diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h | 107 |
1 files changed, 42 insertions, 65 deletions
diff --git a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h index 7cb3c40a043..3e02fdc0036 100644 --- a/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h +++ b/extern/bullet2/src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h @@ -16,57 +16,47 @@ subject to the following restrictions: #ifndef BT_SIMPLE_BROADPHASE_H #define BT_SIMPLE_BROADPHASE_H - #include "btOverlappingPairCache.h" - struct btSimpleBroadphaseProxy : public btBroadphaseProxy { - int m_nextFree; - -// int m_handleId; + int m_nextFree; - - btSimpleBroadphaseProxy() {}; + // int m_handleId; - btSimpleBroadphaseProxy(const btVector3& minpt,const btVector3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy) - :btBroadphaseProxy(minpt,maxpt,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy) + btSimpleBroadphaseProxy(){}; + + btSimpleBroadphaseProxy(const btVector3& minpt, const btVector3& maxpt, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask) + : btBroadphaseProxy(minpt, maxpt, userPtr, collisionFilterGroup, collisionFilterMask) { (void)shapeType; } - - - SIMD_FORCE_INLINE void SetNextFree(int next) {m_nextFree = next;} - SIMD_FORCE_INLINE int GetNextFree() const {return m_nextFree;} - - - + SIMD_FORCE_INLINE void SetNextFree(int next) { m_nextFree = next; } + SIMD_FORCE_INLINE int GetNextFree() const { return m_nextFree; } }; ///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: + int m_numHandles; // number of active handles + int m_maxHandles; // max number of handles + int m_LastHandleIndex; - int m_numHandles; // number of active handles - int m_maxHandles; // max number of handles - int m_LastHandleIndex; - - btSimpleBroadphaseProxy* m_pHandles; // handles pool + btSimpleBroadphaseProxy* m_pHandles; // handles pool void* m_pHandlesRawPtr; - int m_firstFreeHandle; // free handles list - + 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++; - if(freeHandle > m_LastHandleIndex) + if (freeHandle > m_LastHandleIndex) { m_LastHandleIndex = freeHandle; } @@ -75,9 +65,9 @@ protected: void freeHandle(btSimpleBroadphaseProxy* proxy) { - int handle = int(proxy-m_pHandles); + int handle = int(proxy - m_pHandles); btAssert(handle >= 0 && handle < m_maxHandles); - if(handle == m_LastHandleIndex) + if (handle == m_LastHandleIndex) { m_LastHandleIndex--; } @@ -89,20 +79,18 @@ protected: m_numHandles--; } - btOverlappingPairCache* m_pairCache; - bool m_ownsPairCache; + btOverlappingPairCache* m_pairCache; + bool m_ownsPairCache; - int m_invalidPair; + int m_invalidPair; - - - inline btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) + inline btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) { btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxy); return proxy0; } - inline const btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const + inline const btSimpleBroadphaseProxy* getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const { const btSimpleBroadphaseProxy* proxy0 = static_cast<const btSimpleBroadphaseProxy*>(proxy); return proxy0; @@ -111,61 +99,50 @@ protected: ///reset broadphase internal structures, to ensure determinism/reproducability virtual void resetPool(btDispatcher* dispatcher); - - void validate(); + void validate(); protected: - - - - public: - btSimpleBroadphase(int maxProxies=16384,btOverlappingPairCache* overlappingPairCache=0); + btSimpleBroadphase(int maxProxies = 16384, btOverlappingPairCache* overlappingPairCache = 0); virtual ~btSimpleBroadphase(); + static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0, btSimpleBroadphaseProxy* proxy1); - static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1); - + virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher); - 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 calculateOverlappingPairs(btDispatcher* dispatcher); + virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher); + virtual void setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher); + virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const; - virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); - virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher); - virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; + 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 aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback); - 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 aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback); - - btOverlappingPairCache* getOverlappingPairCache() + btOverlappingPairCache* getOverlappingPairCache() { return m_pairCache; } - const btOverlappingPairCache* getOverlappingPairCache() const + const btOverlappingPairCache* getOverlappingPairCache() const { return m_pairCache; } - bool testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1); - + 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 + virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const { - aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT); - aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT); + aabbMin.setValue(-BT_LARGE_FLOAT, -BT_LARGE_FLOAT, -BT_LARGE_FLOAT); + aabbMax.setValue(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT); } - virtual void printStats() + virtual void printStats() { -// printf("btSimpleBroadphase.h\n"); -// printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles); + // printf("btSimpleBroadphase.h\n"); + // printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles); } }; - - -#endif //BT_SIMPLE_BROADPHASE_H - +#endif //BT_SIMPLE_BROADPHASE_H |