155 lines
5.8 KiB
C++
155 lines
5.8 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
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Copyright (C) 2006, 2009 Sony Computer Entertainment Inc.
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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//----------------------------------------------------------------------------------------
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#ifndef BTGPU3DGRIDBROADPHASE_H
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#define BTGPU3DGRIDBROADPHASE_H
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//----------------------------------------------------------------------------------------
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#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
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#include "btGpu3DGridBroadphaseSharedTypes.h"
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struct MyUint2
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{
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int x;
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int y;
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};
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//----------------------------------------------------------------------------------------
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///The btGpu3DGridBroadphase uses GPU-style code compiled for CPU to compute overlapping pairs
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class btGpu3DGridBroadphase : public btSimpleBroadphase
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{
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protected:
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bool m_bInitialized;
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unsigned int m_numBodies;
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unsigned int m_numCells;
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unsigned int m_maxPairsPerBody;
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unsigned int m_maxBodiesPerCell;
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bt3DGridBroadphaseParams m_params;
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btScalar m_maxRadius;
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// CPU data
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unsigned int* m_hBodiesHash;
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unsigned int* m_hCellStart;
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unsigned int* m_hPairBuffStartCurr;
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bt3DGrid3F1U* m_hAABB;
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unsigned int* m_hPairBuff;
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unsigned int* m_hPairScanChanged;
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unsigned int* m_hPairsChanged;
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MyUint2* m_hAllOverlappingPairs;
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// large proxies
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int m_numLargeHandles;
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int m_maxLargeHandles;
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int m_LastLargeHandleIndex;
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btSimpleBroadphaseProxy* m_pLargeHandles;
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void* m_pLargeHandlesRawPtr;
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int m_firstFreeLargeHandle;
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int allocLargeHandle()
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{
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btAssert(m_numLargeHandles < m_maxLargeHandles);
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int freeLargeHandle = m_firstFreeLargeHandle;
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m_firstFreeLargeHandle = m_pLargeHandles[freeLargeHandle].GetNextFree();
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m_numLargeHandles++;
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if(freeLargeHandle > m_LastLargeHandleIndex)
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{
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m_LastLargeHandleIndex = freeLargeHandle;
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}
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return freeLargeHandle;
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}
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void freeLargeHandle(btSimpleBroadphaseProxy* proxy)
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{
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int handle = int(proxy - m_pLargeHandles);
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btAssert((handle >= 0) && (handle < m_maxHandles));
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if(handle == m_LastLargeHandleIndex)
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{
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m_LastLargeHandleIndex--;
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}
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proxy->SetNextFree(m_firstFreeLargeHandle);
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m_firstFreeLargeHandle = handle;
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proxy->m_clientObject = 0;
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m_numLargeHandles--;
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}
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bool isLargeProxy(const btVector3& aabbMin, const btVector3& aabbMax);
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bool isLargeProxy(btBroadphaseProxy* proxy);
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// debug
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unsigned int m_numPairsAdded;
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unsigned int m_numPairsRemoved;
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unsigned int m_numOverflows;
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//
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public:
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virtual int getNumOverlap()
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{
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return m_hPairScanChanged[m_numHandles+1];
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}
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virtual MyUint2* getOverlap()
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{
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return m_hAllOverlappingPairs;
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}
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// NOTE : for better results gridSizeX, gridSizeY and gridSizeZ should be powers of 2
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btGpu3DGridBroadphase(const btVector3& cellSize,
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int gridSizeX, int gridSizeY, int gridSizeZ,
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int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
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btScalar maxSmallProxySize,
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int maxBodiesPerCell = 8);
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btGpu3DGridBroadphase( btOverlappingPairCache* overlappingPairCache,
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const btVector3& cellSize,
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int gridSizeX, int gridSizeY, int gridSizeZ,
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int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
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btScalar maxSmallProxySize,
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int maxBodiesPerCell = 8);
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virtual ~btGpu3DGridBroadphase();
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virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
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virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
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virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
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virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback);
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virtual void resetPool(btDispatcher* dispatcher);
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static int getFloorPowOfTwo(int val); // returns 2^n : 2^(n+1) > val >= 2^n
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protected:
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void _initialize( const btVector3& cellSize,
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int gridSizeX, int gridSizeY, int gridSizeZ,
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int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
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btScalar maxSmallProxySize,
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int maxBodiesPerCell);
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void _finalize();
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void addPairsToCache(btDispatcher* dispatcher);
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void addLarge2LargePairsToCache(btDispatcher* dispatcher);
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// overrides for CPU version
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virtual void setParameters(bt3DGridBroadphaseParams* hostParams);
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virtual void prepareAABB();
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virtual void calcHashAABB();
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virtual void sortHash();
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virtual void findCellStart();
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virtual void findOverlappingPairs();
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virtual void findPairsLarge();
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virtual void computePairCacheChanges();
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virtual void scanOverlappingPairBuff(bool copyToCpu=true);
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virtual void squeezeOverlappingPairBuff();
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};
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//----------------------------------------------------------------------------------------
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#endif //BTGPU3DGRIDBROADPHASE_H
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//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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//----------------------------------------------------------------------------------------
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