Bullet Collision Detection & Physics Library
btOverlappingPairCache.h
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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 #ifndef BT_OVERLAPPING_PAIR_CACHE_H
17 #define BT_OVERLAPPING_PAIR_CACHE_H
18 
19 
20 #include "btBroadphaseInterface.h"
21 #include "btBroadphaseProxy.h"
23 
26 
28 
30 {
32  {}
33  //return true for deletion of the pair
34  virtual bool processOverlap(btBroadphasePair& pair) = 0;
35 
36 };
37 
39 {
41  {}
42  // return true when pairs need collision
43  virtual bool needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const = 0;
44 };
45 
46 
47 
48 
49 
50 
51 
52 extern int gRemovePairs;
53 extern int gAddedPairs;
54 extern int gFindPairs;
55 
56 const int BT_NULL_PAIR=0xffffffff;
57 
61 {
62 public:
63  virtual ~btOverlappingPairCache() {} // this is needed so we can get to the derived class destructor
64 
65  virtual btBroadphasePair* getOverlappingPairArrayPtr() = 0;
66 
67  virtual const btBroadphasePair* getOverlappingPairArrayPtr() const = 0;
68 
69  virtual btBroadphasePairArray& getOverlappingPairArray() = 0;
70 
71  virtual void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) = 0;
72 
73  virtual int getNumOverlappingPairs() const = 0;
74 
75  virtual void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) = 0;
76 
77  virtual void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0;
78 
79  virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher) = 0;
80 
81  virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0;
82 
83  virtual bool hasDeferredRemoval() = 0;
84 
85  virtual void setInternalGhostPairCallback(btOverlappingPairCallback* ghostPairCallback)=0;
86 
87  virtual void sortOverlappingPairs(btDispatcher* dispatcher) = 0;
88 
89 
90 };
91 
94 {
97 
98 protected:
99 
103 
104 
105 public:
107  virtual ~btHashedOverlappingPairCache();
108 
109 
110  void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
111 
112  virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
113 
115  {
116  if (m_overlapFilterCallback)
117  return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
118 
119  bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
120  collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
121 
122  return collides;
123  }
124 
125  // Add a pair and return the new pair. If the pair already exists,
126  // no new pair is created and the old one is returned.
128  {
129  gAddedPairs++;
130 
131  if (!needsBroadphaseCollision(proxy0,proxy1))
132  return 0;
133 
134  return internalAddPair(proxy0,proxy1);
135  }
136 
137 
138 
139  void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
140 
141 
142  virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
143 
145  {
146  return &m_overlappingPairArray[0];
147  }
148 
150  {
151  return &m_overlappingPairArray[0];
152  }
153 
155  {
156  return m_overlappingPairArray;
157  }
158 
160  {
161  return m_overlappingPairArray;
162  }
163 
164  void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
165 
166 
167 
168  btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);
169 
170  int GetCount() const { return m_overlappingPairArray.size(); }
171 // btBroadphasePair* GetPairs() { return m_pairs; }
172 
174  {
175  return m_overlapFilterCallback;
176  }
177 
179  {
180  m_overlapFilterCallback = callback;
181  }
182 
184  {
185  return m_overlappingPairArray.size();
186  }
187 private:
188 
189  btBroadphasePair* internalAddPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
190 
191  void growTables();
192 
193  SIMD_FORCE_INLINE bool equalsPair(const btBroadphasePair& pair, int proxyId1, int proxyId2)
194  {
195  return pair.m_pProxy0->getUid() == proxyId1 && pair.m_pProxy1->getUid() == proxyId2;
196  }
197 
198  /*
199  // Thomas Wang's hash, see: http://www.concentric.net/~Ttwang/tech/inthash.htm
200  // This assumes proxyId1 and proxyId2 are 16-bit.
201  SIMD_FORCE_INLINE int getHash(int proxyId1, int proxyId2)
202  {
203  int key = (proxyId2 << 16) | proxyId1;
204  key = ~key + (key << 15);
205  key = key ^ (key >> 12);
206  key = key + (key << 2);
207  key = key ^ (key >> 4);
208  key = key * 2057;
209  key = key ^ (key >> 16);
210  return key;
211  }
212  */
213 
214 
215 
216  SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
217  {
218  int key = static_cast<int>(((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16));
219  // Thomas Wang's hash
220 
221  key += ~(key << 15);
222  key ^= (key >> 10);
223  key += (key << 3);
224  key ^= (key >> 6);
225  key += ~(key << 11);
226  key ^= (key >> 16);
227  return static_cast<unsigned int>(key);
228  }
229 
230 
231 
232 
233 
235  {
236  int proxyId1 = proxy0->getUid();
237  int proxyId2 = proxy1->getUid();
238  #if 0 // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat.
239  if (proxyId1 > proxyId2)
240  btSwap(proxyId1, proxyId2);
241  #endif
242 
243  int index = m_hashTable[hash];
244 
245  while( index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
246  {
247  index = m_next[index];
248  }
249 
250  if ( index == BT_NULL_PAIR )
251  {
252  return NULL;
253  }
254 
255  btAssert(index < m_overlappingPairArray.size());
256 
257  return &m_overlappingPairArray[index];
258  }
259 
260  virtual bool hasDeferredRemoval()
261  {
262  return false;
263  }
264 
266  {
267  m_ghostPairCallback = ghostPairCallback;
268  }
269 
270  virtual void sortOverlappingPairs(btDispatcher* dispatcher);
271 
272 
273 
274 };
275 
276 
277 
278 
282 {
283  protected:
284  //avoid brute-force finding all the time
286 
287  //during the dispatch, check that user doesn't destroy/create proxy
289 
292 
293  //if set, use the callback instead of the built in filter in needBroadphaseCollision
295 
297 
298  public:
299 
301  virtual ~btSortedOverlappingPairCache();
302 
303  virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
304 
305  void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
306 
307  void cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
308 
309  btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
310 
311  btBroadphasePair* findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
312 
313 
314  void cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
315 
316  void removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
317 
318 
320  {
321  if (m_overlapFilterCallback)
322  return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);
323 
324  bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
325  collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
326 
327  return collides;
328  }
329 
331  {
332  return m_overlappingPairArray;
333  }
334 
336  {
337  return m_overlappingPairArray;
338  }
339 
340 
341 
342 
344  {
345  return &m_overlappingPairArray[0];
346  }
347 
349  {
350  return &m_overlappingPairArray[0];
351  }
352 
354  {
355  return m_overlappingPairArray.size();
356  }
357 
359  {
360  return m_overlapFilterCallback;
361  }
362 
364  {
365  m_overlapFilterCallback = callback;
366  }
367 
368  virtual bool hasDeferredRemoval()
369  {
370  return m_hasDeferredRemoval;
371  }
372 
374  {
375  m_ghostPairCallback = ghostPairCallback;
376  }
377 
378  virtual void sortOverlappingPairs(btDispatcher* dispatcher);
379 
380 
381 };
382 
383 
384 
387 {
388 
390 
391 public:
392 
394  {
395  return &m_overlappingPairArray[0];
396  }
398  {
399  return &m_overlappingPairArray[0];
400  }
402  {
403  return m_overlappingPairArray;
404  }
405 
406  virtual void cleanOverlappingPair(btBroadphasePair& /*pair*/,btDispatcher* /*dispatcher*/)
407  {
408 
409  }
410 
411  virtual int getNumOverlappingPairs() const
412  {
413  return 0;
414  }
415 
416  virtual void cleanProxyFromPairs(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/)
417  {
418 
419  }
420 
422  {
423  }
424 
426  {
427  }
428 
430  {
431  return 0;
432  }
433 
434  virtual bool hasDeferredRemoval()
435  {
436  return true;
437  }
438 
439  virtual void setInternalGhostPairCallback(btOverlappingPairCallback* /* ghostPairCallback */)
440  {
441 
442  }
443 
445  {
446  return 0;
447  }
448 
449  virtual void* removeOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/,btDispatcher* /*dispatcher*/)
450  {
451  return 0;
452  }
453 
454  virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/)
455  {
456  }
457 
458  virtual void sortOverlappingPairs(btDispatcher* dispatcher)
459  {
460  (void) dispatcher;
461  }
462 
463 
464 };
465 
466 
467 #endif //BT_OVERLAPPING_PAIR_CACHE_H
468 
469 
const btBroadphasePair * getOverlappingPairArrayPtr() const
btOverlapFilterCallback * getOverlapFilterCallback()
bool needsBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const
btOverlapFilterCallback * m_overlapFilterCallback
const int BT_NULL_PAIR
btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and unit testing...
short int m_collisionFilterGroup
btBroadphasePair * internalFindPair(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1, int hash)
btAlignedObjectArray< int > m_hashTable
#define btAssert(x)
Definition: btScalar.h:113
virtual bool hasDeferredRemoval()
btBroadphasePairArray & getOverlappingPairArray()
btOverlappingPairCallback * m_ghostPairCallback
#define SIMD_FORCE_INLINE
Definition: btScalar.h:63
btBroadphasePairArray m_overlappingPairArray
bool equalsPair(const btBroadphasePair &pair, int proxyId1, int proxyId2)
bool needsBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const
btOverlappingPairCallback * m_ghostPairCallback
btOverlapFilterCallback * m_overlapFilterCallback
virtual void cleanProxyFromPairs(btBroadphaseProxy *, btDispatcher *)
const btBroadphasePair * getOverlappingPairArrayPtr() const
virtual btBroadphasePair * getOverlappingPairArrayPtr()
void setOverlapFilterCallback(btOverlapFilterCallback *callback)
virtual btBroadphasePair * getOverlappingPairArrayPtr()
const btBroadphasePairArray & getOverlappingPairArray() const
virtual void processAllOverlappingPairs(btOverlapCallback *, btDispatcher *)
The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
virtual int getNumOverlappingPairs() const
int size() const
return the number of elements in the array
btBroadphasePairArray & getOverlappingPairArray()
void btSwap(T &a, T &b)
Definition: btScalar.h:585
btOverlapFilterCallback * getOverlapFilterCallback()
virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy *, btDispatcher *)
int gFindPairs
int gAddedPairs
btSortedOverlappingPairCache maintains the objects with overlapping AABB Typically managed by the Bro...
void setOverlapFilterCallback(btOverlapFilterCallback *callback)
virtual bool needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const =0
virtual bool processOverlap(btBroadphasePair &pair)=0
btAlignedObjectArray< int > m_next
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
btBroadphaseProxy * m_pProxy1
btBroadphasePairArray m_overlappingPairArray
btBroadphaseProxy * m_pProxy0
virtual void cleanOverlappingPair(btBroadphasePair &, btDispatcher *)
virtual void setInternalGhostPairCallback(btOverlappingPairCallback *ghostPairCallback)
btAlignedObjectArray< btBroadphasePair > btBroadphasePairArray
const btBroadphasePairArray & getOverlappingPairArray() const
virtual void setInternalGhostPairCallback(btOverlappingPairCallback *)
virtual void setOverlapFilterCallback(btOverlapFilterCallback *)
virtual void setInternalGhostPairCallback(btOverlappingPairCallback *ghostPairCallback)
btBroadphasePairArray m_overlappingPairArray
bool m_hasDeferredRemoval
by default, do the removal during the pair traversal
short int m_collisionFilterMask
const btBroadphasePair * getOverlappingPairArrayPtr() const
virtual void sortOverlappingPairs(btDispatcher *dispatcher)
virtual btBroadphasePair * addOverlappingPair(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1)
virtual btBroadphasePair * findPair(btBroadphaseProxy *, btBroadphaseProxy *)
btBroadphasePairArray & getOverlappingPairArray()
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:69
Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman...
virtual void * removeOverlappingPair(btBroadphaseProxy *, btBroadphaseProxy *, btDispatcher *)
The btOverlappingPairCallback class is an additional optional broadphase user callback for adding/rem...
int gRemovePairs
virtual btBroadphasePair * addOverlappingPair(btBroadphaseProxy *, btBroadphaseProxy *)
The btBroadphasePair class contains a pair of aabb-overlapping objects.
btBroadphasePair * getOverlappingPairArrayPtr()