1 /* 2 Bullet Continuous Collision Detection and Physics Library 3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org 4 5 This software is provided 'as-is', without any express or implied warranty. 6 In no event will the authors be held liable for any damages arising from the use of this software. 7 Permission is granted to anyone to use this software for any purpose, 8 including commercial applications, and to alter it and redistribute it freely, 9 subject to the following restrictions: 10 11 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. 12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 13 3. This notice may not be removed or altered from any source distribution. 14 */ 15 16 ///btDbvtBroadphase implementation by Nathanael Presson 17 #ifndef BT_DBVT_BROADPHASE_H 18 #define BT_DBVT_BROADPHASE_H 19 20 #include "BulletCollision/BroadphaseCollision/btDbvt.h" 21 #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h" 22 23 // 24 // Compile time config 25 // 26 27 #define DBVT_BP_PROFILE 0 28 //#define DBVT_BP_SORTPAIRS 1 29 #define DBVT_BP_PREVENTFALSEUPDATE 0 30 #define DBVT_BP_ACCURATESLEEPING 0 31 #define DBVT_BP_ENABLE_BENCHMARK 0 32 #define DBVT_BP_MARGIN (btScalar)0.05 33 34 #if DBVT_BP_PROFILE 35 #define DBVT_BP_PROFILING_RATE 256 36 #include "LinearMath/btQuickprof.h" 37 #endif 38 39 // 40 // btDbvtProxy 41 // 42 struct btDbvtProxy : btBroadphaseProxy 43 { 44 /* Fields */ 45 //btDbvtAabbMm aabb; 46 btDbvtNode* leaf; 47 btDbvtProxy* links[2]; 48 int stage; 49 /* ctor */ btDbvtProxybtDbvtProxy50 btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) : 51 btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask) 52 { 53 links[0]=links[1]=0; 54 } 55 }; 56 57 typedef btAlignedObjectArray<btDbvtProxy*> btDbvtProxyArray; 58 59 ///The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see btDbvt). 60 ///One tree is used for static/non-moving objects, and another tree is used for dynamic objects. Objects can move from one tree to the other. 61 ///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3. 62 struct btDbvtBroadphase : btBroadphaseInterface 63 { 64 /* Config */ 65 enum { 66 DYNAMIC_SET = 0, /* Dynamic set index */ 67 FIXED_SET = 1, /* Fixed set index */ 68 STAGECOUNT = 2 /* Number of stages */ 69 }; 70 /* Fields */ 71 btDbvt m_sets[2]; // Dbvt sets 72 btDbvtProxy* m_stageRoots[STAGECOUNT+1]; // Stages list 73 btOverlappingPairCache* m_paircache; // Pair cache 74 btScalar m_prediction; // Velocity prediction 75 int m_stageCurrent; // Current stage 76 int m_fupdates; // % of fixed updates per frame 77 int m_dupdates; // % of dynamic updates per frame 78 int m_cupdates; // % of cleanup updates per frame 79 int m_newpairs; // Number of pairs created 80 int m_fixedleft; // Fixed optimization left 81 unsigned m_updates_call; // Number of updates call 82 unsigned m_updates_done; // Number of updates done 83 btScalar m_updates_ratio; // m_updates_done/m_updates_call 84 int m_pid; // Parse id 85 int m_cid; // Cleanup index 86 int m_gid; // Gen id 87 bool m_releasepaircache; // Release pair cache on delete 88 bool m_deferedcollide; // Defere dynamic/static collision to collide call 89 bool m_needcleanup; // Need to run cleanup? 90 #if DBVT_BP_PROFILE 91 btClock m_clock; 92 struct { 93 unsigned long m_total; 94 unsigned long m_ddcollide; 95 unsigned long m_fdcollide; 96 unsigned long m_cleanup; 97 unsigned long m_jobcount; 98 } m_profiling; 99 #endif 100 /* Methods */ 101 btDbvtBroadphase(btOverlappingPairCache* paircache=0); 102 ~btDbvtBroadphase(); 103 void collide(btDispatcher* dispatcher); 104 void optimize(); 105 106 /* btBroadphaseInterface Implementation */ 107 btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy); 108 virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher); 109 virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher); 110 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)); 111 virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback); 112 113 virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const; 114 virtual void calculateOverlappingPairs(btDispatcher* dispatcher); 115 virtual btOverlappingPairCache* getOverlappingPairCache(); 116 virtual const btOverlappingPairCache* getOverlappingPairCache() const; 117 virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const; 118 virtual void printStats(); 119 120 121 ///reset broadphase internal structures, to ensure determinism/reproducability 122 virtual void resetPool(btDispatcher* dispatcher); 123 124 void performDeferredRemoval(btDispatcher* dispatcher); 125 setVelocityPredictionbtDbvtBroadphase126 void setVelocityPrediction(btScalar prediction) 127 { 128 m_prediction = prediction; 129 } getVelocityPredictionbtDbvtBroadphase130 btScalar getVelocityPrediction() const 131 { 132 return m_prediction; 133 } 134 135 ///this setAabbForceUpdate is similar to setAabb but always forces the aabb update. 136 ///it is not part of the btBroadphaseInterface but specific to btDbvtBroadphase. 137 ///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see 138 ///http://code.google.com/p/bullet/issues/detail?id=223 139 void setAabbForceUpdate( btBroadphaseProxy* absproxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* /*dispatcher*/); 140 141 static void benchmark(btBroadphaseInterface*); 142 143 144 }; 145 146 #endif 147