Blender  V3.3
btDbvtBroadphase.h
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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 
17 #ifndef BT_DBVT_BROADPHASE_H
18 #define BT_DBVT_BROADPHASE_H
19 
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 extern btScalar gDbvtMargin;
34 
35 #if DBVT_BP_PROFILE
36 #define DBVT_BP_PROFILING_RATE 256
37 #include "LinearMath/btQuickprof.h"
38 #endif
39 
40 //
41 // btDbvtProxy
42 //
44 {
45  /* Fields */
46  //btDbvtAabbMm aabb;
49  int stage;
50  /* ctor */
51  btDbvtProxy(const btVector3& aabbMin, const btVector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask) : btBroadphaseProxy(aabbMin, aabbMax, userPtr, collisionFilterGroup, collisionFilterMask)
52  {
53  links[0] = links[1] = 0;
54  }
55 };
56 
58 
63 {
64  /* Config */
65  enum
66  {
67  DYNAMIC_SET = 0, /* Dynamic set index */
68  FIXED_SET = 1, /* Fixed set index */
69  STAGECOUNT = 2 /* Number of stages */
70  };
71  /* Fields */
72  btDbvt m_sets[2]; // Dbvt sets
73  btDbvtProxy* m_stageRoots[STAGECOUNT + 1]; // Stages list
75  btScalar m_prediction; // Velocity prediction
76  int m_stageCurrent; // Current stage
77  int m_fupdates; // % of fixed updates per frame
78  int m_dupdates; // % of dynamic updates per frame
79  int m_cupdates; // % of cleanup updates per frame
80  int m_newpairs; // Number of pairs created
81  int m_fixedleft; // Fixed optimization left
82  unsigned m_updates_call; // Number of updates call
83  unsigned m_updates_done; // Number of updates done
84  btScalar m_updates_ratio; // m_updates_done/m_updates_call
85  int m_pid; // Parse id
86  int m_cid; // Cleanup index
87  int m_gid; // Gen id
88  bool m_releasepaircache; // Release pair cache on delete
89  bool m_deferedcollide; // Defere dynamic/static collision to collide call
90  bool m_needcleanup; // Need to run cleanup?
92 #if DBVT_BP_PROFILE
93  btClock m_clock;
94  struct
95  {
96  unsigned long m_total;
97  unsigned long m_ddcollide;
98  unsigned long m_fdcollide;
99  unsigned long m_cleanup;
100  unsigned long m_jobcount;
101  } m_profiling;
102 #endif
103  /* Methods */
106  void collide(btDispatcher* dispatcher);
107  void optimize();
108 
109  /* btBroadphaseInterface Implementation */
110  btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
111  virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
112  virtual void setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher);
113  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));
114  virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
115 
116  virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const;
117  virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
119  virtual const btOverlappingPairCache* getOverlappingPairCache() const;
120  virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const;
121  virtual void printStats();
122 
124  virtual void resetPool(btDispatcher* dispatcher);
125 
126  void performDeferredRemoval(btDispatcher* dispatcher);
127 
129  {
130  m_prediction = prediction;
131  }
133  {
134  return m_prediction;
135  }
136 
141  void setAabbForceUpdate(btBroadphaseProxy* absproxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* /*dispatcher*/);
142 
143  static void benchmark(btBroadphaseInterface*);
144 };
145 
146 #endif
btBroadphaseProxy
btAlignedObjectArray< btDbvtProxy * > btDbvtProxyArray
btScalar gDbvtMargin
btDbvtBroadphase implementation by Nathanael Presson
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
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
The btClock is a portable basic clock that measures accurate time in seconds, use for profiling.
Definition: btQuickprof.h:23
DEGForeachIDComponentCallback callback
void performDeferredRemoval(btDispatcher *dispatcher)
virtual void calculateOverlappingPairs(btDispatcher *dispatcher)
calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during th...
static void benchmark(btBroadphaseInterface *)
void setVelocityPrediction(btScalar prediction)
virtual void destroyProxy(btBroadphaseProxy *proxy, btDispatcher *dispatcher)
btScalar m_updates_ratio
virtual void getAabb(btBroadphaseProxy *proxy, btVector3 &aabbMin, btVector3 &aabbMax) const
void collide(btDispatcher *dispatcher)
btDbvtProxy * m_stageRoots[STAGECOUNT+1]
btBroadphaseProxy * createProxy(const btVector3 &aabbMin, const btVector3 &aabbMax, int shapeType, void *userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher *dispatcher)
virtual void resetPool(btDispatcher *dispatcher)
reset broadphase internal structures, to ensure determinism/reproducability
btScalar getVelocityPrediction() const
void setAabbForceUpdate(btBroadphaseProxy *absproxy, const btVector3 &aabbMin, const btVector3 &aabbMax, btDispatcher *)
btDbvtBroadphase(btOverlappingPairCache *paircache=0)
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))
virtual void aabbTest(const btVector3 &aabbMin, const btVector3 &aabbMax, btBroadphaseAabbCallback &callback)
virtual void printStats()
virtual void getBroadphaseAabb(btVector3 &aabbMin, btVector3 &aabbMax) const
btAlignedObjectArray< btAlignedObjectArray< const btDbvtNode * > > m_rayTestStacks
btOverlappingPairCache * m_paircache
virtual void setAabb(btBroadphaseProxy *proxy, const btVector3 &aabbMin, const btVector3 &aabbMax, btDispatcher *dispatcher)
virtual btOverlappingPairCache * getOverlappingPairCache()
btDbvtProxy(const btVector3 &aabbMin, const btVector3 &aabbMax, void *userPtr, int collisionFilterGroup, int collisionFilterMask)
btDbvtProxy * links[2]
btDbvtNode * leaf
Definition: btDbvt.h:229