diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h | 375 |
1 files changed, 170 insertions, 205 deletions
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h index 14614270476..56011899cb5 100644 --- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h @@ -16,7 +16,6 @@ subject to the following restrictions: #ifndef BT_OVERLAPPING_PAIR_CACHE_H #define BT_OVERLAPPING_PAIR_CACHE_H - #include "btBroadphaseInterface.h" #include "btBroadphaseProxy.h" #include "btOverlappingPairCallback.h" @@ -24,174 +23,164 @@ subject to the following restrictions: #include "LinearMath/btAlignedObjectArray.h" class btDispatcher; -typedef btAlignedObjectArray<btBroadphasePair> btBroadphasePairArray; +typedef btAlignedObjectArray<btBroadphasePair> btBroadphasePairArray; -struct btOverlapCallback +struct btOverlapCallback { virtual ~btOverlapCallback() - {} + { + } //return true for deletion of the pair - virtual bool processOverlap(btBroadphasePair& pair) = 0; - + virtual bool processOverlap(btBroadphasePair& pair) = 0; }; struct btOverlapFilterCallback { virtual ~btOverlapFilterCallback() - {} + { + } // return true when pairs need collision - virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const = 0; + virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const = 0; }; - - - - - - -extern int gRemovePairs; -extern int gAddedPairs; -extern int gFindPairs; - -const int BT_NULL_PAIR=0xffffffff; +const int BT_NULL_PAIR = 0xffffffff; ///The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases. ///The btHashedOverlappingPairCache and btSortedOverlappingPairCache classes are two implementations. class btOverlappingPairCache : public btOverlappingPairCallback { public: - virtual ~btOverlappingPairCache() {} // this is needed so we can get to the derived class destructor + virtual ~btOverlappingPairCache() {} // this is needed so we can get to the derived class destructor - virtual btBroadphasePair* getOverlappingPairArrayPtr() = 0; - - virtual const btBroadphasePair* getOverlappingPairArrayPtr() const = 0; + virtual btBroadphasePair* getOverlappingPairArrayPtr() = 0; - virtual btBroadphasePairArray& getOverlappingPairArray() = 0; + virtual const btBroadphasePair* getOverlappingPairArrayPtr() const = 0; - virtual void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) = 0; + virtual btBroadphasePairArray& getOverlappingPairArray() = 0; - virtual int getNumOverlappingPairs() const = 0; + virtual void cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher) = 0; - virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) = 0; + virtual int getNumOverlappingPairs() const = 0; + virtual bool needsBroadphaseCollision(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1) const = 0; + virtual btOverlapFilterCallback* getOverlapFilterCallback() = 0; + virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher) = 0; - virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0; + virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0; - virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher) = 0; + virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* dispatcher) = 0; + virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher, const struct btDispatcherInfo& /*dispatchInfo*/) + { + processAllOverlappingPairs(callback, dispatcher); + } virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0; - virtual bool hasDeferredRemoval() = 0; - - virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)=0; - - virtual void sortOverlappingPairs(btDispatcher* dispatcher) = 0; + virtual bool hasDeferredRemoval() = 0; + virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback) = 0; + virtual void sortOverlappingPairs(btDispatcher* dispatcher) = 0; }; /// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com -class btHashedOverlappingPairCache : public btOverlappingPairCache + +ATTRIBUTE_ALIGNED16(class) +btHashedOverlappingPairCache : public btOverlappingPairCache { - btBroadphasePairArray m_overlappingPairArray; + btBroadphasePairArray m_overlappingPairArray; btOverlapFilterCallback* m_overlapFilterCallback; protected: - - btAlignedObjectArray<int> m_hashTable; - btAlignedObjectArray<int> m_next; - btOverlappingPairCallback* m_ghostPairCallback; - + btAlignedObjectArray<int> m_hashTable; + btAlignedObjectArray<int> m_next; + btOverlappingPairCallback* m_ghostPairCallback; public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + btHashedOverlappingPairCache(); virtual ~btHashedOverlappingPairCache(); - - void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + void removeOverlappingPairsContainingProxy(btBroadphaseProxy * proxy, btDispatcher * dispatcher); + + virtual void* removeOverlappingPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1, btDispatcher * dispatcher); - virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher); - - SIMD_FORCE_INLINE bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const + SIMD_FORCE_INLINE bool needsBroadphaseCollision(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1) const { if (m_overlapFilterCallback) - return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1); + return m_overlapFilterCallback->needBroadphaseCollision(proxy0, proxy1); bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0; collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask); - + return collides; } // Add a pair and return the new pair. If the pair already exists, // no new pair is created and the old one is returned. - virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) + virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1) { - gAddedPairs++; - - if (!needsBroadphaseCollision(proxy0,proxy1)) + if (!needsBroadphaseCollision(proxy0, proxy1)) return 0; - return internalAddPair(proxy0,proxy1); + return internalAddPair(proxy0, proxy1); } - + void cleanProxyFromPairs(btBroadphaseProxy * proxy, btDispatcher * dispatcher); - void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher * dispatcher); - - virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher); + virtual void processAllOverlappingPairs(btOverlapCallback * callback, btDispatcher * dispatcher, const struct btDispatcherInfo& dispatchInfo); - virtual btBroadphasePair* getOverlappingPairArrayPtr() + virtual btBroadphasePair* getOverlappingPairArrayPtr() { return &m_overlappingPairArray[0]; } - const btBroadphasePair* getOverlappingPairArrayPtr() const + const btBroadphasePair* getOverlappingPairArrayPtr() const { return &m_overlappingPairArray[0]; } - btBroadphasePairArray& getOverlappingPairArray() + btBroadphasePairArray& getOverlappingPairArray() { return m_overlappingPairArray; } - const btBroadphasePairArray& getOverlappingPairArray() const + const btBroadphasePairArray& getOverlappingPairArray() const { return m_overlappingPairArray; } - void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher); + void cleanOverlappingPair(btBroadphasePair & pair, btDispatcher * dispatcher); - - - btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1); + btBroadphasePair* findPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1); int GetCount() const { return m_overlappingPairArray.size(); } -// btBroadphasePair* GetPairs() { return m_pairs; } + // btBroadphasePair* GetPairs() { return m_pairs; } btOverlapFilterCallback* getOverlapFilterCallback() { return m_overlapFilterCallback; } - void setOverlapFilterCallback(btOverlapFilterCallback* callback) + void setOverlapFilterCallback(btOverlapFilterCallback * callback) { m_overlapFilterCallback = callback; } - int getNumOverlappingPairs() const + int getNumOverlappingPairs() const { return m_overlappingPairArray.size(); } + private: - - btBroadphasePair* internalAddPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + btBroadphasePair* internalAddPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1); - void growTables(); + void growTables(); SIMD_FORCE_INLINE bool equalsPair(const btBroadphasePair& pair, int proxyId1, int proxyId2) - { + { return pair.m_pProxy0->getUid() == proxyId1 && pair.m_pProxy1->getUid() == proxyId2; } @@ -211,43 +200,37 @@ private: } */ - - - SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2) + SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2) { - int key = static_cast<int>(((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16)); + unsigned int key = proxyId1 | (proxyId2 << 16); // Thomas Wang's hash key += ~(key << 15); - key ^= (key >> 10); - key += (key << 3); - key ^= (key >> 6); + key ^= (key >> 10); + key += (key << 3); + key ^= (key >> 6); key += ~(key << 11); - key ^= (key >> 16); - return static_cast<unsigned int>(key); + key ^= (key >> 16); + return key; } - - - - - SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, int hash) + SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy * proxy0, btBroadphaseProxy * proxy1, int hash) { int proxyId1 = proxy0->getUid(); int proxyId2 = proxy1->getUid(); - #if 0 // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat. +#if 0 // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat. if (proxyId1 > proxyId2) btSwap(proxyId1, proxyId2); - #endif +#endif int index = m_hashTable[hash]; - - while( index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false) + + while (index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false) { index = m_next[index]; } - if ( index == BT_NULL_PAIR ) + if (index == BT_NULL_PAIR) { return NULL; } @@ -257,155 +240,136 @@ private: return &m_overlappingPairArray[index]; } - virtual bool hasDeferredRemoval() + virtual bool hasDeferredRemoval() { return false; } - virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback) + virtual void setInternalGhostPairCallback(btOverlappingPairCallback * ghostPairCallback) { m_ghostPairCallback = ghostPairCallback; } - virtual void sortOverlappingPairs(btDispatcher* dispatcher); - - - + virtual void sortOverlappingPairs(btDispatcher * dispatcher); }; - - - ///btSortedOverlappingPairCache maintains the objects with overlapping AABB ///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase -class btSortedOverlappingPairCache : public btOverlappingPairCache +class btSortedOverlappingPairCache : public btOverlappingPairCache { - protected: - //avoid brute-force finding all the time - btBroadphasePairArray m_overlappingPairArray; +protected: + //avoid brute-force finding all the time + btBroadphasePairArray m_overlappingPairArray; - //during the dispatch, check that user doesn't destroy/create proxy - bool m_blockedForChanges; + //during the dispatch, check that user doesn't destroy/create proxy + bool m_blockedForChanges; - ///by default, do the removal during the pair traversal - bool m_hasDeferredRemoval; - - //if set, use the callback instead of the built in filter in needBroadphaseCollision - btOverlapFilterCallback* m_overlapFilterCallback; + ///by default, do the removal during the pair traversal + bool m_hasDeferredRemoval; - btOverlappingPairCallback* m_ghostPairCallback; + //if set, use the callback instead of the built in filter in needBroadphaseCollision + btOverlapFilterCallback* m_overlapFilterCallback; - public: - - btSortedOverlappingPairCache(); - virtual ~btSortedOverlappingPairCache(); + btOverlappingPairCallback* m_ghostPairCallback; - virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher); +public: + btSortedOverlappingPairCache(); + virtual ~btSortedOverlappingPairCache(); - void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher); + virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* dispatcher); - void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher); - - btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); + void* removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, btDispatcher* dispatcher); - btBroadphasePair* findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); - - - void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + void cleanOverlappingPair(btBroadphasePair& pair, btDispatcher* dispatcher); - void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); + btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1); + btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1); - inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const - { - if (m_overlapFilterCallback) - return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1); + void cleanProxyFromPairs(btBroadphaseProxy* proxy, btDispatcher* dispatcher); - bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0; - collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask); - - return collides; - } - - btBroadphasePairArray& getOverlappingPairArray() - { - return m_overlappingPairArray; - } + void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher); - const btBroadphasePairArray& getOverlappingPairArray() const - { - return m_overlappingPairArray; - } + inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const + { + if (m_overlapFilterCallback) + return m_overlapFilterCallback->needBroadphaseCollision(proxy0, proxy1); - + bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0; + collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask); + return collides; + } - btBroadphasePair* getOverlappingPairArrayPtr() - { - return &m_overlappingPairArray[0]; - } + btBroadphasePairArray& getOverlappingPairArray() + { + return m_overlappingPairArray; + } - const btBroadphasePair* getOverlappingPairArrayPtr() const - { - return &m_overlappingPairArray[0]; - } + const btBroadphasePairArray& getOverlappingPairArray() const + { + return m_overlappingPairArray; + } - int getNumOverlappingPairs() const - { - return m_overlappingPairArray.size(); - } - - btOverlapFilterCallback* getOverlapFilterCallback() - { - return m_overlapFilterCallback; - } + btBroadphasePair* getOverlappingPairArrayPtr() + { + return &m_overlappingPairArray[0]; + } - void setOverlapFilterCallback(btOverlapFilterCallback* callback) - { - m_overlapFilterCallback = callback; - } + const btBroadphasePair* getOverlappingPairArrayPtr() const + { + return &m_overlappingPairArray[0]; + } - virtual bool hasDeferredRemoval() - { - return m_hasDeferredRemoval; - } + int getNumOverlappingPairs() const + { + return m_overlappingPairArray.size(); + } - virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback) - { - m_ghostPairCallback = ghostPairCallback; - } + btOverlapFilterCallback* getOverlapFilterCallback() + { + return m_overlapFilterCallback; + } - virtual void sortOverlappingPairs(btDispatcher* dispatcher); - + void setOverlapFilterCallback(btOverlapFilterCallback* callback) + { + m_overlapFilterCallback = callback; + } -}; + virtual bool hasDeferredRemoval() + { + return m_hasDeferredRemoval; + } + virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback) + { + m_ghostPairCallback = ghostPairCallback; + } + virtual void sortOverlappingPairs(btDispatcher* dispatcher); +}; ///btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and unit testing. class btNullPairCache : public btOverlappingPairCache { - - btBroadphasePairArray m_overlappingPairArray; + btBroadphasePairArray m_overlappingPairArray; public: - - virtual btBroadphasePair* getOverlappingPairArrayPtr() + virtual btBroadphasePair* getOverlappingPairArrayPtr() { return &m_overlappingPairArray[0]; } - const btBroadphasePair* getOverlappingPairArrayPtr() const + const btBroadphasePair* getOverlappingPairArrayPtr() const { return &m_overlappingPairArray[0]; } - btBroadphasePairArray& getOverlappingPairArray() + btBroadphasePairArray& getOverlappingPairArray() { return m_overlappingPairArray; } - - virtual void cleanOverlappingPair(btBroadphasePair& /*pair*/,btDispatcher* /*dispatcher*/) - { + virtual void cleanOverlappingPair(btBroadphasePair& /*pair*/, btDispatcher* /*dispatcher*/) + { } virtual int getNumOverlappingPairs() const @@ -413,16 +377,23 @@ public: return 0; } - virtual void cleanProxyFromPairs(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/) + virtual void cleanProxyFromPairs(btBroadphaseProxy* /*proxy*/, btDispatcher* /*dispatcher*/) { - } - virtual void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/) + bool needsBroadphaseCollision(btBroadphaseProxy*, btBroadphaseProxy*) const + { + return true; + } + btOverlapFilterCallback* getOverlapFilterCallback() + { + return 0; + } + virtual void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/) { } - virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* /*dispatcher*/) + virtual void processAllOverlappingPairs(btOverlapCallback*, btDispatcher* /*dispatcher*/) { } @@ -431,39 +402,33 @@ public: return 0; } - virtual bool hasDeferredRemoval() + virtual bool hasDeferredRemoval() { return true; } - virtual void setInternalGhostPairCallback(btOverlappingPairCallback* /* ghostPairCallback */) + virtual void setInternalGhostPairCallback(btOverlappingPairCallback* /* ghostPairCallback */) { - } - virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/) + virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* /*proxy0*/, btBroadphaseProxy* /*proxy1*/) { return 0; } - virtual void* removeOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/,btDispatcher* /*dispatcher*/) + virtual void* removeOverlappingPair(btBroadphaseProxy* /*proxy0*/, btBroadphaseProxy* /*proxy1*/, btDispatcher* /*dispatcher*/) { return 0; } - virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/) + virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/, btDispatcher* /*dispatcher*/) { } - - virtual void sortOverlappingPairs(btDispatcher* dispatcher) + + virtual void sortOverlappingPairs(btDispatcher* dispatcher) { - (void) dispatcher; + (void)dispatcher; } - - }; - -#endif //BT_OVERLAPPING_PAIR_CACHE_H - - +#endif //BT_OVERLAPPING_PAIR_CACHE_H |