152 lines
5.4 KiB
C++
152 lines
5.4 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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#ifndef BT_MULTI_SAP_BROADPHASE
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#define BT_MULTI_SAP_BROADPHASE
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#include "btBroadphaseInterface.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btOverlappingPairCache.h"
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class btBroadphaseInterface;
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class btSimpleBroadphase;
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typedef btAlignedObjectArray<btBroadphaseInterface*> btSapBroadphaseArray;
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///The btMultiSapBroadphase is a research project, not recommended to use in production. Use btAxisSweep3 or btDbvtBroadphase instead.
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///The btMultiSapBroadphase is a broadphase that contains multiple SAP broadphases.
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///The user can add SAP broadphases that cover the world. A btBroadphaseProxy can be in multiple child broadphases at the same time.
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///A btQuantizedBvh acceleration structures finds overlapping SAPs for each btBroadphaseProxy.
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///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328
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///and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
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class btMultiSapBroadphase :public btBroadphaseInterface
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{
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btSapBroadphaseArray m_sapBroadphases;
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btSimpleBroadphase* m_simpleBroadphase;
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btOverlappingPairCache* m_overlappingPairs;
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class btQuantizedBvh* m_optimizedAabbTree;
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bool m_ownsPairCache;
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btOverlapFilterCallback* m_filterCallback;
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int m_invalidPair;
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struct btBridgeProxy
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{
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btBroadphaseProxy* m_childProxy;
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btBroadphaseInterface* m_childBroadphase;
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};
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public:
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struct btMultiSapProxy : public btBroadphaseProxy
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{
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///array with all the entries that this proxy belongs to
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btAlignedObjectArray<btBridgeProxy*> m_bridgeProxies;
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btVector3 m_aabbMin;
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btVector3 m_aabbMax;
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int m_shapeType;
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/* void* m_userPtr;
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short int m_collisionFilterGroup;
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short int m_collisionFilterMask;
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*/
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btMultiSapProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
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:btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask),
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m_aabbMin(aabbMin),
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m_aabbMax(aabbMax),
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m_shapeType(shapeType)
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{
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m_multiSapParentProxy =this;
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}
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};
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protected:
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btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies;
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public:
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btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0);
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btSapBroadphaseArray& getBroadphaseArray()
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{
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return m_sapBroadphases;
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}
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const btSapBroadphaseArray& getBroadphaseArray() const
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{
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return m_sapBroadphases;
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}
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virtual ~btMultiSapBroadphase();
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virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
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virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
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virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
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virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
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virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0));
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void addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase);
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///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
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virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
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bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
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virtual btOverlappingPairCache* getOverlappingPairCache()
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{
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return m_overlappingPairs;
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}
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virtual const btOverlappingPairCache* getOverlappingPairCache() const
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{
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return m_overlappingPairs;
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}
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///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
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///will add some transform later
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virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
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{
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aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
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aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
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}
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void buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax);
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virtual void printStats();
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void quicksort (btBroadphasePairArray& a, int lo, int hi);
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///reset broadphase internal structures, to ensure determinism/reproducability
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virtual void resetPool(btDispatcher* dispatcher);
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};
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#endif //BT_MULTI_SAP_BROADPHASE
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