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btOverlappingPairCache.h

/*
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.
*/

#ifndef OVERLAPPING_PAIR_CACHE_H
#define OVERLAPPING_PAIR_CACHE_H


#include "btBroadphaseInterface.h"
#include "btBroadphaseProxy.h"
#include "btOverlappingPairCallback.h"

#include "LinearMath/btPoint3.h"
#include "LinearMath/btAlignedObjectArray.h"
class btDispatcher;

typedef btAlignedObjectArray<btBroadphasePair>  btBroadphasePairArray;

struct      btOverlapCallback
{
      virtual ~btOverlapCallback()
      {}
      //return true for deletion of the pair
      virtual bool      processOverlap(btBroadphasePair& pair) = 0;

};

struct btOverlapFilterCallback
{
      virtual ~btOverlapFilterCallback()
      {}
      // return true when pairs need collision
      virtual bool      needBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const = 0;
};







extern int gRemovePairs;
extern int gAddedPairs;
extern int gFindPairs;

const int BT_NULL_PAIR=0xffffffff;

///The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
///The btHashedOverlappingPairCache and btSortedOverlappingPairCache classes are two implementations.
00061 class btOverlappingPairCache : public btOverlappingPairCallback
{
public:
      virtual ~btOverlappingPairCache() {} // this is needed so we can get to the derived class destructor

      virtual btBroadphasePair*     getOverlappingPairArrayPtr() = 0;
      
      virtual const btBroadphasePair*     getOverlappingPairArrayPtr() const = 0;

      virtual btBroadphasePairArray&      getOverlappingPairArray() = 0;

      virtual     void  cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher) = 0;

      virtual int getNumOverlappingPairs() const = 0;

      virtual void      cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher) = 0;

      virtual     void setOverlapFilterCallback(btOverlapFilterCallback* callback) = 0;

      virtual void      processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher) = 0;

      virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0;

      virtual bool      hasDeferredRemoval() = 0;

};

/// Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman, Codercorner, http://codercorner.com
00089 class btHashedOverlappingPairCache : public btOverlappingPairCache
{
      btBroadphasePairArray   m_overlappingPairArray;
      btOverlapFilterCallback* m_overlapFilterCallback;
      bool        m_blockedForChanges;


public:
      btHashedOverlappingPairCache();
      virtual ~btHashedOverlappingPairCache();

      
      void  removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);

      virtual void*     removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);
      
      SIMD_FORCE_INLINE bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
      {
            if (m_overlapFilterCallback)
                  return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);

            bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
            collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
            
            return collides;
      }

      // Add a pair and return the new pair. If the pair already exists,
      // no new pair is created and the old one is returned.
      virtual btBroadphasePair*     addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
      {
            gAddedPairs++;

            if (!needsBroadphaseCollision(proxy0,proxy1))
                  return 0;

            return internalAddPair(proxy0,proxy1);
      }

      

      void  cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);

      
      virtual void      processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);

      virtual btBroadphasePair*     getOverlappingPairArrayPtr()
      {
            return &m_overlappingPairArray[0];
      }

      const btBroadphasePair* getOverlappingPairArrayPtr() const
      {
            return &m_overlappingPairArray[0];
      }

      btBroadphasePairArray&  getOverlappingPairArray()
      {
            return m_overlappingPairArray;
      }

      const btBroadphasePairArray&  getOverlappingPairArray() const
      {
            return m_overlappingPairArray;
      }

      void  cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);



      btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1);

      int GetCount() const { return m_overlappingPairArray.size(); }
//    btBroadphasePair* GetPairs() { return m_pairs; }

      btOverlapFilterCallback* getOverlapFilterCallback()
      {
            return m_overlapFilterCallback;
      }

      void setOverlapFilterCallback(btOverlapFilterCallback* callback)
      {
            m_overlapFilterCallback = callback;
      }

      int   getNumOverlappingPairs() const
      {
            return m_overlappingPairArray.size();
      }
private:
      
      btBroadphasePair*       internalAddPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);

      void  growTables();

      SIMD_FORCE_INLINE bool equalsPair(const btBroadphasePair& pair, int proxyId1, int proxyId2)
      {     
            return pair.m_pProxy0->getUid() == proxyId1 && pair.m_pProxy1->getUid() == proxyId2;
      }

      /*
      // Thomas Wang's hash, see: http://www.concentric.net/~Ttwang/tech/inthash.htm
      // This assumes proxyId1 and proxyId2 are 16-bit.
      SIMD_FORCE_INLINE int getHash(int proxyId1, int proxyId2)
      {
            int key = (proxyId2 << 16) | proxyId1;
            key = ~key + (key << 15);
            key = key ^ (key >> 12);
            key = key + (key << 2);
            key = key ^ (key >> 4);
            key = key * 2057;
            key = key ^ (key >> 16);
            return key;
      }
      */


      
      SIMD_FORCE_INLINE unsigned int getHash(unsigned int proxyId1, unsigned int proxyId2)
      {
            int key = static_cast<int>(((unsigned int)proxyId1) | (((unsigned int)proxyId2) <<16));
            // Thomas Wang's hash

            key += ~(key << 15);
            key ^=  (key >> 10);
            key +=  (key << 3);
            key ^=  (key >> 6);
            key += ~(key << 11);
            key ^=  (key >> 16);
            return static_cast<unsigned int>(key);
      }
      




      SIMD_FORCE_INLINE btBroadphasePair* internalFindPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, int hash)
      {
            int proxyId1 = proxy0->getUid();
            int proxyId2 = proxy1->getUid();
            #if 0 // wrong, 'equalsPair' use unsorted uids, copy-past devil striked again. Nat.
            if (proxyId1 > proxyId2) 
                  btSwap(proxyId1, proxyId2);
            #endif

            int index = m_hashTable[hash];
            
            while( index != BT_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyId1, proxyId2) == false)
            {
                  index = m_next[index];
            }

            if ( index == BT_NULL_PAIR )
            {
                  return NULL;
            }

            btAssert(index < m_overlappingPairArray.size());

            return &m_overlappingPairArray[index];
      }

      virtual bool      hasDeferredRemoval()
      {
            return false;
      }

public:
      
      btAlignedObjectArray<int>     m_hashTable;
      btAlignedObjectArray<int>     m_next;
      
};




///btSortedOverlappingPairCache maintains the objects with overlapping AABB
///Typically managed by the Broadphase, Axis3Sweep or btSimpleBroadphase
00268 class btSortedOverlappingPairCache : public btOverlappingPairCache
{
      protected:
            //avoid brute-force finding all the time
            btBroadphasePairArray   m_overlappingPairArray;

            //during the dispatch, check that user doesn't destroy/create proxy
            bool        m_blockedForChanges;

            ///by default, do the removal during the pair traversal
00278             bool        m_hasDeferredRemoval;
            
            //if set, use the callback instead of the built in filter in needBroadphaseCollision
            btOverlapFilterCallback* m_overlapFilterCallback;

      public:
                  
            btSortedOverlappingPairCache();     
            virtual ~btSortedOverlappingPairCache();

            virtual void      processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);

            void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher);

            void  cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher);
            
            btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);

            btBroadphasePair* findPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
                  
            
            void  cleanProxyFromPairs(btBroadphaseProxy* proxy,btDispatcher* dispatcher);

            void  removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);


            inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
            {
                  if (m_overlapFilterCallback)
                        return m_overlapFilterCallback->needBroadphaseCollision(proxy0,proxy1);

                  bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
                  collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
                  
                  return collides;
            }
            
            btBroadphasePairArray&  getOverlappingPairArray()
            {
                  return m_overlappingPairArray;
            }

            const btBroadphasePairArray&  getOverlappingPairArray() const
            {
                  return m_overlappingPairArray;
            }

            


            btBroadphasePair* getOverlappingPairArrayPtr()
            {
                  return &m_overlappingPairArray[0];
            }

            const btBroadphasePair* getOverlappingPairArrayPtr() const
            {
                  return &m_overlappingPairArray[0];
            }

            int   getNumOverlappingPairs() const
            {
                  return m_overlappingPairArray.size();
            }
            
            btOverlapFilterCallback* getOverlapFilterCallback()
            {
                  return m_overlapFilterCallback;
            }

            void setOverlapFilterCallback(btOverlapFilterCallback* callback)
            {
                  m_overlapFilterCallback = callback;
            }

            virtual bool      hasDeferredRemoval()
            {
                  return m_hasDeferredRemoval;
            }


};



///btNullPairCache skips add/removal of overlapping pairs. Userful for benchmarking and testing.
00364 class btNullPairCache : public btOverlappingPairCache
{

      btBroadphasePairArray   m_overlappingPairArray;

public:

      virtual btBroadphasePair*     getOverlappingPairArrayPtr()
      {
            return &m_overlappingPairArray[0];
      }
      const btBroadphasePair* getOverlappingPairArrayPtr() const
      {
            return &m_overlappingPairArray[0];
      }
      btBroadphasePairArray&  getOverlappingPairArray()
      {
            return m_overlappingPairArray;
      }
      
      virtual     void  cleanOverlappingPair(btBroadphasePair& /*pair*/,btDispatcher* /*dispatcher*/)
      {

      }

      virtual int getNumOverlappingPairs() const
      {
            return 0;
      }

      virtual void      cleanProxyFromPairs(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/)
      {

      }

      virtual     void setOverlapFilterCallback(btOverlapFilterCallback* /*callback*/)
      {
      }

      virtual void      processAllOverlappingPairs(btOverlapCallback*,btDispatcher* /*dispatcher*/)
      {
      }

      virtual btBroadphasePair* findPair(btBroadphaseProxy* /*proxy0*/, btBroadphaseProxy* /*proxy1*/)
      {
            return 0;
      }

      virtual bool      hasDeferredRemoval()
      {
            return true;
      }

      virtual btBroadphasePair*     addOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/)
      {
            return 0;
      }

      virtual void*     removeOverlappingPair(btBroadphaseProxy* /*proxy0*/,btBroadphaseProxy* /*proxy1*/,btDispatcher* /*dispatcher*/)
      {
            return 0;
      }

      virtual void      removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/)
      {
      }


};


#endif //OVERLAPPING_PAIR_CACHE_H



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