src/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h

   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