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path: root/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
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Diffstat (limited to 'extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp')
-rw-r--r--extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp152
1 files changed, 64 insertions, 88 deletions
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
index 752fcd0fef2..b7fe0a1f341 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
@@ -24,52 +24,45 @@ subject to the following restrictions:
#include <new>
-extern int gOverlappingPairs;
-
-void btSimpleBroadphase::validate()
+void btSimpleBroadphase::validate()
{
- for (int i=0;i<m_numHandles;i++)
+ for (int i = 0; i < m_numHandles; i++)
{
- for (int j=i+1;j<m_numHandles;j++)
+ for (int j = i + 1; j < m_numHandles; j++)
{
btAssert(&m_pHandles[i] != &m_pHandles[j]);
}
}
-
}
btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* overlappingPairCache)
- :m_pairCache(overlappingPairCache),
- m_ownsPairCache(false),
- m_invalidPair(0)
+ : m_pairCache(overlappingPairCache),
+ m_ownsPairCache(false),
+ m_invalidPair(0)
{
-
if (!overlappingPairCache)
{
- void* mem = btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16);
- m_pairCache = new (mem)btHashedOverlappingPairCache();
+ void* mem = btAlignedAlloc(sizeof(btHashedOverlappingPairCache), 16);
+ m_pairCache = new (mem) btHashedOverlappingPairCache();
m_ownsPairCache = true;
}
// allocate handles buffer and put all handles on free list
- m_pHandlesRawPtr = btAlignedAlloc(sizeof(btSimpleBroadphaseProxy)*maxProxies,16);
- m_pHandles = new(m_pHandlesRawPtr) btSimpleBroadphaseProxy[maxProxies];
+ m_pHandlesRawPtr = btAlignedAlloc(sizeof(btSimpleBroadphaseProxy) * maxProxies, 16);
+ m_pHandles = new (m_pHandlesRawPtr) btSimpleBroadphaseProxy[maxProxies];
m_maxHandles = maxProxies;
m_numHandles = 0;
m_firstFreeHandle = 0;
m_LastHandleIndex = -1;
-
{
for (int i = m_firstFreeHandle; i < maxProxies; i++)
{
m_pHandles[i].SetNextFree(i + 1);
- m_pHandles[i].m_uniqueId = i+2;//any UID will do, we just avoid too trivial values (0,1) for debugging purposes
+ m_pHandles[i].m_uniqueId = i + 2; //any UID will do, we just avoid too trivial values (0,1) for debugging purposes
}
m_pHandles[maxProxies - 1].SetNextFree(0);
-
}
-
}
btSimpleBroadphase::~btSimpleBroadphase()
@@ -83,26 +76,25 @@ btSimpleBroadphase::~btSimpleBroadphase()
}
}
-
-btBroadphaseProxy* btSimpleBroadphase::createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* /*dispatcher*/,void* multiSapProxy)
+btBroadphaseProxy* btSimpleBroadphase::createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* /*dispatcher*/)
{
if (m_numHandles >= m_maxHandles)
{
btAssert(0);
- return 0; //should never happen, but don't let the game crash ;-)
+ return 0; //should never happen, but don't let the game crash ;-)
}
- btAssert(aabbMin[0]<= aabbMax[0] && aabbMin[1]<= aabbMax[1] && aabbMin[2]<= aabbMax[2]);
+ btAssert(aabbMin[0] <= aabbMax[0] && aabbMin[1] <= aabbMax[1] && aabbMin[2] <= aabbMax[2]);
int newHandleIndex = allocHandle();
- btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex])btSimpleBroadphaseProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy);
+ btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex]) btSimpleBroadphaseProxy(aabbMin, aabbMax, shapeType, userPtr, collisionFilterGroup, collisionFilterMask);
return proxy;
}
-class RemovingOverlapCallback : public btOverlapCallback
+class RemovingOverlapCallback : public btOverlapCallback
{
protected:
- virtual bool processOverlap(btBroadphasePair& pair)
+ virtual bool processOverlap(btBroadphasePair& pair)
{
(void)pair;
btAssert(0);
@@ -112,12 +104,13 @@ protected:
class RemovePairContainingProxy
{
+ btBroadphaseProxy* m_targetProxy;
- btBroadphaseProxy* m_targetProxy;
- public:
+public:
virtual ~RemovePairContainingProxy()
{
}
+
protected:
virtual bool processOverlap(btBroadphasePair& pair)
{
@@ -128,38 +121,36 @@ protected:
};
};
-void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg,btDispatcher* dispatcher)
+void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg, btDispatcher* dispatcher)
{
-
- btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg);
- freeHandle(proxy0);
+ m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg, dispatcher);
- m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg,dispatcher);
+ btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg);
+ freeHandle(proxy0);
- //validate();
-
+ //validate();
}
-void btSimpleBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
+void btSimpleBroadphase::getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const
{
const btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
aabbMin = sbp->m_aabbMin;
aabbMax = sbp->m_aabbMax;
}
-void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* /*dispatcher*/)
+void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* /*dispatcher*/)
{
btSimpleBroadphaseProxy* sbp = getSimpleProxyFromProxy(proxy);
sbp->m_aabbMin = aabbMin;
sbp->m_aabbMax = aabbMax;
}
-void btSimpleBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin,const btVector3& aabbMax)
+void btSimpleBroadphase::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin, const btVector3& aabbMax)
{
- for (int i=0; i <= m_LastHandleIndex; i++)
+ for (int i = 0; i <= m_LastHandleIndex; i++)
{
btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
- if(!proxy->m_clientObject)
+ if (!proxy->m_clientObject)
{
continue;
}
@@ -167,69 +158,59 @@ void btSimpleBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo
}
}
-
-void btSimpleBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
+void btSimpleBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
{
- for (int i=0; i <= m_LastHandleIndex; i++)
+ for (int i = 0; i <= m_LastHandleIndex; i++)
{
btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
- if(!proxy->m_clientObject)
+ if (!proxy->m_clientObject)
{
continue;
}
- if (TestAabbAgainstAabb2(aabbMin,aabbMax,proxy->m_aabbMin,proxy->m_aabbMax))
+ if (TestAabbAgainstAabb2(aabbMin, aabbMax, proxy->m_aabbMin, proxy->m_aabbMax))
{
callback.process(proxy);
}
}
}
-
-
-
-
-
-
-bool btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1)
+bool btSimpleBroadphase::aabbOverlap(btSimpleBroadphaseProxy* proxy0, btSimpleBroadphaseProxy* proxy1)
{
- return proxy0->m_aabbMin[0] <= proxy1->m_aabbMax[0] && proxy1->m_aabbMin[0] <= proxy0->m_aabbMax[0] &&
+ return proxy0->m_aabbMin[0] <= proxy1->m_aabbMax[0] && proxy1->m_aabbMin[0] <= proxy0->m_aabbMax[0] &&
proxy0->m_aabbMin[1] <= proxy1->m_aabbMax[1] && proxy1->m_aabbMin[1] <= proxy0->m_aabbMax[1] &&
proxy0->m_aabbMin[2] <= proxy1->m_aabbMax[2] && proxy1->m_aabbMin[2] <= proxy0->m_aabbMax[2];
-
}
-
-
//then remove non-overlapping ones
class CheckOverlapCallback : public btOverlapCallback
{
public:
virtual bool processOverlap(btBroadphasePair& pair)
{
- return (!btSimpleBroadphase::aabbOverlap(static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0),static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1)));
+ return (!btSimpleBroadphase::aabbOverlap(static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0), static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1)));
}
};
-void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
+void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
{
//first check for new overlapping pairs
- int i,j;
+ int i, j;
if (m_numHandles >= 0)
{
int new_largest_index = -1;
- for (i=0; i <= m_LastHandleIndex; i++)
+ for (i = 0; i <= m_LastHandleIndex; i++)
{
btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i];
- if(!proxy0->m_clientObject)
+ if (!proxy0->m_clientObject)
{
continue;
}
new_largest_index = i;
- for (j=i+1; j <= m_LastHandleIndex; j++)
+ for (j = i + 1; j <= m_LastHandleIndex; j++)
{
btSimpleBroadphaseProxy* proxy1 = &m_pHandles[j];
btAssert(proxy0 != proxy1);
- if(!proxy1->m_clientObject)
+ if (!proxy1->m_clientObject)
{
continue;
}
@@ -237,19 +218,20 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
- if (aabbOverlap(p0,p1))
+ if (aabbOverlap(p0, p1))
{
- if ( !m_pairCache->findPair(proxy0,proxy1))
+ if (!m_pairCache->findPair(proxy0, proxy1))
{
- m_pairCache->addOverlappingPair(proxy0,proxy1);
+ m_pairCache->addOverlappingPair(proxy0, proxy1);
}
- } else
+ }
+ else
{
if (!m_pairCache->hasDeferredRemoval())
{
- if ( m_pairCache->findPair(proxy0,proxy1))
+ if (m_pairCache->findPair(proxy0, proxy1))
{
- m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher);
+ m_pairCache->removeOverlappingPair(proxy0, proxy1, dispatcher);
}
}
}
@@ -260,8 +242,7 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
if (m_ownsPairCache && m_pairCache->hasDeferredRemoval())
{
-
- btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
+ btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
//perform a sort, to find duplicates and to sort 'invalid' pairs to the end
overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
@@ -269,16 +250,13 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
-
btBroadphasePair previousPair;
previousPair.m_pProxy0 = 0;
previousPair.m_pProxy1 = 0;
previousPair.m_algorithm = 0;
-
- for (i=0;i<overlappingPairArray.size();i++)
+ for (i = 0; i < overlappingPairArray.size(); i++)
{
-
btBroadphasePair& pair = overlappingPairArray[i];
bool isDuplicate = (pair == previousPair);
@@ -289,16 +267,18 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
if (!isDuplicate)
{
- bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1);
+ bool hasOverlap = testAabbOverlap(pair.m_pProxy0, pair.m_pProxy1);
if (hasOverlap)
{
- needsRemoval = false;//callback->processOverlap(pair);
- } else
+ needsRemoval = false; //callback->processOverlap(pair);
+ }
+ else
{
needsRemoval = true;
}
- } else
+ }
+ else
{
//remove duplicate
needsRemoval = true;
@@ -308,16 +288,14 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
if (needsRemoval)
{
- m_pairCache->cleanOverlappingPair(pair,dispatcher);
+ m_pairCache->cleanOverlappingPair(pair, dispatcher);
// m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
// m_overlappingPairArray.pop_back();
pair.m_pProxy0 = 0;
pair.m_pProxy1 = 0;
m_invalidPair++;
- gOverlappingPairs--;
- }
-
+ }
}
///if you don't like to skip the invalid pairs in the array, execute following code:
@@ -329,21 +307,19 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
m_invalidPair = 0;
-#endif//CLEAN_INVALID_PAIRS
-
+#endif //CLEAN_INVALID_PAIRS
}
}
}
-
-bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
+bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
{
btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0);
btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1);
- return aabbOverlap(p0,p1);
+ return aabbOverlap(p0, p1);
}
-void btSimpleBroadphase::resetPool(btDispatcher* dispatcher)
+void btSimpleBroadphase::resetPool(btDispatcher* dispatcher)
{
//not yet
}
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