src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
   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
  16 ///btDbvtBroadphase implementation by Nathanael Presson
  17 #ifndef BT_DBVT_BROADPHASE_H
  18 #define BT_DBVT_BROADPHASE_H
  19
  20 #include "BulletCollision/BroadphaseCollision/btDbvt.h"
  21 #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
  22
  23 //
  24 // Compile time config
  25 //
  26
  27 #define DBVT_BP_PROFILE                                 0
  28 //#define DBVT_BP_SORTPAIRS                             1
  29 #define DBVT_BP_PREVENTFALSEUPDATE              0
  30 #define DBVT_BP_ACCURATESLEEPING                0
  31 #define DBVT_BP_ENABLE_BENCHMARK                0
  32 #define DBVT_BP_MARGIN                                  (btScalar)0.05
  33
  34 #if DBVT_BP_PROFILE
  35 #define DBVT_BP_PROFILING_RATE  256
  36 #include "LinearMath/btQuickprof.h"
  37 #endif
  38
  39 //
  40 // btDbvtProxy
  41 //
  42 struct btDbvtProxy : btBroadphaseProxy
  43 {
  44         /* Fields               */
  45         //btDbvtAabbMm  aabb;
  46         btDbvtNode*             leaf;
  47         btDbvtProxy*    links[2];
  48         int                             stage;
  49         /* ctor                 */
  50         btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
  51         btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
  52         {
  53                 links[0]=links[1]=0;
  54         }
  55 };
  56
  57 typedef btAlignedObjectArray<btDbvtProxy*>      btDbvtProxyArray;
  58
  59 ///The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see btDbvt).
  60 ///One tree is used for static/non-moving objects, and another tree is used for dynamic objects. Objects can move from one tree to the other.
  61 ///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3.
  62 struct  btDbvtBroadphase : btBroadphaseInterface
  63 {
  64         /* Config               */
  65         enum    {
  66                 DYNAMIC_SET                     =       0,      /* Dynamic set index    */
  67                 FIXED_SET                       =       1,      /* Fixed set index              */
  68                 STAGECOUNT                      =       2       /* Number of stages             */
  69         };
  70         /* Fields               */
  71         btDbvt                                  m_sets[2];                                      // Dbvt sets
  72         btDbvtProxy*                    m_stageRoots[STAGECOUNT+1];     // Stages list
  73         btOverlappingPairCache* m_paircache;                            // Pair cache
  74         btScalar                                m_prediction;                           // Velocity prediction
  75         int                                             m_stageCurrent;                         // Current stage
  76         int                                             m_fupdates;                                     // % of fixed updates per frame
  77         int                                             m_dupdates;                                     // % of dynamic updates per frame
  78         int                                             m_cupdates;                                     // % of cleanup updates per frame
  79         int                                             m_newpairs;                                     // Number of pairs created
  80         int                                             m_fixedleft;                            // Fixed optimization left
  81         unsigned                                m_updates_call;                         // Number of updates call
  82         unsigned                                m_updates_done;                         // Number of updates done
  83         btScalar                                m_updates_ratio;                        // m_updates_done/m_updates_call
  84         int                                             m_pid;                                          // Parse id
  85         int                                             m_cid;                                          // Cleanup index
  86         int                                             m_gid;                                          // Gen id
  87         bool                                    m_releasepaircache;                     // Release pair cache on delete
  88         bool                                    m_deferedcollide;                       // Defere dynamic/static collision to collide call
  89         bool                                    m_needcleanup;                          // Need to run cleanup?
  90 #if DBVT_BP_PROFILE
  91         btClock                                 m_clock;
  92         struct  {
  93                 unsigned long           m_total;
  94                 unsigned long           m_ddcollide;
  95                 unsigned long           m_fdcollide;
  96                 unsigned long           m_cleanup;
  97                 unsigned long           m_jobcount;
  98         }                               m_profiling;
  99 #endif
 100         /* Methods              */
 101         btDbvtBroadphase(btOverlappingPairCache* paircache=0);
 102         ~btDbvtBroadphase();
 103         void                                                    collide(btDispatcher* dispatcher);
 104         void                                                    optimize();
 105
 106         /* btBroadphaseInterface Implementation */
 107         btBroadphaseProxy*                              createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
 108         virtual void                                    destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
 109         virtual void                                    setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
 110         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));
 111         virtual void                                    aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
 112
 113         virtual void                                    getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
 114         virtual void                                    calculateOverlappingPairs(btDispatcher* dispatcher);
 115         virtual btOverlappingPairCache* getOverlappingPairCache();
 116         virtual const btOverlappingPairCache*   getOverlappingPairCache() const;
 117         virtual void                                    getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
 118         virtual void                                    printStats();
 119
 120
 121         ///reset broadphase internal structures, to ensure determinism/reproducability
 122         virtual void resetPool(btDispatcher* dispatcher);
 123
 124         void    performDeferredRemoval(btDispatcher* dispatcher);
 125
 126         void    setVelocityPrediction(btScalar prediction)
 127         {
 128                 m_prediction = prediction;
 129         }
 130         btScalar getVelocityPrediction() const
 131         {
 132                 return m_prediction;
 133         }
 134
 135         ///this setAabbForceUpdate is similar to setAabb but always forces the aabb update.
 136         ///it is not part of the btBroadphaseInterface but specific to btDbvtBroadphase.
 137         ///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see
 138         ///http://code.google.com/p/bullet/issues/detail?id=223
 139         void                                                    setAabbForceUpdate(             btBroadphaseProxy* absproxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* /*dispatcher*/);
 140
 141         static void                                             benchmark(btBroadphaseInterface*);
 142
 143
 144 };
 145
 146 #endif