1 /* 2 Bullet Continuous Collision Detection and Physics Library 3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ 4 5 This software is provided 'as-is', without any express or implied warranty. 6 In no event will the authors be held liable for any damages arising from the use of this software. 7 Permission is granted to anyone to use this software for any purpose, 8 including commercial applications, and to alter it and redistribute it freely, 9 subject to the following restrictions: 10 11 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. 12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 13 3. This notice may not be removed or altered from any source distribution. 14 */ 15 #ifndef BT_MULTI_SAP_BROADPHASE 16 #define BT_MULTI_SAP_BROADPHASE 17 18 #include "btBroadphaseInterface.h" 19 #include "LinearMath/btAlignedObjectArray.h" 20 #include "btOverlappingPairCache.h" 21 22 23 class btBroadphaseInterface; 24 class btSimpleBroadphase; 25 26 27 typedef btAlignedObjectArray<btBroadphaseInterface*> btSapBroadphaseArray; 28 29 ///The btMultiSapBroadphase is a research project, not recommended to use in production. Use btAxisSweep3 or btDbvtBroadphase instead. 30 ///The btMultiSapBroadphase is a broadphase that contains multiple SAP broadphases. 31 ///The user can add SAP broadphases that cover the world. A btBroadphaseProxy can be in multiple child broadphases at the same time. 32 ///A btQuantizedBvh acceleration structures finds overlapping SAPs for each btBroadphaseProxy. 33 ///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328 34 ///and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329 35 class btMultiSapBroadphase :public btBroadphaseInterface 36 { 37 btSapBroadphaseArray m_sapBroadphases; 38 39 btSimpleBroadphase* m_simpleBroadphase; 40 41 btOverlappingPairCache* m_overlappingPairs; 42 43 class btQuantizedBvh* m_optimizedAabbTree; 44 45 46 bool m_ownsPairCache; 47 48 btOverlapFilterCallback* m_filterCallback; 49 50 int m_invalidPair; 51 52 struct btBridgeProxy 53 { 54 btBroadphaseProxy* m_childProxy; 55 btBroadphaseInterface* m_childBroadphase; 56 }; 57 58 59 public: 60 61 struct btMultiSapProxy : public btBroadphaseProxy 62 { 63 64 ///array with all the entries that this proxy belongs to 65 btAlignedObjectArray<btBridgeProxy*> m_bridgeProxies; 66 btVector3 m_aabbMin; 67 btVector3 m_aabbMax; 68 69 int m_shapeType; 70 71 /* void* m_userPtr; 72 short int m_collisionFilterGroup; 73 short int m_collisionFilterMask; 74 */ 75 btMultiSapProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask) 76 :btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask), 77 m_aabbMin(aabbMin), 78 m_aabbMax(aabbMax), 79 m_shapeType(shapeType) 80 { 81 m_multiSapParentProxy =this; 82 } 83 84 85 }; 86 87 protected: 88 89 90 btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies; 91 92 public: 93 94 btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0); 95 96 97 btSapBroadphaseArray& getBroadphaseArray() 98 { 99 return m_sapBroadphases; 100 } 101 102 const btSapBroadphaseArray& getBroadphaseArray() const 103 { 104 return m_sapBroadphases; 105 } 106 107 virtual ~btMultiSapBroadphase(); 108 109 virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy); 110 virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); 111 virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher); 112 virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; 113 114 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)); 115 116 void addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface* childBroadphase); 117 118 ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb 119 virtual void calculateOverlappingPairs(btDispatcher* dispatcher); 120 121 bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); 122 123 virtual btOverlappingPairCache* getOverlappingPairCache() 124 { 125 return m_overlappingPairs; 126 } 127 virtual const btOverlappingPairCache* getOverlappingPairCache() const 128 { 129 return m_overlappingPairs; 130 } 131 132 ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame 133 ///will add some transform later 134 virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const 135 { 136 aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT); 137 aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); 138 } 139 140 void buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax); 141 142 virtual void printStats(); 143 144 void quicksort (btBroadphasePairArray& a, int lo, int hi); 145 146 ///reset broadphase internal structures, to ensure determinism/reproducability 147 virtual void resetPool(btDispatcher* dispatcher); 148 149 }; 150 151 #endif //BT_MULTI_SAP_BROADPHASE 152
