Blender  V3.3
btSimpleBroadphase.h
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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 
16 #ifndef BT_SIMPLE_BROADPHASE_H
17 #define BT_SIMPLE_BROADPHASE_H
18 
19 #include "btOverlappingPairCache.h"
20 
22 {
24 
25  // int m_handleId;
26 
28 
29  btSimpleBroadphaseProxy(const btVector3& minpt, const btVector3& maxpt, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask)
30  : btBroadphaseProxy(minpt, maxpt, userPtr, collisionFilterGroup, collisionFilterMask)
31  {
32  (void)shapeType;
33  }
34 
36  SIMD_FORCE_INLINE int GetNextFree() const { return m_nextFree; }
37 };
38 
42 {
43 protected:
44  int m_numHandles; // number of active handles
45  int m_maxHandles; // max number of handles
47 
49 
51  int m_firstFreeHandle; // free handles list
52 
54  {
58  m_numHandles++;
60  {
62  }
63  return freeHandle;
64  }
65 
67  {
68  int handle = int(proxy - m_pHandles);
69  btAssert(handle >= 0 && handle < m_maxHandles);
70  if (handle == m_LastHandleIndex)
71  {
73  }
75  m_firstFreeHandle = handle;
76 
77  proxy->m_clientObject = 0;
78 
79  m_numHandles--;
80  }
81 
84 
86 
88  {
89  btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxy);
90  return proxy0;
91  }
92 
94  {
95  const btSimpleBroadphaseProxy* proxy0 = static_cast<const btSimpleBroadphaseProxy*>(proxy);
96  return proxy0;
97  }
98 
100  virtual void resetPool(btDispatcher* dispatcher);
101 
102  void validate();
103 
104 protected:
105 public:
106  btSimpleBroadphase(int maxProxies = 16384, btOverlappingPairCache* overlappingPairCache = 0);
107  virtual ~btSimpleBroadphase();
108 
109  static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0, btSimpleBroadphaseProxy* proxy1);
110 
111  virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
112 
113  virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
114 
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;
118 
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);
121 
123  {
124  return m_pairCache;
125  }
127  {
128  return m_pairCache;
129  }
130 
131  bool testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
132 
135  virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const
136  {
137  aabbMin.setValue(-BT_LARGE_FLOAT, -BT_LARGE_FLOAT, -BT_LARGE_FLOAT);
138  aabbMax.setValue(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
139  }
140 
141  virtual void printStats()
142  {
143  // printf("btSimpleBroadphase.h\n");
144  // printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
145  }
146 };
147 
148 #endif //BT_SIMPLE_BROADPHASE_H
btBroadphaseProxy
#define BT_LARGE_FLOAT
Definition: btScalar.h:316
#define SIMD_FORCE_INLINE
Definition: btScalar.h:280
#define btAssert(x)
Definition: btScalar.h:295
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
const btSimpleBroadphaseProxy * getSimpleProxyFromProxy(btBroadphaseProxy *proxy) const
virtual void aabbTest(const btVector3 &aabbMin, const btVector3 &aabbMax, btBroadphaseAabbCallback &callback)
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))
btSimpleBroadphaseProxy * getSimpleProxyFromProxy(btBroadphaseProxy *proxy)
const btOverlappingPairCache * getOverlappingPairCache() const
bool testAabbOverlap(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1)
void freeHandle(btSimpleBroadphaseProxy *proxy)
btOverlappingPairCache * m_pairCache
virtual void getBroadphaseAabb(btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void resetPool(btDispatcher *dispatcher)
reset broadphase internal structures, to ensure determinism/reproducability
virtual void setAabb(btBroadphaseProxy *proxy, const btVector3 &aabbMin, const btVector3 &aabbMax, btDispatcher *dispatcher)
btOverlappingPairCache * getOverlappingPairCache()
virtual btBroadphaseProxy * createProxy(const btVector3 &aabbMin, const btVector3 &aabbMax, int shapeType, void *userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher *dispatcher)
virtual void printStats()
btSimpleBroadphaseProxy * m_pHandles
btSimpleBroadphase(int maxProxies=16384, btOverlappingPairCache *overlappingPairCache=0)
virtual void getAabb(btBroadphaseProxy *proxy, btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void destroyProxy(btBroadphaseProxy *proxy, btDispatcher *dispatcher)
virtual void calculateOverlappingPairs(btDispatcher *dispatcher)
calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during th...
static bool aabbOverlap(btSimpleBroadphaseProxy *proxy0, btSimpleBroadphaseProxy *proxy1)
DEGForeachIDComponentCallback callback
SyclQueue void void size_t num_bytes void
static ulong * next
btSimpleBroadphaseProxy(const btVector3 &minpt, const btVector3 &maxpt, int shapeType, void *userPtr, int collisionFilterGroup, int collisionFilterMask)
SIMD_FORCE_INLINE int GetNextFree() const
SIMD_FORCE_INLINE void SetNextFree(int next)