFilterCallback)
|
||
|
|
return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
|
||
|
|
|
||
|
|
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
|
||
|
|
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
|
||
|
|
|
||
|
|
return collides;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Add a pair and return the new pair. If the pair already exists,
|
||
|
|
// no new pair is created and the old one is returned.
|
||
|
|
virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
|
||
|
|
{
|
||
|
|
gAddedPairs++;
|
||
|
|
|
||
|
|
if (!needsBroadphaseCollision(proxy0,proxy1))
|
||
|
|
return 0;
|
||
|
|
|
||
|
|
return internalAddPair(proxy0,proxy1);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
|
||
|
|
|
||
|
|
|
||
|
|
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
|
||
|
|
|
||
|
|
virtual btBroadphasePair* getOverlappingPairArrayPtr()
|
||
|
|
{
|
||
|
|
return &m_overlappingPairArray[0];
|
||
|
|
}
|
||
|
|
|
||
|
|
const btBroadphasePair* getOverlappingPairArrayPtr() const
|
||
|
|
{
|
||
|
|
return &m_overlappingPairArray[0];
|
||
|
|
}
|
||
|
|
|
||
|
|
btBroadphasePairArray& getOverlappingPairArray()
|
||
|
|
{
|
||
|
|
return m_overlappingPairArray;
|
||
|
|
}
|
||
|
|
|
||
|
|
const btBroadphasePairArray& getOverlappingPairArray() const
|
||
|
|
{
|
||
|
|
return m_overlappingPairArray;
|
||
|
|
}
|
||
|
|
|
||
|
|
void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
|
||
|
|
|
||
|
|
int GetCount() const { return m_overlappingPairArray.size(); }
|
||
|
|
// btBroadphasePair* GetPairs() { return m_pairs; }
|
||
|
|
|
||
|
|
btOverlapFilterCallback* getOverlapFilterCallback()
|
||
|
|
{
|
||
|
|
return m_overlapFilterCallback;
|
||
|
|
}
|
||
|
|
|
||
|
|
void setOverlapFilterCallback(btOverlapFilterCallback* callback)
|
||
|
|
{
|
||
|
|
m_overlapFilterCallback = callback;
|
||
|
|
}
|
||
|
|
|
||
|
|
int getNumOverlappingPairs() const
|
||
|
|
{
|
||
|
|
return m_overlappingPairArray.size();
|
||
|
|
}
|
||
|
|
private:
|
||
|
|
|
||
|
|
btBroadphasePair* internalAddPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
|
||
|
|
|
||
|
|
void growTables();
|
||
|
|
|
||
|
|
SIMD_FORCE_INLINE bool equalsPair(const btBroadphasePair& pair, int proxyId1, int proxyId2)
|
||
|
|
{
|
||
|
|
return pair.m_pProxy0->getUid() == proxyId1 && pair.m_pProxy1->getUid() == proxyId2;
|
||
|
|
}
|
||
|
|
|
||
|
|
/*
|
||
|
|
// Thomas Wang's hash, see: http://www.concentric.net/~Ttwang/tech/inthash.htm
|
||
|
|
// This assumes proxyId1 and proxyId2 are 16-bit.
|
||
|
|
SIMD_FORCE_INLINE int getHash(int proxyId1, int proxyId2)
|
||
|
|
{
|
||
|
|
int key = (proxyId2 << 16) | proxyId1;
|
||
|
|
key = ~key + (key << 15);
|
||
|
|
key = key ^ (key >> 12);
|
||
|
|
key = key + (key << 2);
|
||
|
|
key = key ^ (key >> 4);
|
||
|
|
key = key * 2057;
|
||
|
|
key = key ^ (key >> 16);
|
||
|
|
return key;
|
||
|
|
}
|
||
|
|
*/
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
|
||
|
|
{
|
||
|
|
int key = static_cast<int>(((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16));
|
||
|
|
// Thomas Wang's hash
|
||
|
|
|
||
|
|
key += ~(key << 15);
|
||
|
|
key ^= (key >> 10);
|
||
|
|
key += (key << 3);
|
||
|
|
key ^= (key >> 6);
|
||
|
|
key += ~(key << 11);
|
||
|
|
key ^= (key >> 16);
|
||
|
|
return static_cast<unsigned int>(key);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, int hash)
|
||
|
|
{
|
||
|
|
int proxyId1 = proxy0->getUid();
|
||
|
|
int proxyId2 = proxy1->getUid();
|
||
|
|
#if 0 // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat.
|
||
|
|
if (proxyId1 > proxyId2)
|
||
|
|
btSwap(proxyId1, proxyId2);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
int index = m_hashTable[hash];
|
||
|
|
|
||
|
|
while( index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
|
||
|
|
{
|
||
|
|
index = m_next[index];
|
||
|
|
}
|
||
|
|
|
||
|
|
if ( index == BT_NULL_PAIR )
|
||
|
|
{
|
||
|
|
return NULL;
|
||
|
|
}
|
||
|
|
|
||
|
|
btAssert(index < m_overlappingPairArray.size());
|
||
|
|
|
||
|
|
return &m_overlappingPairArray[index];
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual bool hasDeferredRemoval()
|
||
|
|
{
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)
|
||
|
|
{
|
||
|
|
m_ghostPairCallback = ghostPairCallback;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void sortOverlappingPairs(btDispatcher* dispatcher);
|
||
|
|
|
||
|
|
|
||
|
|
protected:
|
||
|
|
|
||
|
|
btAlignedObjectArray<int> m_hashTable;
|
||
|
|
btAlignedObjectArray<int> m_next;
|
||
|
|
btOverlappingPairCallback* m_ghostPairCallback;
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
///btSortedOverlappingPairCache maintains the objects with overlapping AABB
|
||
|
|
///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase
|
||
|
|
class btSortedOverlappingPairCache : public btOverlappingPairCache
|
||
|
|
{
|
||
|
|
protected:
|
||
|
|
//avoid brute-force finding all the time
|
||
|
|
btBroadphasePairArray m_overlappingPairArray;
|
||
|
|
|
||
|
|
//during the dispatch, check that user doesn't destroy/create proxy
|
||
|
|
bool m_blockedForChanges;
|
||
|
|
|
||
|
|
///by default, do the removal during the pair traversal
|
||
|
|
bool m_hasDeferredRemoval;
|
||
|
|
|
||
|
|
//if set, use the callback instead of the built in filter in needBroadphaseCollision
|
||
|
|
btOverlapFilterCallback* m_overlapFilterCallback;
|
||
|
|
|
||
|
|
btOverlappingPairCallback* m_ghostPairCallback;
|
||
|
|
|
||
|
|
public:
|
||
|
|
|
||
|
|
btSortedOverlappingPairCache();
|
||
|
|
virtual ~btSortedOverlappingPairCache();
|
||
|
|
|
||
|
|
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
|
||
|
|
|
||
|
|
void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
|
||
|
|
|
||
|
|
void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
|
||
|
|
|
||
|
|
btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
|
||
|
|
|
||
|
|
btBroadphasePair* findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
|
||
|
|
|
||
|
|
|
||
|
|
void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
|
||
|
|
|
||
|
|
void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
|
||
|
|
|
||
|
|
|
||
|
|
inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
|
||
|
|
{
|
||
|
|
if (m_overlapFilterCallback)
|
||
|
|
return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
|
||
|
|
|
||
|
|
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
|
||
|
|
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
|
||
|
|
|
||
|
|
return collides;
|
||
|
|
}
|
||
|
|
|
||
|
|
btBroadphasePairArray& getOverlappingPairArray()
|
||
|
|
{
|
||
|
|
return m_overlappingPairArray;
|
||
|
|
}
|
||
|
|
|
||
|
|
const btBroadphasePairArray& getOverlappingPairArray() const
|
||
|
|
{
|
||
|
|
return m_overlappingPairArray;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
btBroadphasePair* getOverlappingPairArrayPtr()
|
||
|
|
{
|
||
|
|
return &m_overlappingPairArray[0];
|
||
|
|
}
|
||
|
|
|
||
|
|
const btBroadphasePair* getOverlappingPairArrayPtr() const
|
||
|
|
{
|
||
|
|
return &m_overlappingPairArray[0];
|
||
|
|
}
|
||
|
|
|
||
|
|
int getNumOverlappingPairs() const
|
||
|
|
{
|
||
|
|
return m_overlappingPairArray.size();
|
||
|
|
}
|
||
|
|
|
||
|
|
btOverlapFilterCallback* getOverlapFilterCallback()
|
||
|
|
{
|
||
|
|
return m_overlapFilterCallback;
|
||
|
|
}
|
||
|
|
|
||
|
|
void setOverlapFilterCallback(btOverlapFilterCallback* callback)
|
||
|
|
{
|
||
|
|
m_overlapFilterCallback = callback;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual bool hasDeferredRemoval()
|
||
|
|
{
|
||
|
|
return m_hasDeferredRemoval;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)
|
||
|
|
{
|
||
|
|
m_ghostPairCallback = ghostPairCallback;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void sortOverlappingPairs(btDispatcher* dispatcher);
|
||
|
|
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
///btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and unit testing.
|
||
|
|
class btNullPairCache : public btOverlappingPairCache
|
||
|
|
{
|
||
|
|
|
||
|
|
btBroadphasePairArray m_overlappingPairArray;
|
||
|
|
|
||
|
|
public:
|
||
|
|
|
||
|
|
virtual btBroadphasePair* getOverlappingPairArrayPtr()
|
||
|
|
{
|
||
|
|
return &m_overlappingPairArray[0];
|
||
|
|
}
|
||
|
|
const btBroadphasePair* getOverlappingPairArrayPtr() const
|
||
|
|
{
|
||
|
|
return &m_overlappingPairArray[0];
|
||
|
|
}
|
||
|
|
btBroadphasePairArray& getOverlappingPairArray()
|
||
|
|
{
|
||
|
|
return m_overlappingPairArray;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void cleanOverlappingPair(btBroadphasePair& /*pair*/,btDispatcher* /*dispatcher*/)
|
||
|
|
{
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual int getNumOverlappingPairs() const
|
||
|
|
{
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void cleanProxyFromPairs(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/)
|
||
|
|
{
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* /*dispatcher*/)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual btBroadphasePair* findPair(btBroadphaseProxy* /*proxy0*/, btBroadphaseProxy* /*proxy1*/)
|
||
|
|
{
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual bool hasDeferredRemoval()
|
||
|
|
{
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void setInternalGhostPairCallback(btOverlappingPairCallback* /* ghostPairCallback */)
|
||
|
|
{
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/)
|
||
|
|
{
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void* removeOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/,btDispatcher* /*dispatcher*/)
|
||
|
|
{
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void sortOverlappingPairs(btDispatcher* dispatcher)
|
||
|
|
{
|
||
|
|
(void) dispatcher;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
#endif //OVERLAPPING_PAIR_CACHE_H
|
||
|
|
|
||
|
|
|