Bullet Collision Detection & Physics Library
btSimpleBroadphase.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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 #include "btSimpleBroadphase.h"
19 
20 #include "LinearMath/btVector3.h"
21 #include "LinearMath/btTransform.h"
22 #include "LinearMath/btMatrix3x3.h"
23 #include "LinearMath/btAabbUtil2.h"
24 
25 #include <new>
26 
28 {
29  for (int i = 0; i < m_numHandles; i++)
30  {
31  for (int j = i + 1; j < m_numHandles; j++)
32  {
33  btAssert(&m_pHandles[i] != &m_pHandles[j]);
34  }
35  }
36 }
37 
38 btSimpleBroadphase::btSimpleBroadphase(int maxProxies, btOverlappingPairCache* overlappingPairCache)
39  : m_pairCache(overlappingPairCache),
40  m_ownsPairCache(false),
41  m_invalidPair(0)
42 {
43  if (!overlappingPairCache)
44  {
45  void* mem = btAlignedAlloc(sizeof(btHashedOverlappingPairCache), 16);
47  m_ownsPairCache = true;
48  }
49 
50  // allocate handles buffer and put all handles on free list
51  m_pHandlesRawPtr = btAlignedAlloc(sizeof(btSimpleBroadphaseProxy) * maxProxies, 16);
53  m_maxHandles = maxProxies;
54  m_numHandles = 0;
56  m_LastHandleIndex = -1;
57 
58  {
59  for (int i = m_firstFreeHandle; i < maxProxies; i++)
60  {
61  m_pHandles[i].SetNextFree(i + 1);
62  m_pHandles[i].m_uniqueId = i + 2; //any UID will do, we just avoid too trivial values (0,1) for debugging purposes
63  }
64  m_pHandles[maxProxies - 1].SetNextFree(0);
65  }
66 }
67 
69 {
71 
72  if (m_ownsPairCache)
73  {
76  }
77 }
78 
79 btBroadphaseProxy* btSimpleBroadphase::createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* /*dispatcher*/)
80 {
82  {
83  btAssert(0);
84  return 0; //should never happen, but don't let the game crash ;-)
85  }
86  btAssert(aabbMin[0] <= aabbMax[0] && aabbMin[1] <= aabbMax[1] && aabbMin[2] <= aabbMax[2]);
87 
88  int newHandleIndex = allocHandle();
89  btSimpleBroadphaseProxy* proxy = new (&m_pHandles[newHandleIndex]) btSimpleBroadphaseProxy(aabbMin, aabbMax, shapeType, userPtr, collisionFilterGroup, collisionFilterMask);
90 
91  return proxy;
92 }
93 
95 {
96 protected:
97  virtual bool processOverlap(btBroadphasePair& pair)
98  {
99  (void)pair;
100  btAssert(0);
101  return false;
102  }
103 };
104 
106 {
108 
109 public:
111  {
112  }
113 
114 protected:
115  virtual bool processOverlap(btBroadphasePair& pair)
116  {
117  btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0);
118  btSimpleBroadphaseProxy* proxy1 = static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1);
119 
120  return ((m_targetProxy == proxy0 || m_targetProxy == proxy1));
121  };
122 };
123 
125 {
126  m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg, dispatcher);
127 
128  btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg);
129  freeHandle(proxy0);
130 
131  //validate();
132 }
133 
134 void btSimpleBroadphase::getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const
135 {
137  aabbMin = sbp->m_aabbMin;
138  aabbMax = sbp->m_aabbMax;
139 }
140 
141 void btSimpleBroadphase::setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* /*dispatcher*/)
142 {
144  sbp->m_aabbMin = aabbMin;
145  sbp->m_aabbMax = aabbMax;
146 }
147 
148 void btSimpleBroadphase::rayTest(const btVector3& rayFrom, const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin, const btVector3& aabbMax)
149 {
150  for (int i = 0; i <= m_LastHandleIndex; i++)
151  {
152  btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
153  if (!proxy->m_clientObject)
154  {
155  continue;
156  }
157  rayCallback.process(proxy);
158  }
159 }
160 
161 void btSimpleBroadphase::aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback)
162 {
163  for (int i = 0; i <= m_LastHandleIndex; i++)
164  {
165  btSimpleBroadphaseProxy* proxy = &m_pHandles[i];
166  if (!proxy->m_clientObject)
167  {
168  continue;
169  }
170  if (TestAabbAgainstAabb2(aabbMin, aabbMax, proxy->m_aabbMin, proxy->m_aabbMax))
171  {
172  callback.process(proxy);
173  }
174  }
175 }
176 
178 {
179  return proxy0->m_aabbMin[0] <= proxy1->m_aabbMax[0] && proxy1->m_aabbMin[0] <= proxy0->m_aabbMax[0] &&
180  proxy0->m_aabbMin[1] <= proxy1->m_aabbMax[1] && proxy1->m_aabbMin[1] <= proxy0->m_aabbMax[1] &&
181  proxy0->m_aabbMin[2] <= proxy1->m_aabbMax[2] && proxy1->m_aabbMin[2] <= proxy0->m_aabbMax[2];
182 }
183 
184 //then remove non-overlapping ones
186 {
187 public:
188  virtual bool processOverlap(btBroadphasePair& pair)
189  {
190  return (!btSimpleBroadphase::aabbOverlap(static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy0), static_cast<btSimpleBroadphaseProxy*>(pair.m_pProxy1)));
191  }
192 };
193 
195 {
196  //first check for new overlapping pairs
197  int i, j;
198  if (m_numHandles >= 0)
199  {
200  int new_largest_index = -1;
201  for (i = 0; i <= m_LastHandleIndex; i++)
202  {
203  btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i];
204  if (!proxy0->m_clientObject)
205  {
206  continue;
207  }
208  new_largest_index = i;
209  for (j = i + 1; j <= m_LastHandleIndex; j++)
210  {
211  btSimpleBroadphaseProxy* proxy1 = &m_pHandles[j];
212  btAssert(proxy0 != proxy1);
213  if (!proxy1->m_clientObject)
214  {
215  continue;
216  }
217 
220 
221  if (aabbOverlap(p0, p1))
222  {
223  if (!m_pairCache->findPair(proxy0, proxy1))
224  {
225  m_pairCache->addOverlappingPair(proxy0, proxy1);
226  }
227  }
228  else
229  {
231  {
232  if (m_pairCache->findPair(proxy0, proxy1))
233  {
234  m_pairCache->removeOverlappingPair(proxy0, proxy1, dispatcher);
235  }
236  }
237  }
238  }
239  }
240 
241  m_LastHandleIndex = new_largest_index;
242 
244  {
245  btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray();
246 
247  //perform a sort, to find duplicates and to sort 'invalid' pairs to the end
248  overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
249 
250  overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
251  m_invalidPair = 0;
252 
253  btBroadphasePair previousPair;
254  previousPair.m_pProxy0 = 0;
255  previousPair.m_pProxy1 = 0;
256  previousPair.m_algorithm = 0;
257 
258  for (i = 0; i < overlappingPairArray.size(); i++)
259  {
260  btBroadphasePair& pair = overlappingPairArray[i];
261 
262  bool isDuplicate = (pair == previousPair);
263 
264  previousPair = pair;
265 
266  bool needsRemoval = false;
267 
268  if (!isDuplicate)
269  {
270  bool hasOverlap = testAabbOverlap(pair.m_pProxy0, pair.m_pProxy1);
271 
272  if (hasOverlap)
273  {
274  needsRemoval = false; //callback->processOverlap(pair);
275  }
276  else
277  {
278  needsRemoval = true;
279  }
280  }
281  else
282  {
283  //remove duplicate
284  needsRemoval = true;
285  //should have no algorithm
286  btAssert(!pair.m_algorithm);
287  }
288 
289  if (needsRemoval)
290  {
291  m_pairCache->cleanOverlappingPair(pair, dispatcher);
292 
293  // m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
294  // m_overlappingPairArray.pop_back();
295  pair.m_pProxy0 = 0;
296  pair.m_pProxy1 = 0;
297  m_invalidPair++;
298  }
299  }
300 
302 #define CLEAN_INVALID_PAIRS 1
303 #ifdef CLEAN_INVALID_PAIRS
304 
305  //perform a sort, to sort 'invalid' pairs to the end
306  overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
307 
308  overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
309  m_invalidPair = 0;
310 #endif //CLEAN_INVALID_PAIRS
311  }
312  }
313 }
314 
316 {
319  return aabbOverlap(p0, p1);
320 }
321 
323 {
324  //not yet
325 }
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:84
CheckOverlapCallback::processOverlap
virtual bool processOverlap(btBroadphasePair &pair)
Definition: btSimpleBroadphase.cpp:188
btAlignedFree
#define btAlignedFree(ptr)
Definition: btAlignedAllocator.h:47
btBroadphaseAabbCallback
Definition: btBroadphaseInterface.h:25
btOverlappingPairCache::getOverlappingPairArray
virtual btBroadphasePairArray & getOverlappingPairArray()=0
btSimpleBroadphase::validate
void validate()
Definition: btSimpleBroadphase.cpp:27
btSimpleBroadphase::allocHandle
int allocHandle()
Definition: btSimpleBroadphase.h:53
btHashedOverlappingPairCache
Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman,...
Definition: btOverlappingPairCache.h:86
btSimpleBroadphase::calculateOverlappingPairs
virtual void calculateOverlappingPairs(btDispatcher *dispatcher)
calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during th...
Definition: btSimpleBroadphase.cpp:194
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
btSimpleBroadphase::freeHandle
void freeHandle(btSimpleBroadphaseProxy *proxy)
Definition: btSimpleBroadphase.h:66
btAlignedObjectArray::quickSort
void quickSort(const L &CompareFunc)
Definition: btAlignedObjectArray.h:341
RemovePairContainingProxy::m_targetProxy
btBroadphaseProxy * m_targetProxy
Definition: btSimpleBroadphase.cpp:107
btOverlappingPairCallback::removeOverlappingPair
virtual void * removeOverlappingPair(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1, btDispatcher *dispatcher)=0
btBroadphasePairSortPredicate
Definition: btBroadphaseProxy.h:227
btMatrix3x3.h
btBroadphaseProxy::m_uniqueId
int m_uniqueId
Definition: btBroadphaseProxy.h:106
btSimpleBroadphase::testAabbOverlap
bool testAabbOverlap(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1)
Definition: btSimpleBroadphase.cpp:315
btAlignedAlloc
#define btAlignedAlloc(size, alignment)
Definition: btAlignedAllocator.h:46
btSimpleBroadphase::getSimpleProxyFromProxy
btSimpleBroadphaseProxy * getSimpleProxyFromProxy(btBroadphaseProxy *proxy)
Definition: btSimpleBroadphase.h:87
btSimpleBroadphase::aabbOverlap
static bool aabbOverlap(btSimpleBroadphaseProxy *proxy0, btSimpleBroadphaseProxy *proxy1)
Definition: btSimpleBroadphase.cpp:177
btOverlappingPairCallback::removeOverlappingPairsContainingProxy
virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy *proxy0, btDispatcher *dispatcher)=0
RemovingOverlapCallback
Definition: btSimpleBroadphase.cpp:94
btSimpleBroadphase::m_LastHandleIndex
int m_LastHandleIndex
Definition: btSimpleBroadphase.h:46
btSimpleBroadphase::m_firstFreeHandle
int m_firstFreeHandle
Definition: btSimpleBroadphase.h:51
CheckOverlapCallback
Definition: btSimpleBroadphase.cpp:185
btSimpleBroadphase::m_invalidPair
int m_invalidPair
Definition: btSimpleBroadphase.h:85
btVector3.h
btAssert
#define btAssert(x)
Definition: btScalar.h:153
RemovePairContainingProxy::~RemovePairContainingProxy
virtual ~RemovePairContainingProxy()
Definition: btSimpleBroadphase.cpp:110
btSimpleBroadphase::btSimpleBroadphase
btSimpleBroadphase(int maxProxies=16384, btOverlappingPairCache *overlappingPairCache=0)
Definition: btSimpleBroadphase.cpp:38
btSimpleBroadphase::resetPool
virtual void resetPool(btDispatcher *dispatcher)
reset broadphase internal structures, to ensure determinism/reproducability
Definition: btSimpleBroadphase.cpp:322
btSimpleBroadphase::m_pairCache
btOverlappingPairCache * m_pairCache
Definition: btSimpleBroadphase.h:82
TestAabbAgainstAabb2
bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1, const btVector3 &aabbMin2, const btVector3 &aabbMax2)
conservative test for overlap between two aabbs
Definition: btAabbUtil2.h:43
btAlignedObjectArray::resize
void resize(int newsize, const T &fillData=T())
Definition: btAlignedObjectArray.h:203
btBroadphasePair::m_pProxy1
btBroadphaseProxy * m_pProxy1
Definition: btBroadphaseProxy.h:209
btBroadphaseProxy::m_clientObject
void * m_clientObject
Definition: btBroadphaseProxy.h:102
btBroadphaseProxy::m_aabbMax
btVector3 m_aabbMax
Definition: btBroadphaseProxy.h:109
btOverlappingPairCache
The btOverlappingPairCache provides an interface for overlapping pair management (add,...
Definition: btOverlappingPairCache.h:50
btSimpleBroadphase::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: btSimpleBroadphase.cpp:148
btTransform.h
btBroadphasePair::m_algorithm
btCollisionAlgorithm * m_algorithm
Definition: btBroadphaseProxy.h:211
btOverlappingPairCache::cleanOverlappingPair
virtual void cleanOverlappingPair(btBroadphasePair &pair, btDispatcher *dispatcher)=0
btSimpleBroadphase::m_ownsPairCache
bool m_ownsPairCache
Definition: btSimpleBroadphase.h:83
btBroadphaseProxy::m_aabbMin
btVector3 m_aabbMin
Definition: btBroadphaseProxy.h:108
btOverlappingPairCallback::addOverlappingPair
virtual btBroadphasePair * addOverlappingPair(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1)=0
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btSimpleBroadphase::~btSimpleBroadphase
virtual ~btSimpleBroadphase()
Definition: btSimpleBroadphase.cpp:68
btBroadphasePair::m_pProxy0
btBroadphaseProxy * m_pProxy0
Definition: btBroadphaseProxy.h:208
btSimpleBroadphase::m_maxHandles
int m_maxHandles
Definition: btSimpleBroadphase.h:45
btOverlappingPairCache::hasDeferredRemoval
virtual bool hasDeferredRemoval()=0
btSimpleBroadphase::getAabb
virtual void getAabb(btBroadphaseProxy *proxy, btVector3 &aabbMin, btVector3 &aabbMax) const
Definition: btSimpleBroadphase.cpp:134
btAabbUtil2.h
btSimpleBroadphaseProxy::SetNextFree
void SetNextFree(int next)
Definition: btSimpleBroadphase.h:35
btSimpleBroadphase.h
btSimpleBroadphase::aabbTest
virtual void aabbTest(const btVector3 &aabbMin, const btVector3 &aabbMax, btBroadphaseAabbCallback &callback)
Definition: btSimpleBroadphase.cpp:161
btAlignedObjectArray< btBroadphasePair >
RemovePairContainingProxy::processOverlap
virtual bool processOverlap(btBroadphasePair &pair)
Definition: btSimpleBroadphase.cpp:115
btDispatcher.h
btSimpleBroadphase::m_pHandles
btSimpleBroadphaseProxy * m_pHandles
Definition: btSimpleBroadphase.h:48
btSimpleBroadphase::m_pHandlesRawPtr
void * m_pHandlesRawPtr
Definition: btSimpleBroadphase.h:50
btBroadphaseAabbCallback::process
virtual bool process(const btBroadphaseProxy *proxy)=0
btSimpleBroadphase::createProxy
virtual btBroadphaseProxy * createProxy(const btVector3 &aabbMin, const btVector3 &aabbMax, int shapeType, void *userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher *dispatcher)
Definition: btSimpleBroadphase.cpp:79
btOverlappingPairCache::findPair
virtual btBroadphasePair * findPair(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1)=0
btSimpleBroadphase::m_numHandles
int m_numHandles
Definition: btSimpleBroadphase.h:44
btSimpleBroadphase::setAabb
virtual void setAabb(btBroadphaseProxy *proxy, const btVector3 &aabbMin, const btVector3 &aabbMax, btDispatcher *dispatcher)
Definition: btSimpleBroadphase.cpp:141
btSimpleBroadphaseProxy
Definition: btSimpleBroadphase.h:21
btSimpleBroadphase::destroyProxy
virtual void destroyProxy(btBroadphaseProxy *proxy, btDispatcher *dispatcher)
Definition: btSimpleBroadphase.cpp:124
btBroadphasePair
The btBroadphasePair class contains a pair of aabb-overlapping objects.
Definition: btBroadphaseProxy.h:177
btOverlappingPairCache::~btOverlappingPairCache
virtual ~btOverlappingPairCache()
Definition: btOverlappingPairCache.h:53
btBroadphaseRayCallback
Definition: btBroadphaseInterface.h:31
btCollisionAlgorithm.h
RemovePairContainingProxy
Definition: btSimpleBroadphase.cpp:105
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:142
RemovingOverlapCallback::processOverlap
virtual bool processOverlap(btBroadphasePair &pair)
Definition: btSimpleBroadphase.cpp:97
btOverlapCallback
Definition: btOverlappingPairCache.h:28