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Diffstat (limited to 'extern/bullet2/BulletMultiThreaded/btGpu3DGridBroadphase.h')
| -rw-r--r-- | extern/bullet2/BulletMultiThreaded/btGpu3DGridBroadphase.h | 138 |
1 files changed, 138 insertions, 0 deletions
diff --git a/extern/bullet2/BulletMultiThreaded/btGpu3DGridBroadphase.h b/extern/bullet2/BulletMultiThreaded/btGpu3DGridBroadphase.h new file mode 100644 index 00000000000..1d49a0557ae --- /dev/null +++ b/extern/bullet2/BulletMultiThreaded/btGpu3DGridBroadphase.h @@ -0,0 +1,138 @@ +/* +Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org +Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +//---------------------------------------------------------------------------------------- + +#ifndef BTGPU3DGRIDBROADPHASE_H +#define BTGPU3DGRIDBROADPHASE_H + +//---------------------------------------------------------------------------------------- + +#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" + +#include "btGpu3DGridBroadphaseSharedTypes.h" + +//---------------------------------------------------------------------------------------- + +///The btGpu3DGridBroadphase uses GPU-style code compiled for CPU to compute overlapping pairs + +class btGpu3DGridBroadphase : public btSimpleBroadphase +{ +protected: + bool m_bInitialized; + unsigned int m_numBodies; + unsigned int m_numCells; + unsigned int m_maxPairsPerBody; + btScalar m_cellFactorAABB; + unsigned int m_maxBodiesPerCell; + bt3DGridBroadphaseParams m_params; + btScalar m_maxRadius; + // CPU data + unsigned int* m_hBodiesHash; + unsigned int* m_hCellStart; + unsigned int* m_hPairBuffStartCurr; + bt3DGrid3F1U* m_hAABB; + unsigned int* m_hPairBuff; + unsigned int* m_hPairScan; + unsigned int* m_hPairOut; +// large proxies + int m_numLargeHandles; + int m_maxLargeHandles; + int m_LastLargeHandleIndex; + btSimpleBroadphaseProxy* m_pLargeHandles; + void* m_pLargeHandlesRawPtr; + int m_firstFreeLargeHandle; + int allocLargeHandle() + { + btAssert(m_numLargeHandles < m_maxLargeHandles); + int freeLargeHandle = m_firstFreeLargeHandle; + m_firstFreeLargeHandle = m_pLargeHandles[freeLargeHandle].GetNextFree(); + m_numLargeHandles++; + if(freeLargeHandle > m_LastLargeHandleIndex) + { + m_LastLargeHandleIndex = freeLargeHandle; + } + return freeLargeHandle; + } + void freeLargeHandle(btSimpleBroadphaseProxy* proxy) + { + int handle = int(proxy - m_pLargeHandles); + btAssert((handle >= 0) && (handle < m_maxHandles)); + if(handle == m_LastLargeHandleIndex) + { + m_LastLargeHandleIndex--; + } + proxy->SetNextFree(m_firstFreeLargeHandle); + m_firstFreeLargeHandle = handle; + proxy->m_clientObject = 0; + m_numLargeHandles--; + } + bool isLargeProxy(const btVector3& aabbMin, const btVector3& aabbMax); + bool isLargeProxy(btBroadphaseProxy* proxy); +// debug + unsigned int m_numPairsAdded; + unsigned int m_numPairsRemoved; + unsigned int m_numOverflows; +// +public: + btGpu3DGridBroadphase(const btVector3& worldAabbMin,const btVector3& worldAabbMax, + int gridSizeX, int gridSizeY, int gridSizeZ, + int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody, + int maxBodiesPerCell = 8, + btScalar cellFactorAABB = btScalar(1.0f)); + btGpu3DGridBroadphase( btOverlappingPairCache* overlappingPairCache, + const btVector3& worldAabbMin,const btVector3& worldAabbMax, + int gridSizeX, int gridSizeY, int gridSizeZ, + int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody, + int maxBodiesPerCell = 8, + btScalar cellFactorAABB = btScalar(1.0f)); + virtual ~btGpu3DGridBroadphase(); + virtual void calculateOverlappingPairs(btDispatcher* dispatcher); + + virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy); + virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback); + virtual void resetPool(btDispatcher* dispatcher); + +protected: + void _initialize( const btVector3& worldAabbMin,const btVector3& worldAabbMax, + int gridSizeX, int gridSizeY, int gridSizeZ, + int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody, + int maxBodiesPerCell = 8, + btScalar cellFactorAABB = btScalar(1.0f)); + void _finalize(); + void addPairsToCache(btDispatcher* dispatcher); + void addLarge2LargePairsToCache(btDispatcher* dispatcher); + +// overrides for CPU version + virtual void setParameters(bt3DGridBroadphaseParams* hostParams); + virtual void prepareAABB(); + virtual void calcHashAABB(); + virtual void sortHash(); + virtual void findCellStart(); + virtual void findOverlappingPairs(); + virtual void findPairsLarge(); + virtual void computePairCacheChanges(); + virtual void scanOverlappingPairBuff(); + virtual void squeezeOverlappingPairBuff(); +}; + +//---------------------------------------------------------------------------------------- + +#endif //BTGPU3DGRIDBROADPHASE_H + +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- +//---------------------------------------------------------------------------------------- |