diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h | 116 |
1 files changed, 63 insertions, 53 deletions
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h index 1f16043a7a8..fe70bc39c43 100644 --- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h @@ -24,15 +24,15 @@ subject to the following restrictions: // #define DBVT_BP_PROFILE 0 -#define DBVT_BP_SORTPAIRS 1 +//#define DBVT_BP_SORTPAIRS 1 #define DBVT_BP_PREVENTFALSEUPDATE 0 #define DBVT_BP_ACCURATESLEEPING 0 #define DBVT_BP_ENABLE_BENCHMARK 0 #define DBVT_BP_MARGIN (btScalar)0.05 #if DBVT_BP_PROFILE - #define DBVT_BP_PROFILING_RATE 256 - #include "LinearMath/btQuickprof.h" +#define DBVT_BP_PROFILING_RATE 256 +#include "LinearMath/btQuickprof.h" #endif // @@ -40,16 +40,16 @@ subject to the following restrictions: // struct btDbvtProxy : btBroadphaseProxy { -/* Fields */ -btDbvtAabbMm aabb; -btDbvtNode* leaf; -btDbvtProxy* links[2]; -int stage; -/* ctor */ -btDbvtProxy(void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) : - btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask) + /* Fields */ + //btDbvtAabbMm aabb; + btDbvtNode* leaf; + btDbvtProxy* links[2]; + int stage; + /* ctor */ + btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) : + btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask) { - links[0]=links[1]=0; + links[0]=links[1]=0; } }; @@ -60,57 +60,67 @@ typedef btAlignedObjectArray<btDbvtProxy*> btDbvtProxyArray; ///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3. struct btDbvtBroadphase : btBroadphaseInterface { -/* Config */ -enum { + /* Config */ + enum { DYNAMIC_SET = 0, /* Dynamic set index */ FIXED_SET = 1, /* Fixed set index */ STAGECOUNT = 2 /* Number of stages */ - }; -/* Fields */ -btDbvt m_sets[2]; // Dbvt sets -btDbvtProxy* m_stageRoots[STAGECOUNT+1]; // Stages list -btOverlappingPairCache* m_paircache; // Pair cache -btScalar m_prediction; // Velocity prediction -int m_stageCurrent; // Current stage -int m_fupdates; // % of fixed updates per frame -int m_dupdates; // % of dynamic updates per frame -int m_cupdates; // % of cleanup updates per frame -int m_newpairs; // Number of pairs created -int m_fixedleft; // Fixed optimization left -unsigned m_updates_call; // Number of updates call -unsigned m_updates_done; // Number of updates done -btScalar m_updates_ratio; // m_updates_done/m_updates_call -int m_pid; // Parse id -int m_cid; // Cleanup index -int m_gid; // Gen id -bool m_releasepaircache; // Release pair cache on delete -bool m_deferedcollide; // Defere dynamic/static collision to collide call -bool m_needcleanup; // Need to run cleanup? + }; + /* Fields */ + btDbvt m_sets[2]; // Dbvt sets + btDbvtProxy* m_stageRoots[STAGECOUNT+1]; // Stages list + btOverlappingPairCache* m_paircache; // Pair cache + btScalar m_prediction; // Velocity prediction + int m_stageCurrent; // Current stage + int m_fupdates; // % of fixed updates per frame + int m_dupdates; // % of dynamic updates per frame + int m_cupdates; // % of cleanup updates per frame + int m_newpairs; // Number of pairs created + int m_fixedleft; // Fixed optimization left + unsigned m_updates_call; // Number of updates call + unsigned m_updates_done; // Number of updates done + btScalar m_updates_ratio; // m_updates_done/m_updates_call + int m_pid; // Parse id + int m_cid; // Cleanup index + int m_gid; // Gen id + bool m_releasepaircache; // Release pair cache on delete + bool m_deferedcollide; // Defere dynamic/static collision to collide call + bool m_needcleanup; // Need to run cleanup? #if DBVT_BP_PROFILE -btClock m_clock; -struct { + btClock m_clock; + struct { unsigned long m_total; unsigned long m_ddcollide; unsigned long m_fdcollide; unsigned long m_cleanup; unsigned long m_jobcount; - } m_profiling; + } m_profiling; #endif -/* Methods */ -btDbvtBroadphase(btOverlappingPairCache* paircache=0); -~btDbvtBroadphase(); -void collide(btDispatcher* dispatcher); -void optimize(); -/* btBroadphaseInterface Implementation */ -btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy); -void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); -void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher); -void calculateOverlappingPairs(btDispatcher* dispatcher); -btOverlappingPairCache* getOverlappingPairCache(); -const btOverlappingPairCache* getOverlappingPairCache() const; -void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const; -void printStats(); -static void benchmark(btBroadphaseInterface*); + /* Methods */ + btDbvtBroadphase(btOverlappingPairCache* paircache=0); + ~btDbvtBroadphase(); + void collide(btDispatcher* dispatcher); + void optimize(); + /* btBroadphaseInterface Implementation */ + btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy); + void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher); + 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 getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; + void calculateOverlappingPairs(btDispatcher* dispatcher); + btOverlappingPairCache* getOverlappingPairCache(); + const btOverlappingPairCache* getOverlappingPairCache() const; + void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const; + void printStats(); + static void benchmark(btBroadphaseInterface*); + + + void performDeferredRemoval(btDispatcher* dispatcher); + + ///reset broadphase internal structures, to ensure determinism/reproducability + virtual void resetPool(btDispatcher* dispatcher); + }; #endif |