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SimpleBroadphase.cpp

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

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.
*/

#include "SimpleBroadphase.h"
#include "BroadphaseCollision/Dispatcher.h"
#include "BroadphaseCollision/CollisionAlgorithm.h"

#include "SimdVector3.h"
#include "SimdTransform.h"
#include "SimdMatrix3x3.h"
#include <vector>


void  SimpleBroadphase::validate()
{
      for (int i=0;i<m_numProxies;i++)
      {
            for (int j=i+1;j<m_numProxies;j++)
            {
                  assert(m_pProxies[i] != m_pProxies[j]);
            }
      }
      
}

SimpleBroadphase::SimpleBroadphase(int maxProxies,int maxOverlap)
      :m_firstFreeProxy(0),
      m_numProxies(0),
      m_blockedForChanges(false),
      m_NumOverlapBroadphasePair(0),
      m_maxProxies(maxProxies),
      m_maxOverlap(maxOverlap)
{

      m_proxies = new SimpleBroadphaseProxy[maxProxies];
      m_freeProxies = new int[maxProxies];
      m_pProxies = new SimpleBroadphaseProxy*[maxProxies];
      m_OverlappingPairs = new BroadphasePair[maxOverlap];


      int i;
      for (i=0;i<m_maxProxies;i++)
      {
            m_freeProxies[i] = i;
      }
}

SimpleBroadphase::~SimpleBroadphase()
{
      delete[] m_proxies;
      delete []m_freeProxies;
      delete [] m_pProxies;
      delete [] m_OverlappingPairs;

      /*int i;
      for (i=m_numProxies-1;i>=0;i--)
      {
            BP_Proxy* proxy = m_pProxies[i]; 
            destroyProxy(proxy);
      }
      */
}


BroadphaseProxy*  SimpleBroadphase::CreateProxy(  const SimdVector3& min,  const SimdVector3& max,int shapeType,void* userPtr)
{
      if (m_numProxies >= m_maxProxies)
      {
            assert(0);
            return 0; //should never happen, but don't let the game crash ;-)
      }
      assert(min[0]<= max[0] && min[1]<= max[1] && min[2]<= max[2]);

      int freeIndex= m_freeProxies[m_firstFreeProxy];
      SimpleBroadphaseProxy* proxy = new (&m_proxies[freeIndex])SimpleBroadphaseProxy(min,max,shapeType,userPtr);
      m_firstFreeProxy++;

      SimpleBroadphaseProxy* proxy1 = &m_proxies[0];
            
      int index = proxy - proxy1;
      assert(index == freeIndex);

      m_pProxies[m_numProxies] = proxy;
      m_numProxies++;
      //validate();

      return proxy;
}

void  SimpleBroadphase::RemoveOverlappingPairsContainingProxy(BroadphaseProxy* proxy)
{
      int i;
            for ( i=m_NumOverlapBroadphasePair-1;i>=0;i--)
            {
                  BroadphasePair& pair = m_OverlappingPairs[i];
                  if (pair.m_pProxy0 == proxy ||
                              pair.m_pProxy1 == proxy)
                  {
                        RemoveOverlappingPair(pair);
                  }
            }
}

void  SimpleBroadphase::DestroyProxy(BroadphaseProxy* proxyOrg)
{
            
            int i;
            
            SimpleBroadphaseProxy* proxy0 = static_cast<SimpleBroadphaseProxy*>(proxyOrg);
            SimpleBroadphaseProxy* proxy1 = &m_proxies[0];
      
            int index = proxy0 - proxy1;
            assert (index < m_maxProxies);
            m_freeProxies[--m_firstFreeProxy] = index;

            RemoveOverlappingPairsContainingProxy(proxyOrg);

            
            for (i=0;i<m_numProxies;i++)
            {
                  if (m_pProxies[i] == proxyOrg)
                  {
                        m_pProxies[i] = m_pProxies[m_numProxies-1];
                        break;
                  }
            }
            m_numProxies--;
            //validate();
            
}

void  SimpleBroadphase::SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const SimdVector3& aabbMax)
{
      SimpleBroadphaseProxy* sbp = GetSimpleProxyFromProxy(proxy);
      sbp->m_min = aabbMin;
      sbp->m_max = aabbMax;
}

void  SimpleBroadphase::CleanOverlappingPair(BroadphasePair& pair)
{
      for (int dispatcherId=0;dispatcherId<SIMPLE_MAX_ALGORITHMS;dispatcherId++)
      {
            if (pair.m_algorithms[dispatcherId])
            {
                  {
                        delete pair.m_algorithms[dispatcherId];
                        pair.m_algorithms[dispatcherId]=0;
                  }
            }
      }
}


void  SimpleBroadphase::CleanProxyFromPairs(BroadphaseProxy* proxy)
{
      for (int i=0;i<m_NumOverlapBroadphasePair;i++)
      {
            BroadphasePair& pair = m_OverlappingPairs[i];
            if (pair.m_pProxy0 == proxy ||
                        pair.m_pProxy1 == proxy)
            {
                  CleanOverlappingPair(pair);
            }
      }
}

void  SimpleBroadphase::AddOverlappingPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
{
      //don't add overlap with own
      assert(proxy0 != proxy1);

      BroadphasePair pair(*proxy0,*proxy1);
      m_OverlappingPairs[m_NumOverlapBroadphasePair] = pair;

      int i;
      for (i=0;i<SIMPLE_MAX_ALGORITHMS;i++)
      {
            assert(!m_OverlappingPairs[m_NumOverlapBroadphasePair].m_algorithms[i]);
            m_OverlappingPairs[m_NumOverlapBroadphasePair].m_algorithms[i] = 0;
      }

      if (m_NumOverlapBroadphasePair >= m_maxOverlap)
      {
            //printf("Error: too many overlapping objects: m_NumOverlapBroadphasePair: %d\n",m_NumOverlapBroadphasePair);
#ifdef DEBUG
            assert(0);
#endif 
      } else
      {
            m_NumOverlapBroadphasePair++;
      }

      
}
      
BroadphasePair*   SimpleBroadphase::FindPair(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
{
      BroadphasePair* foundPair = 0;

      int i;
      for (i=m_NumOverlapBroadphasePair-1;i>=0;i--)
      {
            BroadphasePair& pair = m_OverlappingPairs[i];
            if (((pair.m_pProxy0 == proxy0) && (pair.m_pProxy1 == proxy1)) ||
                  ((pair.m_pProxy0 == proxy1) && (pair.m_pProxy1 == proxy0)))
            {
                  foundPair = &pair;
                  return foundPair;
            }
      }     

      return foundPair;
}
void  SimpleBroadphase::RemoveOverlappingPair(BroadphasePair& pair)
{
    CleanOverlappingPair(pair);
      int   index = &pair - &m_OverlappingPairs[0];
      //remove efficiently, swap with the last
      m_OverlappingPairs[index] = m_OverlappingPairs[m_NumOverlapBroadphasePair-1];
      m_NumOverlapBroadphasePair--;
}

bool  SimpleBroadphase::AabbOverlap(SimpleBroadphaseProxy* proxy0,SimpleBroadphaseProxy* proxy1)
{
      return proxy0->m_min[0] <= proxy1->m_max[0] && proxy1->m_min[0] <= proxy0->m_max[0] && 
               proxy0->m_min[1] <= proxy1->m_max[1] && proxy1->m_min[1] <= proxy0->m_max[1] &&
               proxy0->m_min[2] <= proxy1->m_max[2] && proxy1->m_min[2] <= proxy0->m_max[2];

}
void  SimpleBroadphase::RefreshOverlappingPairs()
{
      //first check for new overlapping pairs
      int i,j;

      for (i=0;i<m_numProxies;i++)
      {
            BroadphaseProxy* proxy0 = m_pProxies[i];
            for (j=i+1;j<m_numProxies;j++)
            {
                  BroadphaseProxy* proxy1 = m_pProxies[j];
                  SimpleBroadphaseProxy* p0 = GetSimpleProxyFromProxy(proxy0);
                  SimpleBroadphaseProxy* p1 = GetSimpleProxyFromProxy(proxy1);

                  if (AabbOverlap(p0,p1))
                  {
                        if ( !FindPair(proxy0,proxy1))
                        {
                              AddOverlappingPair(proxy0,proxy1);
                        }
                  }

            }
      }

      //then remove non-overlapping ones
      for (i=0;i<m_NumOverlapBroadphasePair;i++)
      {
            BroadphasePair& pair = m_OverlappingPairs[i];
            SimpleBroadphaseProxy* proxy0 = GetSimpleProxyFromProxy(pair.m_pProxy0);
            SimpleBroadphaseProxy* proxy1 = GetSimpleProxyFromProxy(pair.m_pProxy1);
            if (!AabbOverlap(proxy0,proxy1))
            {
            RemoveOverlappingPair(pair);
            }
      }

      

}

void  SimpleBroadphase::DispatchAllCollisionPairs(Dispatcher&     dispatcher,DispatcherInfo& dispatchInfo)
{
      m_blockedForChanges = true;

      int i;
      
      int dispatcherId = dispatcher.GetUniqueId();

      RefreshOverlappingPairs();

      for (i=0;i<m_NumOverlapBroadphasePair;i++)
      {
            
            BroadphasePair& pair = m_OverlappingPairs[i];
            
            if (dispatcherId>= 0)
            {
                  //dispatcher will keep algorithms persistent in the collision pair
                  if (!pair.m_algorithms[dispatcherId])
                  {
                        pair.m_algorithms[dispatcherId] = dispatcher.FindAlgorithm(
                              *pair.m_pProxy0,
                              *pair.m_pProxy1);
                  }

                  if (pair.m_algorithms[dispatcherId])
                  {
                        if (dispatchInfo.m_dispatchFunc ==        DispatcherInfo::DISPATCH_DISCRETE)
                        {
                              pair.m_algorithms[dispatcherId]->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
                        } else
                        {
                              float toi = pair.m_algorithms[dispatcherId]->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
                              if (dispatchInfo.m_timeOfImpact > toi)
                                    dispatchInfo.m_timeOfImpact = toi;

                        }
                  }
            } else
            {
                  //non-persistent algorithm dispatcher
                        CollisionAlgorithm* algo = dispatcher.FindAlgorithm(
                              *pair.m_pProxy0,
                              *pair.m_pProxy1);

                        if (algo)
                        {
                              if (dispatchInfo.m_dispatchFunc ==        DispatcherInfo::DISPATCH_DISCRETE)
                              {
                                    algo->ProcessCollision(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
                              } else
                              {
                                    float toi = algo->CalculateTimeOfImpact(pair.m_pProxy0,pair.m_pProxy1,dispatchInfo);
                                    if (dispatchInfo.m_timeOfImpact > toi)
                                          dispatchInfo.m_timeOfImpact = toi;
                              }
                        }
            }

      }

      m_blockedForChanges = false;

}



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