1 files changed, 74 insertions, 18 deletions

diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
index fb155e7047c..e2ebb825725 100644
--- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
+++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
@@ -24,35 +24,69 @@ struct btSimpleBroadphaseProxy : public btBroadphaseProxy
 {
 	btVector3	m_min;
 	btVector3	m_max;
+	int			m_nextFree;
+	
+//	int			m_handleId;
+
 	
 	btSimpleBroadphaseProxy() {};
 
-	btSimpleBroadphaseProxy(const btPoint3& minpt,const btPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask)
-	:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask),
+	btSimpleBroadphaseProxy(const btPoint3& minpt,const btPoint3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy)
+	:btBroadphaseProxy(userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy),
 	m_min(minpt),m_max(maxpt)		
 	{
 		(void)shapeType;
 	}
 	
+	
+	SIMD_FORCE_INLINE void SetNextFree(int next) {m_nextFree = next;}
+	SIMD_FORCE_INLINE int GetNextFree() const {return m_nextFree;}
+
+	
+
 
 };
 
-///SimpleBroadphase is a brute force aabb culling broadphase based on O(n^2) aabb checks
-class btSimpleBroadphase : public btOverlappingPairCache
+///The SimpleBroadphase is just a unit-test for btAxisSweep3, bt32BitAxisSweep3, or btDbvtBroadphase, so use those classes instead.
+///It is a brute force aabb culling broadphase based on O(n^2) aabb checks
+class btSimpleBroadphase : public btBroadphaseInterface
 {
 
 protected:
 
-	btSimpleBroadphaseProxy*	m_proxies;
-	int*				m_freeProxies;
-	int				m_firstFreeProxy;
-
-	btSimpleBroadphaseProxy** m_pProxies;
-	int				m_numProxies;
+	int		m_numHandles;						// number of active handles
+	int		m_maxHandles;						// max number of handles
+	
+	btSimpleBroadphaseProxy* m_pHandles;						// handles pool
 
+	void* m_pHandlesRawPtr;
+	int		m_firstFreeHandle;		// free handles list
 	
+	int allocHandle()
+	{
+		btAssert(m_numHandles < m_maxHandles);
+		int freeHandle = m_firstFreeHandle;
+		m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
+		m_numHandles++;
+		return freeHandle;
+	}
+
+	void freeHandle(btSimpleBroadphaseProxy* proxy)
+	{
+		int handle = int(proxy-m_pHandles);
+		btAssert(handle >= 0 && handle < m_maxHandles);
+
+		proxy->SetNextFree(m_firstFreeHandle);
+		m_firstFreeHandle = handle;
+
+		m_numHandles--;
+	}
+
+	btOverlappingPairCache*	m_pairCache;
+	bool	m_ownsPairCache;
+
+	int	m_invalidPair;
 
-	int m_maxProxies;
 	
 	
 	inline btSimpleBroadphaseProxy*	getSimpleProxyFromProxy(btBroadphaseProxy* proxy)
@@ -67,26 +101,48 @@ protected:
 protected:
 
 
-	virtual void	refreshOverlappingPairs();
+	
+
 public:
-	btSimpleBroadphase(int maxProxies=16384);
+	btSimpleBroadphase(int maxProxies=16384,btOverlappingPairCache* overlappingPairCache=0);
 	virtual ~btSimpleBroadphase();
 
 
 		static bool	aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1);
 
 
-	virtual btBroadphaseProxy*	createProxy(  const btVector3& min,  const btVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
+	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	calculateOverlappingPairs(btDispatcher* dispatcher);
 
-	virtual void	destroyProxy(btBroadphaseProxy* proxy);
-	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax);
+	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
 		
-	
-	
+	btOverlappingPairCache*	getOverlappingPairCache()
+	{
+		return m_pairCache;
+	}
+	const btOverlappingPairCache*	getOverlappingPairCache() const
+	{
+		return m_pairCache;
+	}
 
+	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
 
 
+	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
+	///will add some transform later
+	virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
+	{
+		aabbMin.setValue(-1e30f,-1e30f,-1e30f);
+		aabbMax.setValue(1e30f,1e30f,1e30f);
+	}
+
+	virtual void	printStats()
+	{
+//		printf("btSimpleBroadphase.h\n");
+//		printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
+	}
 };