Bullet Collision Detection & Physics Library
btDbvtBroadphase.h
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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 
17 #ifndef BT_DBVT_BROADPHASE_H
18 #define BT_DBVT_BROADPHASE_H
19 
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 extern btScalar gDbvtMargin;
34 
35 #if DBVT_BP_PROFILE
36 #define DBVT_BP_PROFILING_RATE 256
37 #include "LinearMath/btQuickprof.h"
38 #endif
39 
40 //
41 // btDbvtProxy
42 //
44 {
45  /* Fields */
46  //btDbvtAabbMm aabb;
49  int stage;
50  /* ctor */
51  btDbvtProxy(const btVector3& aabbMin, const btVector3& aabbMax, void* userPtr, int collisionFilterGroup, int collisionFilterMask) : btBroadphaseProxy(aabbMin, aabbMax, userPtr, collisionFilterGroup, collisionFilterMask)
52  {
53  links[0] = links[1] = 0;
54  }
55 };
56 
58 
63 {
64  /* Config */
65  enum
66  {
67  DYNAMIC_SET = 0, /* Dynamic set index */
68  FIXED_SET = 1, /* Fixed set index */
69  STAGECOUNT = 2 /* Number of stages */
70  };
71  /* Fields */
72  btDbvt m_sets[2]; // Dbvt sets
73  btDbvtProxy* m_stageRoots[STAGECOUNT + 1]; // Stages list
75  btScalar m_prediction; // Velocity prediction
76  int m_stageCurrent; // Current stage
77  int m_fupdates; // % of fixed updates per frame
78  int m_dupdates; // % of dynamic updates per frame
79  int m_cupdates; // % of cleanup updates per frame
80  int m_newpairs; // Number of pairs created
81  int m_fixedleft; // Fixed optimization left
82  unsigned m_updates_call; // Number of updates call
83  unsigned m_updates_done; // Number of updates done
84  btScalar m_updates_ratio; // m_updates_done/m_updates_call
85  int m_pid; // Parse id
86  int m_cid; // Cleanup index
87  int m_gid; // Gen id
88  bool m_releasepaircache; // Release pair cache on delete
89  bool m_deferedcollide; // Defere dynamic/static collision to collide call
90  bool m_needcleanup; // Need to run cleanup?
92 #if DBVT_BP_PROFILE
93  btClock m_clock;
94  struct
95  {
96  unsigned long m_total;
97  unsigned long m_ddcollide;
98  unsigned long m_fdcollide;
99  unsigned long m_cleanup;
100  unsigned long m_jobcount;
101  } m_profiling;
102 #endif
103  /* Methods */
106  void collide(btDispatcher* dispatcher);
107  void optimize();
108 
109  /* btBroadphaseInterface Implementation */
110  btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
111  virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher);
112  virtual void setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher);
113  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));
114  virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
115 
116  virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const;
117  virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
119  virtual const btOverlappingPairCache* getOverlappingPairCache() const;
120  virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const;
121  virtual void printStats();
122 
124  virtual void resetPool(btDispatcher* dispatcher);
125 
126  void performDeferredRemoval(btDispatcher* dispatcher);
127 
129  {
130  m_prediction = prediction;
131  }
133  {
134  return m_prediction;
135  }
136 
141  void setAabbForceUpdate(btBroadphaseProxy* absproxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* /*dispatcher*/);
142 
143  static void benchmark(btBroadphaseInterface*);
144 };
145 
146 #endif
btDbvtBroadphase::createProxy
btBroadphaseProxy * createProxy(const btVector3 &aabbMin, const btVector3 &aabbMax, int shapeType, void *userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher *dispatcher)
Definition: btDbvtBroadphase.cpp:175
btDbvtBroadphase::m_paircache
btOverlappingPairCache * m_paircache
Definition: btDbvtBroadphase.h:74
btDbvtBroadphase::m_prediction
btScalar m_prediction
Definition: btDbvtBroadphase.h:75
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:84
btDbvtProxy::btDbvtProxy
btDbvtProxy(const btVector3 &aabbMin, const btVector3 &aabbMax, void *userPtr, int collisionFilterGroup, int collisionFilterMask)
Definition: btDbvtBroadphase.h:51
btDbvtBroadphase::setVelocityPrediction
void setVelocityPrediction(btScalar prediction)
Definition: btDbvtBroadphase.h:128
btDbvtProxy
Definition: btDbvtBroadphase.h:43
btDbvtBroadphase::m_deferedcollide
bool m_deferedcollide
Definition: btDbvtBroadphase.h:89
btDbvtBroadphase::m_cupdates
int m_cupdates
Definition: btDbvtBroadphase.h:79
btDbvtBroadphase::FIXED_SET
Definition: btDbvtBroadphase.h:68
btBroadphaseAabbCallback
Definition: btBroadphaseInterface.h:25
btDbvtBroadphase::getBroadphaseAabb
virtual void getBroadphaseAabb(btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb returns the axis aligned bounding box in the 'global' coordinate frame will add some transfor...
Definition: btDbvtBroadphase.cpp:646
btDbvtBroadphase::getAabb
virtual void getAabb(btBroadphaseProxy *proxy, btVector3 &aabbMin, btVector3 &aabbMax) const
Definition: btDbvtBroadphase.cpp:219
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
btDbvtBroadphase::m_needcleanup
bool m_needcleanup
Definition: btDbvtBroadphase.h:90
btDbvtBroadphase::collide
void collide(btDispatcher *dispatcher)
Definition: btDbvtBroadphase.cpp:512
btDbvtBroadphase::performDeferredRemoval
void performDeferredRemoval(btDispatcher *dispatcher)
Definition: btDbvtBroadphase.cpp:443
btDbvtBroadphase::btDbvtBroadphase
btDbvtBroadphase(btOverlappingPairCache *paircache=0)
Definition: btDbvtBroadphase.cpp:131
btDbvtBroadphase::setAabb
virtual void setAabb(btBroadphaseProxy *proxy, const btVector3 &aabbMin, const btVector3 &aabbMax, btDispatcher *dispatcher)
Definition: btDbvtBroadphase.cpp:311
btDbvtBroadphase::m_fupdates
int m_fupdates
Definition: btDbvtBroadphase.h:77
btDbvtBroadphase::m_gid
int m_gid
Definition: btDbvtBroadphase.h:87
btDbvtBroadphase::m_stageCurrent
int m_stageCurrent
Definition: btDbvtBroadphase.h:76
btDbvt
The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes ...
Definition: btDbvt.h:198
btDbvtBroadphase::m_fixedleft
int m_fixedleft
Definition: btDbvtBroadphase.h:81
btOverlappingPairCache.h
btDbvtBroadphase::getOverlappingPairCache
virtual btOverlappingPairCache * getOverlappingPairCache()
Definition: btDbvtBroadphase.cpp:634
btDbvtProxyArray
btAlignedObjectArray< btDbvtProxy * > btDbvtProxyArray
Definition: btDbvtBroadphase.h:57
btDbvtBroadphase::m_newpairs
int m_newpairs
Definition: btDbvtBroadphase.h:80
btDbvtBroadphase::destroyProxy
virtual void destroyProxy(btBroadphaseProxy *proxy, btDispatcher *dispatcher)
Definition: btDbvtBroadphase.cpp:205
btDbvtProxy::stage
int stage
Definition: btDbvtBroadphase.h:49
btDbvtBroadphase::printStats
virtual void printStats()
Definition: btDbvtBroadphase.cpp:697
btOverlappingPairCache
The btOverlappingPairCache provides an interface for overlapping pair management (add,...
Definition: btOverlappingPairCache.h:50
btDbvtBroadphase::optimize
void optimize()
Definition: btDbvtBroadphase.cpp:627
btDbvtBroadphase::STAGECOUNT
Definition: btDbvtBroadphase.h:69
btDbvtBroadphase::m_stageRoots
btDbvtProxy * m_stageRoots[STAGECOUNT+1]
Definition: btDbvtBroadphase.h:73
btDbvtBroadphase::rayTest
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))
Definition: btDbvtBroadphase.cpp:240
gDbvtMargin
btScalar gDbvtMargin
btDbvtBroadphase implementation by Nathanael Presson
Definition: btDbvtBroadphase.cpp:20
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btDbvtBroadphase::m_pid
int m_pid
Definition: btDbvtBroadphase.h:85
btDbvtBroadphase::m_cid
int m_cid
Definition: btDbvtBroadphase.h:86
btDbvtBroadphase::m_updates_ratio
btScalar m_updates_ratio
Definition: btDbvtBroadphase.h:84
btDbvtBroadphase::m_updates_call
unsigned m_updates_call
Definition: btDbvtBroadphase.h:82
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:52
btDbvtBroadphase::m_rayTestStacks
btAlignedObjectArray< btAlignedObjectArray< const btDbvtNode * > > m_rayTestStacks
Definition: btDbvtBroadphase.h:91
btDbvtBroadphase::setAabbForceUpdate
void setAabbForceUpdate(btBroadphaseProxy *absproxy, const btVector3 &aabbMin, const btVector3 &aabbMax, btDispatcher *)
this setAabbForceUpdate is similar to setAabb but always forces the aabb update.
Definition: btDbvtBroadphase.cpp:376
btDbvtBroadphase::~btDbvtBroadphase
~btDbvtBroadphase()
Definition: btDbvtBroadphase.cpp:165
btDbvtBroadphase::m_updates_done
unsigned m_updates_done
Definition: btDbvtBroadphase.h:83
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
Definition: btBroadphaseInterface.h:49
btDbvtBroadphase::m_releasepaircache
bool m_releasepaircache
Definition: btDbvtBroadphase.h:88
btClock
The btClock is a portable basic clock that measures accurate time in seconds, use for profiling.
Definition: btQuickprof.h:21
btDbvtProxy::links
btDbvtProxy * links[2]
Definition: btDbvtBroadphase.h:48
btDbvtBroadphase::m_sets
btDbvt m_sets[2]
Definition: btDbvtBroadphase.h:72
btQuickprof.h
btDbvtBroadphase::aabbTest
virtual void aabbTest(const btVector3 &aabbMin, const btVector3 &aabbMax, btBroadphaseAabbCallback &callback)
Definition: btDbvtBroadphase.cpp:300
btDbvtBroadphase::getVelocityPrediction
btScalar getVelocityPrediction() const
Definition: btDbvtBroadphase.h:132
btDbvtBroadphase
The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees...
Definition: btDbvtBroadphase.h:62
btDbvtBroadphase::benchmark
static void benchmark(btBroadphaseInterface *)
Definition: btDbvtBroadphase.cpp:821
btDbvtNode
Definition: btDbvt.h:180
btDbvtBroadphase::DYNAMIC_SET
Definition: btDbvtBroadphase.h:67
btDbvtProxy::leaf
btDbvtNode * leaf
Definition: btDbvtBroadphase.h:47
btDbvt.h
btDbvtBroadphase::resetPool
virtual void resetPool(btDispatcher *dispatcher)
reset broadphase internal structures, to ensure determinism/reproducability
Definition: btDbvtBroadphase.cpp:665
btBroadphaseRayCallback
Definition: btBroadphaseInterface.h:31
btDbvtBroadphase::m_dupdates
int m_dupdates
Definition: btDbvtBroadphase.h:78
btDbvtBroadphase::calculateOverlappingPairs
virtual void calculateOverlappingPairs(btDispatcher *dispatcher)
calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during th...
Definition: btDbvtBroadphase.cpp:417