2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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.
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8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
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16 #ifndef BT_SIMPLE_BROADPHASE_H
17 #define BT_SIMPLE_BROADPHASE_H
19 #include "btOverlappingPairCache.h"
21 struct btSimpleBroadphaseProxy : public btBroadphaseProxy
27 btSimpleBroadphaseProxy(){};
29 btSimpleBroadphaseProxy(const btVector3& minpt, const btVector3& maxpt, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask)
30 : btBroadphaseProxy(minpt, maxpt, userPtr, collisionFilterGroup, collisionFilterMask)
35 SIMD_FORCE_INLINE void SetNextFree(int next) { m_nextFree = next; }
36 SIMD_FORCE_INLINE int GetNextFree() const { return m_nextFree; }
39 ///The SimpleBroadphase is just a unit-test for btAxisSweep3, bt32BitAxisSweep3, or btDbvtBroadphase, so use those classes instead.
40 ///It is a brute force aabb culling broadphase based on O(n^2) aabb checks
41 class btSimpleBroadphase : public btBroadphaseInterface
44 int m_numHandles; // number of active handles
45 int m_maxHandles; // max number of handles
46 int m_LastHandleIndex;
48 btSimpleBroadphaseProxy* m_pHandles; // handles pool
50 void* m_pHandlesRawPtr;
51 int m_firstFreeHandle; // free handles list
55 btAssert(m_numHandles < m_maxHandles);
56 int freeHandle = m_firstFreeHandle;
57 m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
59 if (freeHandle > m_LastHandleIndex)
61 m_LastHandleIndex = freeHandle;
66 void freeHandle(btSimpleBroadphaseProxy* proxy)
68 int handle = int(proxy - m_pHandles);
69 btAssert(handle >= 0 && handle < m_maxHandles);
70 if (handle == m_LastHandleIndex)
74 proxy->SetNextFree(m_firstFreeHandle);
75 m_firstFreeHandle = handle;
77 proxy->m_clientObject = 0;
82 btOverlappingPairCache* m_pairCache;
87 inline btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy)
89 btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxy);
93 inline const btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const
95 const btSimpleBroadphaseProxy* proxy0 = static_cast<const btSimpleBroadphaseProxy*>(proxy);
99 ///reset broadphase internal structures, to ensure determinism/reproducability
100 virtual void resetPool(btDispatcher* dispatcher);
106 btSimpleBroadphase(int maxProxies = 16384, btOverlappingPairCache* overlappingPairCache = 0);
107 virtual ~btSimpleBroadphase();
109 static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0, btSimpleBroadphaseProxy* proxy1);
111 virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
113 virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
115 virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
116 virtual void setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher);
117 virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const;
119 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));
120 virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
122 btOverlappingPairCache* getOverlappingPairCache()
126 const btOverlappingPairCache* getOverlappingPairCache() const
131 bool testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
133 ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
134 ///will add some transform later
135 virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const
137 aabbMin.setValue(-BT_LARGE_FLOAT, -BT_LARGE_FLOAT, -BT_LARGE_FLOAT);
138 aabbMax.setValue(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
141 virtual void printStats()
143 // printf("btSimpleBroadphase.h\n");
144 // printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
148 #endif //BT_SIMPLE_BROADPHASE_H