Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

optional define for 32bit handles in Broadphase, which allows number of objects to exceed 32767

Browse Source
This commit is contained in:
ejcoumans
2007-03-12 20:14:29 +00:00
parent c856a61dce
commit b2351c84f3
2 changed files with 65 additions and 49 deletions
Download Patch File Download Diff File Expand all files Collapse all files

60
src/BulletCollision/BroadphaseCollision/btAxisSweep3.h
View File

@@ -24,6 +24,22 @@
#include "btOverlappingPairCache.h"
#include "btBroadphaseProxy.h"
//Enable BP_USE_FIXEDPOINT_INT_32 if you need more then 32767 objects
//#define BP_USE_FIXEDPOINT_INT_32 1
#ifdef BP_USE_FIXEDPOINT_INT_32
#define BP_FP_INT_TYPE unsigned int
#define BP_MAX_HANDLES 1500000 //arbitrary maximum number of handles
#define BP_HANDLE_SENTINEL 0xffffffff
#define BP_HANDLE_MASK 0xfffffffc
#else BP_USE_FIXEDPOINT_INT_32
#define BP_FP_INT_TYPE unsigned short int
#define BP_MAX_HANDLES 32767
#define BP_HANDLE_SENTINEL 0xffff
#define BP_HANDLE_MASK 0xfffe
#endif //BP_USE_FIXEDPOINT_INT_32
/// btAxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase.
/// It uses arrays rather then lists for storage of the 3 axis. Also it operates using integer coordinates instead of floats.
/// The testOverlap check is optimized to check the array index, rather then the actual AABB coordinates/pos
@@ -36,10 +52,10 @@ public:
class Edge
{
public:
unsigned short m_pos; // low bit is min/max
unsigned short m_handle;
BP_FP_INT_TYPE m_pos; // low bit is min/max
BP_FP_INT_TYPE m_handle;
unsigned short IsMax() const {return m_pos & 1;}
BP_FP_INT_TYPE IsMax() const {return m_pos & 1;}
};
public:
@@ -48,14 +64,14 @@ public:
public:
// indexes into the edge arrays
unsigned short m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12
unsigned short m_handleId;
unsigned short m_pad;
BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12
BP_FP_INT_TYPE m_handleId;
BP_FP_INT_TYPE m_pad;
//void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
inline void SetNextFree(unsigned short next) {m_minEdges[0] = next;}
inline unsigned short GetNextFree() const {return m_minEdges[0];}
inline void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;}
inline BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];}
}; // 24 bytes + 24 for Edge structures = 44 bytes total per entry
@@ -68,29 +84,29 @@ private:
int m_numHandles; // number of active handles
int m_maxHandles; // max number of handles
Handle* m_pHandles; // handles pool
unsigned short m_firstFreeHandle; // free handles list
BP_FP_INT_TYPE m_firstFreeHandle; // free handles list
Edge* m_pEdges[3]; // edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries)
int m_invalidPair;
// allocation/deallocation
unsigned short allocHandle();
void freeHandle(unsigned short handle);
BP_FP_INT_TYPE allocHandle();
void freeHandle(BP_FP_INT_TYPE handle);
bool testOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB);
//Overlap* AddOverlap(unsigned short handleA, unsigned short handleB);
//void RemoveOverlap(unsigned short handleA, unsigned short handleB);
//Overlap* AddOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
//void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
void quantize(unsigned short* out, const btPoint3& point, int isMax) const;
void quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const;
void sortMinDown(int axis, unsigned short edge, bool updateOverlaps = true);
void sortMinUp(int axis, unsigned short edge, bool updateOverlaps = true);
void sortMaxDown(int axis, unsigned short edge, bool updateOverlaps = true);
void sortMaxUp(int axis, unsigned short edge, bool updateOverlaps = true);
void sortMinDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
void sortMinUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
void sortMaxDown(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
void sortMaxUp(int axis, BP_FP_INT_TYPE edge, bool updateOverlaps = true);
public:
btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles = 16384);
@@ -101,10 +117,10 @@ public:
//this is performed incrementally by sweep and prune (add pair), and during pair traversal (remove pair)
}
unsigned short addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask);
void removeHandle(unsigned short handle);
void updateHandle(unsigned short handle, const btPoint3& aabbMin,const btPoint3& aabbMax);
inline Handle* getHandle(unsigned short index) const {return m_pHandles + index;}
BP_FP_INT_TYPE addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask);
void removeHandle(BP_FP_INT_TYPE handle);
void updateHandle(BP_FP_INT_TYPE handle, const btPoint3& aabbMin,const btPoint3& aabbMax);
inline Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;}
void processAllOverlappingPairs(btOverlapCallback* callback);