054d672592
- added heap sort and binary search/linear search to btAlignedObjectArray - fixed wrong cast, thanks Hamstray, http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1015
120 lines
4.6 KiB
C++
120 lines
4.6 KiB
C++
//Bullet Continuous Collision Detection and Physics Library
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//Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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//
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// btAxisSweep3.h
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//
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// Copyright (c) 2006 Simon Hobbs
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//
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// 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.
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//
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// 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:
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//
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// 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.
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//
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// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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//
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// 3. This notice may not be removed or altered from any source distribution.
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#ifndef AXIS_SWEEP_3_H
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#define AXIS_SWEEP_3_H
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#include "../../LinearMath/btPoint3.h"
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#include "../../LinearMath/btVector3.h"
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#include "btOverlappingPairCache.h"
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#include "btBroadphaseProxy.h"
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/// btAxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase.
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/// It uses arrays rather then lists for storage of the 3 axis. Also it operates using integer coordinates instead of floats.
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/// The testOverlap check is optimized to check the array index, rather then the actual AABB coordinates/pos
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class btAxisSweep3 : public btOverlappingPairCache
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{
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public:
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class Edge
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{
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public:
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unsigned short m_pos; // low bit is min/max
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unsigned short m_handle;
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unsigned short IsMax() const {return m_pos & 1;}
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};
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public:
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class Handle : public btBroadphaseProxy
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{
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public:
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// indexes into the edge arrays
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unsigned short m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12
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unsigned short m_handleId;
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unsigned short m_pad;
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//void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
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inline void SetNextFree(unsigned short next) {m_minEdges[0] = next;}
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inline unsigned short GetNextFree() const {return m_minEdges[0];}
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}; // 24 bytes + 24 for Edge structures = 44 bytes total per entry
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private:
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btPoint3 m_worldAabbMin; // overall system bounds
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btPoint3 m_worldAabbMax; // overall system bounds
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btVector3 m_quantize; // scaling factor for quantization
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int m_numHandles; // number of active handles
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int m_maxHandles; // max number of handles
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Handle* m_pHandles; // handles pool
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unsigned short m_firstFreeHandle; // free handles list
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Edge* m_pEdges[3]; // edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries)
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int m_invalidPair;
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// allocation/deallocation
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unsigned short allocHandle();
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void freeHandle(unsigned short handle);
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bool testOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB);
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//Overlap* AddOverlap(unsigned short handleA, unsigned short handleB);
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//void RemoveOverlap(unsigned short handleA, unsigned short handleB);
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void quantize(unsigned short* out, const btPoint3& point, int isMax) const;
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void sortMinDown(int axis, unsigned short edge, bool updateOverlaps = true);
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void sortMinUp(int axis, unsigned short edge, bool updateOverlaps = true);
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void sortMaxDown(int axis, unsigned short edge, bool updateOverlaps = true);
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void sortMaxUp(int axis, unsigned short edge, bool updateOverlaps = true);
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public:
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btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, int maxHandles = 16384);
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virtual ~btAxisSweep3();
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virtual void refreshOverlappingPairs()
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{
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//this is performed incrementally by sweep and prune (add pair), and during pair traversal (remove pair)
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}
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unsigned short addHandle(const btPoint3& aabbMin,const btPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask);
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void removeHandle(unsigned short handle);
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void updateHandle(unsigned short handle, const btPoint3& aabbMin,const btPoint3& aabbMax);
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inline Handle* getHandle(unsigned short index) const {return m_pHandles + index;}
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void processAllOverlappingPairs(btOverlapCallback* callback);
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//Broadphase Interface
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virtual btBroadphaseProxy* createProxy( const btVector3& min, const btVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
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virtual void destroyProxy(btBroadphaseProxy* proxy);
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virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax);
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bool testOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
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};
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#endif //AXIS_SWEEP_3_H
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