Extras/PhysicsEffects/include/BulletPhysicsEffects/btLowLevelBroadphase.h

   1 /*\r
   2 Physics Effects Copyright(C) 2011 Sony Computer Entertainment Inc.\r
   3 All rights reserved.\r
   4 \r
   5 Physics Effects is open software; you can redistribute it and/or\r
   6 modify it under the terms of the BSD License.\r
   7 \r
   8 Physics Effects is distributed in the hope that it will be useful,\r
   9 but WITHOUT ANY WARRANTY; without even the implied warranty of\r
  10 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.\r
  11 See the BSD License for more details.\r
  12 \r
  13 A copy of the BSD License is distributed with\r
  14 Physics Effects under the filename: physics_effects_license.txt\r
  15 */\r
  16  \r
  17 ///btLowLevelBroadphase implementation\r
  18 #ifndef BT_LOW_LEVEL_BROADPHASE_H\r
  19 #define BT_LOW_LEVEL_BROADPHASE_H\r
  20 \r
  21 #include "BulletCollision/BroadphaseCollision/btDbvt.h"\r
  22 #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"\r
  23 \r
  24 #include "physics_effects/base_level/broadphase/pfx_broadphase_pair.h"\r
  25 #include "LinearMath/btHashMap.h"\r
  26 \r
  27 struct btLowLevelBroadphase;\r
  28 struct btLowLevelData;\r
  29 \r
  30 namespace sce\r
  31 {\r
  32         namespace PhysicsEffects\r
  33         {\r
  34                 struct PfxSortData32;\r
  35         };\r
  36 };\r
  37 \r
  38 struct  btMyClientData\r
  39 {\r
  40         btDispatcher* m_dispatcher;\r
  41         btLowLevelBroadphase*   m_bp;\r
  42 };\r
  43 \r
  44 struct btLowLevelBroadphaseProxy : public btBroadphaseProxy\r
  45 {\r
  46         int                     m_nextFree;\r
  47         \r
  48 //      int                     m_handleId;\r
  49 \r
  50         \r
  51         btLowLevelBroadphaseProxy() {};\r
  52 \r
  53         btLowLevelBroadphaseProxy(const btVector3& minpt,const btVector3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy)\r
  54         :btBroadphaseProxy(minpt,maxpt,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy)\r
  55         {\r
  56                 (void)shapeType;\r
  57         }\r
  58         \r
  59         \r
  60         SIMD_FORCE_INLINE void SetNextFree(int next) {m_nextFree = next;}\r
  61         SIMD_FORCE_INLINE int GetNextFree() const {return m_nextFree;}\r
  62 \r
  63         \r
  64 \r
  65 \r
  66 };\r
  67 \r
  68 ///btLowLevelBroadphase is a binding between Open Physics low-level broadphase and Bullet, through the btBroadphaseInterface\r
  69 \r
  70 struct  btLowLevelBroadphase : btBroadphaseInterface\r
  71 {\r
  72         \r
  73                 int             m_numHandles;                                           // number of active handles\r
  74         int             m_maxHandles;                                           // max number of handles\r
  75         int             m_LastHandleIndex;                                                      \r
  76         \r
  77         btLowLevelBroadphaseProxy* m_pHandles;                                          // handles pool\r
  78 \r
  79         void* m_pHandlesRawPtr;\r
  80         int             m_firstFreeHandle;              // free handles list\r
  81         \r
  82         btOverlappingPairCache* m_paircache;                            // Pair cache\r
  83         bool                                    m_releasepaircache;                     // Release pair cache on delete\r
  84         int                                             m_guidGenerator;\r
  85         btVector3                               m_broadphaseAabbMin;\r
  86         btVector3                               m_broadphaseAabbMax;\r
  87 \r
  88         btMyClientData                  m_clientData;\r
  89 \r
  90         btLowLevelData* m_lowLevelData;\r
  91         btHashMap<btHashInt,void*> m_uid2ptr;\r
  92 \r
  93 \r
  94         int allocHandle()\r
  95         {\r
  96                 btAssert(m_numHandles < m_maxHandles);\r
  97                 int freeHandle = m_firstFreeHandle;\r
  98                 m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();\r
  99                 m_numHandles++;\r
 100                 if(freeHandle > m_LastHandleIndex)\r
 101                 {\r
 102                         m_LastHandleIndex = freeHandle;\r
 103                 }\r
 104                 return freeHandle;\r
 105         }\r
 106 \r
 107         void freeHandle(btLowLevelBroadphaseProxy* proxy)\r
 108         {\r
 109                 int handle = int(proxy-m_pHandles);\r
 110                 btAssert(handle >= 0 && handle < m_maxHandles);\r
 111                 if(handle == m_LastHandleIndex)\r
 112                 {\r
 113                         m_LastHandleIndex--;\r
 114                 }\r
 115                 proxy->SetNextFree(m_firstFreeHandle);\r
 116                 m_firstFreeHandle = handle;\r
 117 \r
 118                 proxy->m_clientObject = 0;\r
 119 \r
 120                 m_numHandles--;\r
 121         }\r
 122 \r
 123         inline btLowLevelBroadphaseProxy*       getLowLevelProxyFromProxy(btBroadphaseProxy* proxy)\r
 124         {\r
 125                 btLowLevelBroadphaseProxy* proxy0 = static_cast<btLowLevelBroadphaseProxy*>(proxy);\r
 126                 return proxy0;\r
 127         }\r
 128 \r
 129         inline const btLowLevelBroadphaseProxy* getLowLevelProxyFromProxy(btBroadphaseProxy* proxy) const\r
 130         {\r
 131                 const btLowLevelBroadphaseProxy* proxy0 = static_cast<const btLowLevelBroadphaseProxy*>(proxy);\r
 132                 return proxy0;\r
 133         }\r
 134 \r
 135 \r
 136 \r
 137         inline bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)\r
 138         {\r
 139                 btLowLevelBroadphaseProxy* p0 = getLowLevelProxyFromProxy(proxy0);\r
 140                 btLowLevelBroadphaseProxy* p1 = getLowLevelProxyFromProxy(proxy1);\r
 141                 return aabbOverlap(p0,p1);\r
 142         }\r
 143 \r
 144         static bool     aabbOverlap(btLowLevelBroadphaseProxy* proxy0,btLowLevelBroadphaseProxy* proxy1);\r
 145 \r
 146         void broadphase(sce::PhysicsEffects::PfxSortData32* proxies, int numRigidBodies, int axis, btDispatcher* dispatcher);\r
 147 \r
 148         sce::PhysicsEffects::PfxBroadphasePair*         getCurrentPairs();\r
 149         const sce::PhysicsEffects::PfxBroadphasePair*           getCurrentPairs() const;\r
 150         int     getNumCurrentPairs() const;\r
 151 \r
 152         \r
 153 \r
 154         /* Methods              */ \r
 155         btLowLevelBroadphase(btLowLevelData* lowLevelData, btOverlappingPairCache* paircache, int maxProxies = 16384);//,class PfxAllocator* allocator,class PfxStackAllocator* stackPool,void* spursInstance);\r
 156         virtual ~btLowLevelBroadphase();\r
 157 \r
 158         /* btBroadphaseInterface Implementation */ \r
 159         btBroadphaseProxy*                              createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);\r
 160         void                                                    destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);\r
 161         void                                                    setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);\r
 162         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))\r
 163         {\r
 164         }\r
 165         \r
 166         virtual void    aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)\r
 167         {\r
 168         }\r
 169 \r
 170 \r
 171         virtual void    getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;\r
 172         void                                                    calculateOverlappingPairs(btDispatcher* dispatcher);\r
 173         btOverlappingPairCache*                 getOverlappingPairCache();\r
 174         const btOverlappingPairCache*   getOverlappingPairCache() const;\r
 175         void                                                    getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;\r
 176         virtual void    printStats();\r
 177 \r
 178         virtual void    setNumTasks(int numTasks);\r
 179         \r
 180 };\r
 181 \r
 182 #endif\r