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btSimpleBroadphase.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 SIMPLE_BROADPHASE_H
#define SIMPLE_BROADPHASE_H


#include "btOverlappingPairCache.h"


struct btSimpleBroadphaseProxy : public btBroadphaseProxy
{
      int               m_nextFree;
      
//    int               m_handleId;

      
      btSimpleBroadphaseProxy() {};

      btSimpleBroadphaseProxy(const btVector3& minpt,const btVector3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy)
      :btBroadphaseProxy(minpt,maxpt,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy)
      {
            (void)shapeType;
      }
      
      
      SIMD_FORCE_INLINE void SetNextFree(int next) {m_nextFree = next;}
      SIMD_FORCE_INLINE int GetNextFree() const {return m_nextFree;}

      


};

///The SimpleBroadphase is just a unit-test for btAxisSweep3, bt32BitAxisSweep3, or btDbvtBroadphase, so use those classes instead.
///It is a brute force aabb culling broadphase based on O(n^2) aabb checks
00049 class btSimpleBroadphase : public btBroadphaseInterface
{

protected:

      int         m_numHandles;                                   // number of active handles
      int         m_maxHandles;                                   // max number of handles
      int         m_LastHandleIndex;                                          
      
      btSimpleBroadphaseProxy* m_pHandles;                                    // handles pool

      void* m_pHandlesRawPtr;
      int         m_firstFreeHandle;            // free handles list
      
      int allocHandle()
      {
            btAssert(m_numHandles < m_maxHandles);
            int freeHandle = m_firstFreeHandle;
            m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
            m_numHandles++;
            if(freeHandle > m_LastHandleIndex)
            {
                  m_LastHandleIndex = freeHandle;
            }
            return freeHandle;
      }

      void freeHandle(btSimpleBroadphaseProxy* proxy)
      {
            int handle = int(proxy-m_pHandles);
            btAssert(handle >= 0 && handle < m_maxHandles);
            if(handle == m_LastHandleIndex)
            {
                  m_LastHandleIndex--;
            }
            proxy->SetNextFree(m_firstFreeHandle);
            m_firstFreeHandle = handle;

            proxy->m_clientObject = 0;

            m_numHandles--;
      }

      btOverlappingPairCache* m_pairCache;
      bool  m_ownsPairCache;

      int   m_invalidPair;

      
      
      inline btSimpleBroadphaseProxy*     getSimpleProxyFromProxy(btBroadphaseProxy* proxy)
      {
            btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxy);
            return proxy0;
      }

      inline const btSimpleBroadphaseProxy*     getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const
      {
            const btSimpleBroadphaseProxy* proxy0 = static_cast<const btSimpleBroadphaseProxy*>(proxy);
            return proxy0;
      }

      ///reset broadphase internal structures, to ensure determinism/reproducability
      virtual void resetPool(btDispatcher* dispatcher);


      void  validate();

protected:


      

public:
      btSimpleBroadphase(int maxProxies=16384,btOverlappingPairCache* overlappingPairCache=0);
      virtual ~btSimpleBroadphase();


            static bool aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1);


      virtual btBroadphaseProxy*    createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);

      virtual void      calculateOverlappingPairs(btDispatcher* dispatcher);

      virtual void      destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
      virtual void      setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
      virtual void      getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;

      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));
            
      btOverlappingPairCache* getOverlappingPairCache()
      {
            return m_pairCache;
      }
      const btOverlappingPairCache* getOverlappingPairCache() const
      {
            return m_pairCache;
      }

      bool  testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);


      ///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
      ///will add some transform later
00154       virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
      {
            aabbMin.setValue(-1e30f,-1e30f,-1e30f);
            aabbMax.setValue(1e30f,1e30f,1e30f);
      }

      virtual void      printStats()
      {
//          printf("btSimpleBroadphase.h\n");
//          printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
      }
};



#endif //SIMPLE_BROADPHASE_H


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