1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
|
/*
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
Copyright (C) 2006, 2009 Sony Computer Entertainment Inc.
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
//----------------------------------------------------------------------------------------
#ifndef BTGPU3DGRIDBROADPHASE_H
#define BTGPU3DGRIDBROADPHASE_H
//----------------------------------------------------------------------------------------
#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
#include "btGpu3DGridBroadphaseSharedTypes.h"
//----------------------------------------------------------------------------------------
///The btGpu3DGridBroadphase uses GPU-style code compiled for CPU to compute overlapping pairs
class btGpu3DGridBroadphase : public btSimpleBroadphase
{
protected:
bool m_bInitialized;
unsigned int m_numBodies;
unsigned int m_numCells;
unsigned int m_maxPairsPerBody;
btScalar m_cellFactorAABB;
unsigned int m_maxBodiesPerCell;
bt3DGridBroadphaseParams m_params;
btScalar m_maxRadius;
// CPU data
unsigned int* m_hBodiesHash;
unsigned int* m_hCellStart;
unsigned int* m_hPairBuffStartCurr;
bt3DGrid3F1U* m_hAABB;
unsigned int* m_hPairBuff;
unsigned int* m_hPairScan;
unsigned int* m_hPairOut;
// large proxies
int m_numLargeHandles;
int m_maxLargeHandles;
int m_LastLargeHandleIndex;
btSimpleBroadphaseProxy* m_pLargeHandles;
void* m_pLargeHandlesRawPtr;
int m_firstFreeLargeHandle;
int allocLargeHandle()
{
btAssert(m_numLargeHandles < m_maxLargeHandles);
int freeLargeHandle = m_firstFreeLargeHandle;
m_firstFreeLargeHandle = m_pLargeHandles[freeLargeHandle].GetNextFree();
m_numLargeHandles++;
if(freeLargeHandle > m_LastLargeHandleIndex)
{
m_LastLargeHandleIndex = freeLargeHandle;
}
return freeLargeHandle;
}
void freeLargeHandle(btSimpleBroadphaseProxy* proxy)
{
int handle = int(proxy - m_pLargeHandles);
btAssert((handle >= 0) && (handle < m_maxHandles));
if(handle == m_LastLargeHandleIndex)
{
m_LastLargeHandleIndex--;
}
proxy->SetNextFree(m_firstFreeLargeHandle);
m_firstFreeLargeHandle = handle;
proxy->m_clientObject = 0;
m_numLargeHandles--;
}
bool isLargeProxy(const btVector3& aabbMin, const btVector3& aabbMax);
bool isLargeProxy(btBroadphaseProxy* proxy);
// debug
unsigned int m_numPairsAdded;
unsigned int m_numPairsRemoved;
unsigned int m_numOverflows;
//
public:
btGpu3DGridBroadphase(const btVector3& worldAabbMin,const btVector3& worldAabbMax,
int gridSizeX, int gridSizeY, int gridSizeZ,
int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
int maxBodiesPerCell = 8,
btScalar cellFactorAABB = btScalar(1.0f));
btGpu3DGridBroadphase( btOverlappingPairCache* overlappingPairCache,
const btVector3& worldAabbMin,const btVector3& worldAabbMax,
int gridSizeX, int gridSizeY, int gridSizeZ,
int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
int maxBodiesPerCell = 8,
btScalar cellFactorAABB = btScalar(1.0f));
virtual ~btGpu3DGridBroadphase();
virtual void calculateOverlappingPairs(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 destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback);
virtual void resetPool(btDispatcher* dispatcher);
protected:
void _initialize( const btVector3& worldAabbMin,const btVector3& worldAabbMax,
int gridSizeX, int gridSizeY, int gridSizeZ,
int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
int maxBodiesPerCell = 8,
btScalar cellFactorAABB = btScalar(1.0f));
void _finalize();
void addPairsToCache(btDispatcher* dispatcher);
void addLarge2LargePairsToCache(btDispatcher* dispatcher);
// overrides for CPU version
virtual void setParameters(bt3DGridBroadphaseParams* hostParams);
virtual void prepareAABB();
virtual void calcHashAABB();
virtual void sortHash();
virtual void findCellStart();
virtual void findOverlappingPairs();
virtual void findPairsLarge();
virtual void computePairCacheChanges();
virtual void scanOverlappingPairBuff();
virtual void squeezeOverlappingPairBuff();
};
//----------------------------------------------------------------------------------------
#endif //BTGPU3DGRIDBROADPHASE_H
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------
//----------------------------------------------------------------------------------------
|
