Bullet Collision Detection & Physics Library: btDbvtBroadphase.h Source File

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
20 #include "BulletCollision/BroadphaseCollision/btDbvt.h"
21 #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
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
34 #if DBVT_BP_PROFILE
35 #define DBVT_BP_PROFILING_RATE 256
36 #include "LinearMath/btQuickprof.h"
37 #endif
38
39 //
40 // btDbvtProxy
41 //
42 struct btDbvtProxy : btBroadphaseProxy
43 {
44 /* Fields */
45 //btDbvtAabbMm aabb;
46 btDbvtNode* leaf;
47 btDbvtProxy* links[2];
48 int stage;
49 /* ctor */
50 btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr, int collisionFilterGroup, int collisionFilterMask) :
51 btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
52 {
53 links[0]=links[1]=0;
54 }
55 };
56
57 typedef btAlignedObjectArray<btDbvtProxy*> btDbvtProxyArray;
58
62 struct btDbvtBroadphase : btBroadphaseInterface
63 {
64 /* Config */
65 enum {
66 DYNAMIC_SET = 0, /* Dynamic set index */
67 FIXED_SET = 1, /* Fixed set index */
68 STAGECOUNT = 2 /* Number of stages */
69 };
70 /* Fields */
71 btDbvt m_sets[2]; // Dbvt sets
72 btDbvtProxy* m_stageRoots[STAGECOUNT+1]; // Stages list
73 btOverlappingPairCache* m_paircache; // Pair cache
74 btScalar m_prediction; // Velocity prediction
75 int m_stageCurrent; // Current stage
76 int m_fupdates; // % of fixed updates per frame
77 int m_dupdates; // % of dynamic updates per frame
78 int m_cupdates; // % of cleanup updates per frame
79 int m_newpairs; // Number of pairs created
80 int m_fixedleft; // Fixed optimization left
81 unsigned m_updates_call; // Number of updates call
82 unsigned m_updates_done; // Number of updates done
83 btScalar m_updates_ratio; // m_updates_done/m_updates_call
84 int m_pid; // Parse id
85 int m_cid; // Cleanup index
86 int m_gid; // Gen id
87 bool m_releasepaircache; // Release pair cache on delete
88 bool m_deferedcollide; // Defere dynamic/static collision to collide call
89 bool m_needcleanup; // Need to run cleanup?
90 btAlignedObjectArray< btAlignedObjectArray<const btDbvtNode*> > m_rayTestStacks;
91 #if DBVT_BP_PROFILE
92 btClock m_clock;
93 struct {
94 unsigned long m_total;
95 unsigned long m_ddcollide;
96 unsigned long m_fdcollide;
97 unsigned long m_cleanup;
98 unsigned long m_jobcount;
99 } m_profiling;
100 #endif
101 /* Methods */
102 btDbvtBroadphase(btOverlappingPairCache* paircache=0);
103 ~btDbvtBroadphase();
104 void collide(btDispatcher* dispatcher);
105 void optimize();
106
107 /* btBroadphaseInterface Implementation */
108 btBroadphaseProxy* createProxy(const btVector3& aabbMin,const btVector3& aabbMax,int shapeType,void* userPtr, int collisionFilterGroup, int collisionFilterMask,btDispatcher* dispatcher);
109 virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
110 virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
111 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));
112 virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
113
114 virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
115 virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
116 virtual btOverlappingPairCache* getOverlappingPairCache();
117 virtual const btOverlappingPairCache* getOverlappingPairCache() const;
118 virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
119 virtual void printStats();
120
121
123 virtual void resetPool(btDispatcher* dispatcher);
124
125 void performDeferredRemoval(btDispatcher* dispatcher);
126
127 void setVelocityPrediction(btScalar prediction)
128 {
129 m_prediction = prediction;
130 }
131 btScalar getVelocityPrediction() const
132 {
133 return m_prediction;
134 }
135
140 void setAabbForceUpdate( btBroadphaseProxy* absproxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* /*dispatcher*/);
141
142 static void benchmark(btBroadphaseInterface*);
143
144
145 };
146
147 #endif
btDbvtProxy::stage
int stage
Definition: btDbvtBroadphase.h:48
btDbvtBroadphase::m_cupdates
int m_cupdates
Definition: btDbvtBroadphase.h:78
btDbvtProxyArray
btAlignedObjectArray< btDbvtProxy * > btDbvtProxyArray
Definition: btDbvtBroadphase.h:57
btDbvtBroadphase::m_deferedcollide
bool m_deferedcollide
Definition: btDbvtBroadphase.h:88
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:53
btDbvtBroadphase::m_paircache
btOverlappingPairCache * m_paircache
Definition: btDbvtBroadphase.h:73
btDbvtBroadphase::m_fupdates
int m_fupdates
Definition: btDbvtBroadphase.h:76
btDbvtBroadphase::setVelocityPrediction
void setVelocityPrediction(btScalar prediction)
Definition: btDbvtBroadphase.h:127
btDbvtProxy
Definition: btDbvtBroadphase.h:42
btDbvt
The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes ...
Definition: btDbvt.h:198
btClock
The btClock is a portable basic clock that measures accurate time in seconds, use for profiling...
Definition: btQuickprof.h:24
btDbvtBroadphase
The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees...
Definition: btDbvtBroadphase.h:62
btDbvtBroadphase::m_fixedleft
int m_fixedleft
Definition: btDbvtBroadphase.h:80
btDbvtBroadphase::m_needcleanup
bool m_needcleanup
Definition: btDbvtBroadphase.h:89
btDbvtBroadphase::m_stageCurrent
int m_stageCurrent
Definition: btDbvtBroadphase.h:75
btDbvtProxy::leaf
btDbvtNode * leaf
Definition: btDbvtBroadphase.h:46
btDbvtProxy::links
btDbvtProxy * links[2]
Definition: btDbvtBroadphase.h:47
btOverlappingPairCache.h
btOverlappingPairCache
The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
Definition: btOverlappingPairCache.h:60
btDbvtBroadphase::m_gid
int m_gid
Definition: btDbvtBroadphase.h:86
btDbvtBroadphase::m_cid
int m_cid
Definition: btDbvtBroadphase.h:85
btBroadphaseRayCallback
Definition: btBroadphaseInterface.h:36
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs...
Definition: btBroadphaseInterface.h:51
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:85
btDbvtBroadphase::m_newpairs
int m_newpairs
Definition: btDbvtBroadphase.h:79
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btDbvtBroadphase::m_updates_call
unsigned m_updates_call
Definition: btDbvtBroadphase.h:81
btDbvtBroadphase::getVelocityPrediction
btScalar getVelocityPrediction() const
Definition: btDbvtBroadphase.h:131
btQuickprof.h
btDbvtBroadphase::m_pid
int m_pid
Definition: btDbvtBroadphase.h:84
btDbvtBroadphase::m_rayTestStacks
btAlignedObjectArray< btAlignedObjectArray< const btDbvtNode * > > m_rayTestStacks
Definition: btDbvtBroadphase.h:90
btDbvtBroadphase::m_updates_ratio
btScalar m_updates_ratio
Definition: btDbvtBroadphase.h:83
btDbvtProxy::btDbvtProxy
btDbvtProxy(const btVector3 &aabbMin, const btVector3 &aabbMax, void *userPtr, int collisionFilterGroup, int collisionFilterMask)
Definition: btDbvtBroadphase.h:50
btDbvt.h
btDbvtNode
Definition: btDbvt.h:178
btBroadphaseAabbCallback
Definition: btBroadphaseInterface.h:29
btDbvtBroadphase::m_updates_done
unsigned m_updates_done
Definition: btDbvtBroadphase.h:82
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:75
btDbvtBroadphase::m_releasepaircache
bool m_releasepaircache
Definition: btDbvtBroadphase.h:87
btDbvtBroadphase::m_dupdates
int m_dupdates
Definition: btDbvtBroadphase.h:77
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279
btDbvtBroadphase::m_prediction
btScalar m_prediction
Definition: btDbvtBroadphase.h:74