490 lines
17 KiB
C++
490 lines
17 KiB
C++
/*
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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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#include "btQuantizedBvh.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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/*
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class btMultiSapSortedOverlappingPairCache : public btSortedOverlappingPairCache
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{
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public:
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virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
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{
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return btSortedOverlappingPairCache::addOverlappingPair((btBroadphaseProxy*)proxy0->m_multiSapParentProxy,(btBroadphaseProxy*)proxy1->m_multiSapParentProxy);
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}
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};
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*/
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btMultiSapBroadphase::btMultiSapBroadphase(int /*maxProxies*/,btOverlappingPairCache* pairCache)
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:m_overlappingPairs(pairCache),
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m_optimizedAabbTree(0),
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m_ownsPairCache(false),
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m_invalidPair(0)
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{
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if (!m_overlappingPairs)
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{
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m_ownsPairCache = true;
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void* mem = btAlignedAlloc(sizeof(btSortedOverlappingPairCache),16);
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m_overlappingPairs = new (mem)btSortedOverlappingPairCache();
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}
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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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btBroadphaseProxy* multiProxy0 = (btBroadphaseProxy*)childProxy0->m_multiSapParentProxy;
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btBroadphaseProxy* multiProxy1 = (btBroadphaseProxy*)childProxy1->m_multiSapParentProxy;
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bool collides = (multiProxy0->m_collisionFilterGroup & multiProxy1->m_collisionFilterMask) != 0;
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collides = collides && (multiProxy1->m_collisionFilterGroup & multiProxy0->m_collisionFilterMask);
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return collides;
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}
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};
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void* mem = btAlignedAlloc(sizeof(btMultiSapOverlapFilterCallback),16);
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m_filterCallback = new (mem)btMultiSapOverlapFilterCallback();
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m_overlappingPairs->setOverlapFilterCallback(m_filterCallback);
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// mem = btAlignedAlloc(sizeof(btSimpleBroadphase),16);
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// m_simpleBroadphase = new (mem) btSimpleBroadphase(maxProxies,m_overlappingPairs);
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}
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btMultiSapBroadphase::~btMultiSapBroadphase()
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{
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if (m_ownsPairCache)
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{
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m_overlappingPairs->~btOverlappingPairCache();
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btAlignedFree(m_overlappingPairs);
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}
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}
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void btMultiSapBroadphase::buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax)
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{
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m_optimizedAabbTree = new btQuantizedBvh();
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m_optimizedAabbTree->setQuantizationValues(bvhAabbMin,bvhAabbMax);
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QuantizedNodeArray& nodes = m_optimizedAabbTree->getLeafNodeArray();
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for (int i=0;i<m_sapBroadphases.size();i++)
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{
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btQuantizedBvhNode node;
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btVector3 aabbMin,aabbMax;
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m_sapBroadphases[i]->getBroadphaseAabb(aabbMin,aabbMax);
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m_optimizedAabbTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
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m_optimizedAabbTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
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int partId = 0;
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node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | i;
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nodes.push_back(node);
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}
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m_optimizedAabbTree->buildInternal();
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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, btDispatcher* dispatcher,void* /*ignoreMe*/)
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{
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//void* ignoreMe -> we could think of recursive multi-sap, if someone is interested
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void* mem = btAlignedAlloc(sizeof(btMultiSapProxy),16);
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btMultiSapProxy* proxy = new (mem)btMultiSapProxy(aabbMin, aabbMax,shapeType,userPtr, collisionFilterGroup,collisionFilterMask);
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m_multiSapProxies.push_back(proxy);
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///this should deal with inserting/removal into child broadphases
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setAabb(proxy,aabbMin,aabbMax,dispatcher);
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return proxy;
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}
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void btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/)
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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::addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase)
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{
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void* mem = btAlignedAlloc(sizeof(btBridgeProxy),16);
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btBridgeProxy* bridgeProxyRef = new(mem) btBridgeProxy;
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bridgeProxyRef->m_childProxy = childProxy;
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bridgeProxyRef->m_childBroadphase = childBroadphase;
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parentMultiSapProxy->m_bridgeProxies.push_back(bridgeProxyRef);
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}
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bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax);
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bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax)
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{
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return
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amin.getX() >= bmin.getX() && amax.getX() <= bmax.getX() &&
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amin.getY() >= bmin.getY() && amax.getY() <= bmax.getY() &&
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amin.getZ() >= bmin.getZ() && amax.getZ() <= bmax.getZ();
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}
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void btMultiSapBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
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{
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btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
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aabbMin = multiProxy->m_aabbMin;
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aabbMax = multiProxy->m_aabbMax;
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}
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void btMultiSapBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin,const btVector3& aabbMax)
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{
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for (int i=0;i<m_multiSapProxies.size();i++)
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{
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rayCallback.process(m_multiSapProxies[i]);
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}
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}
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//#include <stdio.h>
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void btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
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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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// bool fullyContained = false;
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// bool alreadyInSimple = false;
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struct MyNodeOverlapCallback : public btNodeOverlapCallback
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{
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btMultiSapBroadphase* m_multiSap;
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btMultiSapProxy* m_multiProxy;
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btDispatcher* m_dispatcher;
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MyNodeOverlapCallback(btMultiSapBroadphase* multiSap,btMultiSapProxy* multiProxy,btDispatcher* dispatcher)
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:m_multiSap(multiSap),
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m_multiProxy(multiProxy),
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m_dispatcher(dispatcher)
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{
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}
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virtual void processNode(int /*nodeSubPart*/, int broadphaseIndex)
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{
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btBroadphaseInterface* childBroadphase = m_multiSap->getBroadphaseArray()[broadphaseIndex];
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int containingBroadphaseIndex = -1;
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//already found?
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for (int i=0;i<m_multiProxy->m_bridgeProxies.size();i++)
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{
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if (m_multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
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{
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containingBroadphaseIndex = i;
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break;
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}
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}
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if (containingBroadphaseIndex<0)
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{
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//add it
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btBroadphaseProxy* childProxy = childBroadphase->createProxy(m_multiProxy->m_aabbMin,m_multiProxy->m_aabbMax,m_multiProxy->m_shapeType,m_multiProxy->m_clientObject,m_multiProxy->m_collisionFilterGroup,m_multiProxy->m_collisionFilterMask, m_dispatcher,m_multiProxy);
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m_multiSap->addToChildBroadphase(m_multiProxy,childProxy,childBroadphase);
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}
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}
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};
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MyNodeOverlapCallback myNodeCallback(this,multiProxy,dispatcher);
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if (m_optimizedAabbTree)
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m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
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int i;
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for ( i=0;i<multiProxy->m_bridgeProxies.size();i++)
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{
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btVector3 worldAabbMin,worldAabbMax;
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multiProxy->m_bridgeProxies[i]->m_childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
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bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
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if (!overlapsBroadphase)
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{
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//remove it now
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btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[i];
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btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
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bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
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multiProxy->m_bridgeProxies.swap( i,multiProxy->m_bridgeProxies.size()-1);
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multiProxy->m_bridgeProxies.pop_back();
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}
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}
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/*
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if (1)
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{
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//find broadphase that contain this multiProxy
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int numChildBroadphases = getBroadphaseArray().size();
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for (int i=0;i<numChildBroadphases;i++)
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{
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btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
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btVector3 worldAabbMin,worldAabbMax;
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childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
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bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
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// fullyContained = fullyContained || boxIsContainedWithinBox(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
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int containingBroadphaseIndex = -1;
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//if already contains this
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for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
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{
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if (multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
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{
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containingBroadphaseIndex = i;
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}
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alreadyInSimple = alreadyInSimple || (multiProxy->m_bridgeProxies[i]->m_childBroadphase == m_simpleBroadphase);
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}
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if (overlapsBroadphase)
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{
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if (containingBroadphaseIndex<0)
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{
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btBroadphaseProxy* childProxy = childBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
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childProxy->m_multiSapParentProxy = multiProxy;
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addToChildBroadphase(multiProxy,childProxy,childBroadphase);
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}
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} else
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{
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if (containingBroadphaseIndex>=0)
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{
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//remove
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btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[containingBroadphaseIndex];
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btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
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bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
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multiProxy->m_bridgeProxies.swap( containingBroadphaseIndex,multiProxy->m_bridgeProxies.size()-1);
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multiProxy->m_bridgeProxies.pop_back();
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}
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}
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}
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///If we are in no other child broadphase, stick the proxy in the global 'simple' broadphase (brute force)
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///hopefully we don't end up with many entries here (can assert/provide feedback on stats)
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if (0)//!multiProxy->m_bridgeProxies.size())
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{
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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* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
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childProxy->m_multiSapParentProxy = multiProxy;
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addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
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}
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}
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if (!multiProxy->m_bridgeProxies.size())
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{
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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* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
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childProxy->m_multiSapParentProxy = multiProxy;
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addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
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}
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*/
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//update
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for ( i=0;i<multiProxy->m_bridgeProxies.size();i++)
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{
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btBridgeProxy* bridgeProxyRef = multiProxy->m_bridgeProxies[i];
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bridgeProxyRef->m_childBroadphase->setAabb(bridgeProxyRef->m_childProxy,aabbMin,aabbMax,dispatcher);
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}
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}
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bool stopUpdating=false;
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class btMultiSapBroadphasePairSortPredicate
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{
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public:
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bool operator() ( const btBroadphasePair& a1, const btBroadphasePair& b1 )
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{
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btMultiSapBroadphase::btMultiSapProxy* aProxy0 = a1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy0->m_multiSapParentProxy : 0;
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btMultiSapBroadphase::btMultiSapProxy* aProxy1 = a1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy1->m_multiSapParentProxy : 0;
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btMultiSapBroadphase::btMultiSapProxy* bProxy0 = b1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy0->m_multiSapParentProxy : 0;
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btMultiSapBroadphase::btMultiSapProxy* bProxy1 = b1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy1->m_multiSapParentProxy : 0;
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return aProxy0 > bProxy0 ||
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(aProxy0 == bProxy0 && aProxy1 > bProxy1) ||
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(aProxy0 == bProxy0 && aProxy1 == bProxy1 && a1.m_algorithm > b1.m_algorithm);
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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(btDispatcher* dispatcher)
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{
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// m_simpleBroadphase->calculateOverlappingPairs(dispatcher);
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if (!stopUpdating && getOverlappingPairCache()->hasDeferredRemoval())
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{
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btBroadphasePairArray& overlappingPairArray = getOverlappingPairCache()->getOverlappingPairArray();
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// quicksort(overlappingPairArray,0,overlappingPairArray.size());
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overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
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//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
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// overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());
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overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
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m_invalidPair = 0;
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int i;
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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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for (i=0;i<overlappingPairArray.size();i++)
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{
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btBroadphasePair& pair = overlappingPairArray[i];
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btMultiSapProxy* aProxy0 = pair.m_pProxy0 ? (btMultiSapProxy*)pair.m_pProxy0->m_multiSapParentProxy : 0;
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btMultiSapProxy* aProxy1 = pair.m_pProxy1 ? (btMultiSapProxy*)pair.m_pProxy1->m_multiSapParentProxy : 0;
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btMultiSapProxy* bProxy0 = previousPair.m_pProxy0 ? (btMultiSapProxy*)previousPair.m_pProxy0->m_multiSapParentProxy : 0;
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btMultiSapProxy* bProxy1 = previousPair.m_pProxy1 ? (btMultiSapProxy*)previousPair.m_pProxy1->m_multiSapParentProxy : 0;
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bool isDuplicate = (aProxy0 == bProxy0) && (aProxy1 == bProxy1);
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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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getOverlappingPairCache()->cleanOverlappingPair(pair,dispatcher);
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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(btMultiSapBroadphasePairSortPredicate());
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overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());
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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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//printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
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}
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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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void btMultiSapBroadphase::printStats()
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{
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/* printf("---------------------------------\n");
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printf("btMultiSapBroadphase.h\n");
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printf("numHandles = %d\n",m_multiSapProxies.size());
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//find broadphase that contain this multiProxy
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int numChildBroadphases = getBroadphaseArray().size();
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for (int i=0;i<numChildBroadphases;i++)
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{
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btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
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childBroadphase->printStats();
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}
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*/
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}
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void btMultiSapBroadphase::resetPool(btDispatcher* dispatcher)
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{
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// not yet
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}
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