mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
116 lines
4.4 KiB
C++
116 lines
4.4 KiB
C++
//Bullet Continuous Collision Detection and Physics Library
|
|
//Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
//
|
|
// AxisSweep3.h
|
|
//
|
|
// Copyright (c) 2006 Simon Hobbs
|
|
//
|
|
// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.
|
|
//
|
|
// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:
|
|
//
|
|
// 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.
|
|
//
|
|
// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
//
|
|
// 3. This notice may not be removed or altered from any source distribution.
|
|
|
|
#ifndef AXIS_SWEEP_3_H
|
|
#define AXIS_SWEEP_3_H
|
|
|
|
#include "SimdPoint3.h"
|
|
#include "SimdVector3.h"
|
|
#include "OverlappingPairCache.h"
|
|
#include "BroadphaseProxy.h"
|
|
|
|
/// AxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase.
|
|
/// It uses arrays rather then lists for storage of the 3 axis. Also it operates using integer coordinates instead of floats.
|
|
/// The TestOverlap check is optimized to check the array index, rather then the actual AABB coordinates/pos
|
|
class AxisSweep3 : public OverlappingPairCache
|
|
{
|
|
|
|
public:
|
|
|
|
|
|
class Edge
|
|
{
|
|
public:
|
|
unsigned short m_pos; // low bit is min/max
|
|
unsigned short m_handle;
|
|
|
|
unsigned short IsMax() const {return m_pos & 1;}
|
|
};
|
|
|
|
public:
|
|
class Handle : public BroadphaseProxy
|
|
{
|
|
public:
|
|
|
|
// indexes into the edge arrays
|
|
unsigned short m_minEdges[3], m_maxEdges[3]; // 6 * 2 = 12
|
|
unsigned short m_handleId;
|
|
unsigned short m_pad;
|
|
|
|
//void* m_pOwner; this is now in BroadphaseProxy.m_clientObject
|
|
|
|
inline void SetNextFree(unsigned short next) {m_minEdges[0] = next;}
|
|
inline unsigned short GetNextFree() const {return m_minEdges[0];}
|
|
}; // 24 bytes + 24 for Edge structures = 44 bytes total per entry
|
|
|
|
|
|
private:
|
|
SimdPoint3 m_worldAabbMin; // overall system bounds
|
|
SimdPoint3 m_worldAabbMax; // overall system bounds
|
|
|
|
SimdVector3 m_quantize; // scaling factor for quantization
|
|
|
|
int m_numHandles; // number of active handles
|
|
int m_maxHandles; // max number of handles
|
|
Handle* m_pHandles; // handles pool
|
|
unsigned short m_firstFreeHandle; // free handles list
|
|
|
|
Edge* m_pEdges[3]; // edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries)
|
|
|
|
|
|
// allocation/deallocation
|
|
unsigned short AllocHandle();
|
|
void FreeHandle(unsigned short handle);
|
|
|
|
|
|
bool TestOverlap(int ignoreAxis,const Handle* pHandleA, const Handle* pHandleB);
|
|
|
|
//Overlap* AddOverlap(unsigned short handleA, unsigned short handleB);
|
|
//void RemoveOverlap(unsigned short handleA, unsigned short handleB);
|
|
|
|
void Quantize(unsigned short* out, const SimdPoint3& point, int isMax) const;
|
|
|
|
void SortMinDown(int axis, unsigned short edge, bool updateOverlaps = true);
|
|
void SortMinUp(int axis, unsigned short edge, bool updateOverlaps = true);
|
|
void SortMaxDown(int axis, unsigned short edge, bool updateOverlaps = true);
|
|
void SortMaxUp(int axis, unsigned short edge, bool updateOverlaps = true);
|
|
|
|
public:
|
|
AxisSweep3(const SimdPoint3& worldAabbMin,const SimdPoint3& worldAabbMax, int maxHandles = 20000, int maxOverlaps = 60000);
|
|
virtual ~AxisSweep3();
|
|
|
|
virtual void RefreshOverlappingPairs()
|
|
{
|
|
//this is replace by sweep and prune
|
|
}
|
|
|
|
unsigned short AddHandle(const SimdPoint3& aabbMin,const SimdPoint3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask);
|
|
void RemoveHandle(unsigned short handle);
|
|
void UpdateHandle(unsigned short handle, const SimdPoint3& aabbMin,const SimdPoint3& aabbMax);
|
|
inline Handle* GetHandle(unsigned short index) const {return m_pHandles + index;}
|
|
|
|
|
|
//Broadphase Interface
|
|
virtual BroadphaseProxy* CreateProxy( const SimdVector3& min, const SimdVector3& max,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
|
|
virtual void DestroyProxy(BroadphaseProxy* proxy);
|
|
virtual void SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax);
|
|
|
|
};
|
|
|
|
#endif //AXIS_SWEEP_3_H
|