diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h | 83 |
1 files changed, 53 insertions, 30 deletions
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h index ebbbe01bbe6..57bbb368672 100644 --- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h +++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btAxisSweep3.h @@ -19,11 +19,29 @@ #ifndef AXIS_SWEEP_3_H #define AXIS_SWEEP_3_H -#include "LinearMath/btPoint3.h" -#include "LinearMath/btVector3.h" +#include "../../LinearMath/btPoint3.h" +#include "../../LinearMath/btVector3.h" #include "btOverlappingPairCache.h" #include "btBroadphaseProxy.h" + +//Enable BP_USE_FIXEDPOINT_INT_32 if you need more then 32767 objects +//#define BP_USE_FIXEDPOINT_INT_32 1 + +#ifdef BP_USE_FIXEDPOINT_INT_32 + #define BP_FP_INT_TYPE unsigned int + #define BP_MAX_HANDLES 1500000 //arbitrary maximum number of handles + #define BP_HANDLE_SENTINEL 0x7fffffff + #define BP_HANDLE_MASK 0xfffffffe +#else + #define BP_FP_INT_TYPE unsigned short int + #define BP_MAX_HANDLES 32767 + #define BP_HANDLE_SENTINEL 0xffff + #define BP_HANDLE_MASK 0xfffe +#endif //BP_USE_FIXEDPOINT_INT_32 + +//#define DEBUG_BROADPHASE 1 + /// btAxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase. /// It uses arrays rather then lists for storage of the 3 axis. Also it operates using integer coordinates instead of floats. /// The testOverlap check is optimized to check the array index, rather then the actual AABB coordinates/pos @@ -36,10 +54,10 @@ public: class Edge { public: - unsigned short m_pos; // low bit is min/max - unsigned short m_handle; + BP_FP_INT_TYPE m_pos; // low bit is min/max + BP_FP_INT_TYPE m_handle; - unsigned short IsMax() const {return m_pos & 1;} + BP_FP_INT_TYPE IsMax() const {return m_pos & 1;} }; public: @@ -48,14 +66,14 @@ public: public: // indexes into the edge arrays - unsigned short m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12 - unsigned short m_handleId; - unsigned short m_pad; + BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12 + BP_FP_INT_TYPE m_handleId; + BP_FP_INT_TYPE m_pad; //void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject - inline void SetNextFree(unsigned short next) {m_minEdges[0] = next;} - inline unsigned short GetNextFree() const {return m_minEdges[0];} + inline void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;} + inline BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];} }; // 24 bytes + 24 for Edge structures = 44 bytes total per entry @@ -65,51 +83,56 @@ private: btVector3 m_quantize; // scaling factor for quantization - int m_numHandles; // number of active handles + BP_FP_INT_TYPE m_numHandles; // number of active handles int m_maxHandles; // max number of handles Handle* m_pHandles; // handles pool - unsigned short m_firstFreeHandle; // free handles list + BP_FP_INT_TYPE m_firstFreeHandle; // free handles list Edge* m_pEdges[3]; // edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries) + int m_invalidPair; // allocation/deallocation - unsigned short allocHandle(); - void freeHandle(unsigned short handle); + BP_FP_INT_TYPE allocHandle(); + void freeHandle(BP_FP_INT_TYPE handle); bool testOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB); - //Overlap* AddOverlap(unsigned short handleA, unsigned short handleB); - //void RemoveOverlap(unsigned short handleA, unsigned short handleB); +#ifdef DEBUG_BROADPHASE + void debugPrintAxis(int axis,bool checkCardinality=true); +#endif //DEBUG_BROADPHASE - void quantize(unsigned short* out, const btPoint3& point, int isMax) const; + //Overlap* AddOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB); + //void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB); - void sortMinDown(int axis, unsigned short edge, bool updateOverlaps = true); - void sortMinUp(int axis, unsigned short edge, bool updateOverlaps = true); - void sortMaxDown(int axis, unsigned short edge, bool updateOverlaps = true); - void sortMaxUp(int axis, unsigned short edge, bool updateOverlaps = true); + void quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const; + + void sortMinDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true); + void sortMinUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true); + void sortMaxDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true); + void sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true); public: btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles = 16384); virtual ~btAxisSweep3(); - virtual void refreshOverlappingPairs() - { - //this is replace by sweep and prune - } + virtual void refreshOverlappingPairs(); - unsigned short addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask); - void removeHandle(unsigned short handle); - void updateHandle(unsigned short handle, const btPoint3& aabbMin,const btPoint3& aabbMax); - inline Handle* getHandle(unsigned short index) const {return m_pHandles + index;} + BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask); + void removeHandle(BP_FP_INT_TYPE handle); + void updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax); + inline Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;} + void processAllOverlappingPairs(btOverlapCallback* callback); //Broadphase Interface virtual btBroadphaseProxy* createProxy( const btVector3& min, const btVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask); virtual void destroyProxy(btBroadphaseProxy* proxy); virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax); + bool testOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); }; -#endif //AXIS_SWEEP_3_H +#endif + |