polycode-engine/include/Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2013 Erwin Coumans  http://bulletphysics.org

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.
*/

///b3DynamicBvhBroadphase implementation by Nathanael Presson
#ifndef B3_DBVT_BROADPHASE_H
#define B3_DBVT_BROADPHASE_H

#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvh.h"
#include "Bullet3Collision/BroadPhaseCollision/b3OverlappingPairCache.h"
#include "Bullet3Common/b3AlignedObjectArray.h"

#include "b3BroadphaseCallback.h"

//
// Compile time config
//

#define	B3_DBVT_BP_PROFILE					0
//#define B3_DBVT_BP_SORTPAIRS				1
#define B3_DBVT_BP_PREVENTFALSEUPDATE		0
#define B3_DBVT_BP_ACCURATESLEEPING		0
#define B3_DBVT_BP_ENABLE_BENCHMARK		0
#define B3_DBVT_BP_MARGIN					(b3Scalar)0.05

#if B3_DBVT_BP_PROFILE
#define	B3_DBVT_BP_PROFILING_RATE	256

#endif




B3_ATTRIBUTE_ALIGNED16(struct) b3BroadphaseProxy
{

B3_DECLARE_ALIGNED_ALLOCATOR();
	
	///optional filtering to cull potential collisions
	enum CollisionFilterGroups
	{
	        DefaultFilter = 1,
	        StaticFilter = 2,
	        KinematicFilter = 4,
	        DebrisFilter = 8,
			SensorTrigger = 16,
			CharacterFilter = 32,
	        AllFilter = -1 //all bits sets: DefaultFilter | StaticFilter | KinematicFilter | DebrisFilter | SensorTrigger
	};

	//Usually the client b3CollisionObject or Rigidbody class
	void*	m_clientObject;
	short int m_collisionFilterGroup;
	short int m_collisionFilterMask;
	void*	m_multiSapParentProxy;		
	int			m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.

	b3Vector3	m_aabbMin;
	b3Vector3	m_aabbMax;

	B3_FORCE_INLINE int getUid() const
	{
		return m_uniqueId;
	}

	//used for memory pools
	b3BroadphaseProxy() :m_clientObject(0),m_multiSapParentProxy(0)
	{
	}

	b3BroadphaseProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask,void* multiSapParentProxy=0)
		:m_clientObject(userPtr),
		m_collisionFilterGroup(collisionFilterGroup),
		m_collisionFilterMask(collisionFilterMask),
		m_aabbMin(aabbMin),
		m_aabbMax(aabbMax)
	{
		m_multiSapParentProxy = multiSapParentProxy;
	}
};





//
// b3DbvtProxy
//
struct b3DbvtProxy : b3BroadphaseProxy
{
	/* Fields		*/ 
	//b3DbvtAabbMm	aabb;
	b3DbvtNode*		leaf;
	b3DbvtProxy*	links[2];
	int				stage;
	/* ctor			*/ 

	explicit b3DbvtProxy() {}
	b3DbvtProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
	b3BroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
	{
		links[0]=links[1]=0;
	}
};

typedef b3AlignedObjectArray<b3DbvtProxy*>	b3DbvtProxyArray;

///The b3DynamicBvhBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see b3DynamicBvh).
///One tree is used for static/non-moving objects, and another tree is used for dynamic objects. Objects can move from one tree to the other.
///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases b3AxisSweep3 and b332BitAxisSweep3.
struct	b3DynamicBvhBroadphase 
{
	/* Config		*/ 
	enum	{
		DYNAMIC_SET			=	0,	/* Dynamic set index	*/ 
		FIXED_SET			=	1,	/* Fixed set index		*/ 
		STAGECOUNT			=	2	/* Number of stages		*/ 
	};
	/* Fields		*/ 
	b3DynamicBvh					m_sets[2];					// Dbvt sets
	b3DbvtProxy*			m_stageRoots[STAGECOUNT+1];	// Stages list

	b3AlignedObjectArray<b3DbvtProxy>	m_proxies;
	b3OverlappingPairCache*	m_paircache;				// Pair cache
	b3Scalar				m_prediction;				// Velocity prediction
	int						m_stageCurrent;				// Current stage
	int						m_fupdates;					// % of fixed updates per frame
	int						m_dupdates;					// % of dynamic updates per frame
	int						m_cupdates;					// % of cleanup updates per frame
	int						m_newpairs;					// Number of pairs created
	int						m_fixedleft;				// Fixed optimization left
	unsigned				m_updates_call;				// Number of updates call
	unsigned				m_updates_done;				// Number of updates done
	b3Scalar				m_updates_ratio;			// m_updates_done/m_updates_call
	int						m_pid;						// Parse id
	int						m_cid;						// Cleanup index
	bool					m_releasepaircache;			// Release pair cache on delete
	bool					m_deferedcollide;			// Defere dynamic/static collision to collide call
	bool					m_needcleanup;				// Need to run cleanup?
#if B3_DBVT_BP_PROFILE
	b3Clock					m_clock;
	struct	{
		unsigned long		m_total;
		unsigned long		m_ddcollide;
		unsigned long		m_fdcollide;
		unsigned long		m_cleanup;
		unsigned long		m_jobcount;
	}				m_profiling;
#endif
	/* Methods		*/ 
	b3DynamicBvhBroadphase(int proxyCapacity, b3OverlappingPairCache* paircache=0);
	~b3DynamicBvhBroadphase();
	void							collide(b3Dispatcher* dispatcher);
	void							optimize();
	
	/* b3BroadphaseInterface Implementation	*/
	b3BroadphaseProxy*				createProxy(const b3Vector3& aabbMin,const b3Vector3& aabbMax,int objectIndex,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask);
	virtual void					destroyProxy(b3BroadphaseProxy* proxy,b3Dispatcher* dispatcher);
	virtual void					setAabb(int objectId,const b3Vector3& aabbMin,const b3Vector3& aabbMax,b3Dispatcher* dispatcher);
	virtual void					rayTest(const b3Vector3& rayFrom,const b3Vector3& rayTo, b3BroadphaseRayCallback& rayCallback, const b3Vector3& aabbMin=b3MakeVector3(0,0,0), const b3Vector3& aabbMax = b3MakeVector3(0,0,0));
	virtual void					aabbTest(const b3Vector3& aabbMin, const b3Vector3& aabbMax, b3BroadphaseAabbCallback& callback);

	//virtual void					getAabb(b3BroadphaseProxy* proxy,b3Vector3& aabbMin, b3Vector3& aabbMax ) const;
	virtual void					getAabb(int objectId,b3Vector3& aabbMin, b3Vector3& aabbMax ) const;
	virtual	void					calculateOverlappingPairs(b3Dispatcher* dispatcher=0);
	virtual	b3OverlappingPairCache*	getOverlappingPairCache();
	virtual	const b3OverlappingPairCache*	getOverlappingPairCache() const;
	virtual	void					getBroadphaseAabb(b3Vector3& aabbMin,b3Vector3& aabbMax) const;
	virtual	void					printStats();


	///reset broadphase internal structures, to ensure determinism/reproducability
	virtual void resetPool(b3Dispatcher* dispatcher);

	void	performDeferredRemoval(b3Dispatcher* dispatcher);
	
	void	setVelocityPrediction(b3Scalar prediction)
	{
		m_prediction = prediction;
	}
	b3Scalar getVelocityPrediction() const
	{
		return m_prediction;
	}

	///this setAabbForceUpdate is similar to setAabb but always forces the aabb update. 
	///it is not part of the b3BroadphaseInterface but specific to b3DynamicBvhBroadphase.
	///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see
	///http://code.google.com/p/bullet/issues/detail?id=223
	void							setAabbForceUpdate(		b3BroadphaseProxy* absproxy,const b3Vector3& aabbMin,const b3Vector3& aabbMax,b3Dispatcher* /*dispatcher*/);

	//static void						benchmark(b3BroadphaseInterface*);


};

#endif