Changeset 1972 for code/branches/physics/src/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h

Timestamp:

Oct 20, 2008, 5:40:38 PM (16 years ago)

Author:

rgrieder

Message:

Downgraded Bullet to latest tagged version: 2.72
That should give us more stability.

File:

• code/branches/physics/src/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h (modified) (14 diffs)

code/branches/physics/src/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h

@@ -26 +26 @@
 #include "btBroadphaseProxy.h"
 #include "btOverlappingPairCallback.h"
-#include "btDbvtBroadphase.h"
 
 //#define DEBUG_BROADPHASE 1
@@ -63 +62 @@
                 BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3];            // 6 * 2 = 12
 //              BP_FP_INT_TYPE m_uniqueId;
-                btBroadphaseProxy*      m_dbvtProxy;//for faster raycast
+                BP_FP_INT_TYPE m_pad;
+                
                 //void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
         
@@ -95 +95 @@
         int     m_invalidPair;
 
-        ///additional dynamic aabb structure, used to accelerate ray cast queries.
-        ///can be disabled using a optional argument in the constructor
-        btDbvtBroadphase*       m_raycastAccelerator;
-
-
         // allocation/deallocation
         BP_FP_INT_TYPE allocHandle();
@@ -114 +109 @@
         //void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
 
-        
+        void quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const;
 
         void sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
@@ -123 +118 @@
 public:
 
-        btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0,bool disableRaycastAccelerator = false);
+        btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0);
 
         virtual ~btAxisSweep3Internal();
@@ -145 +140 @@
         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);
-
-        void quantize(BP_FP_INT_TYPE* out, const btPoint3& point, int isMax) const;
-        ///unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result
-        void unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
         
         bool    testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
@@ -230 +218 @@
                 
                 Handle* handle = getHandle(handleId);
-                
-                if (m_raycastAccelerator)
-                {
-                        btBroadphaseProxy* rayProxy = m_raycastAccelerator->createProxy(aabbMin,aabbMax,shapeType,userPtr,collisionFilterGroup,collisionFilterMask,dispatcher,0);
-                        handle->m_dbvtProxy = rayProxy;
-                }
+                                
                 return handle;
 }
@@ -245 +228 @@
 {
         Handle* handle = static_cast<Handle*>(proxy);
-        if (m_raycastAccelerator)
-                m_raycastAccelerator->destroyProxy(handle->m_dbvtProxy,dispatcher);
         removeHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), dispatcher);
 }
@@ -254 +235 @@
 {
         Handle* handle = static_cast<Handle*>(proxy);
-        handle->m_aabbMin = aabbMin;
-        handle->m_aabbMax = aabbMax;
         updateHandle(static_cast<BP_FP_INT_TYPE>(handle->m_uniqueId), aabbMin, aabbMax,dispatcher);
-        if (m_raycastAccelerator)
-                m_raycastAccelerator->setAabb(handle->m_dbvtProxy,aabbMin,aabbMax,dispatcher);
-
-}
-
-template <typename BP_FP_INT_TYPE>
-
-void    btAxisSweep3Internal<BP_FP_INT_TYPE>::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback)
-{
-        if (m_raycastAccelerator)
-        {
-                m_raycastAccelerator->rayTest(rayFrom,rayTo,rayCallback);
-        } else
-        {
-                //choose axis?
-                BP_FP_INT_TYPE axis = 0;
-                //for each proxy
-                for (BP_FP_INT_TYPE i=1;i<m_numHandles*2+1;i++)
-                {
-                        if (m_pEdges[axis][i].IsMax())
-                        {
-                                rayCallback.process(getHandle(m_pEdges[axis][i].m_handle));
-                        }
-                }
-        }
-}
-
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
-{
-        Handle* pHandle = static_cast<Handle*>(proxy);
-        aabbMin = pHandle->m_aabbMin;
-        aabbMax = pHandle->m_aabbMax;
-}
-
-
-template <typename BP_FP_INT_TYPE>
-void btAxisSweep3Internal<BP_FP_INT_TYPE>::unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
-{
-        Handle* pHandle = static_cast<Handle*>(proxy);
-
-        unsigned short vecInMin[3];
-        unsigned short vecInMax[3];
-
-        vecInMin[0] = m_pEdges[0][pHandle->m_minEdges[0]].m_pos ;
-        vecInMax[0] = m_pEdges[0][pHandle->m_maxEdges[0]].m_pos +1 ;
-        vecInMin[1] = m_pEdges[1][pHandle->m_minEdges[1]].m_pos ;
-        vecInMax[1] = m_pEdges[1][pHandle->m_maxEdges[1]].m_pos +1 ;
-        vecInMin[2] = m_pEdges[2][pHandle->m_minEdges[2]].m_pos ;
-        vecInMax[2] = m_pEdges[2][pHandle->m_maxEdges[2]].m_pos +1 ;
-        
-        aabbMin.setValue((btScalar)(vecInMin[0]) / (m_quantize.getX()),(btScalar)(vecInMin[1]) / (m_quantize.getY()),(btScalar)(vecInMin[2]) / (m_quantize.getZ()));
-        aabbMin += m_worldAabbMin;
-        
-        aabbMax.setValue((btScalar)(vecInMax[0]) / (m_quantize.getX()),(btScalar)(vecInMax[1]) / (m_quantize.getY()),(btScalar)(vecInMax[2]) / (m_quantize.getZ()));
-        aabbMax += m_worldAabbMin;
-}
-
-
-
-
-template <typename BP_FP_INT_TYPE>
-btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache , bool disableRaycastAccelerator)
+
+}
+
+
+
+
+
+template <typename BP_FP_INT_TYPE>
+btAxisSweep3Internal<BP_FP_INT_TYPE>::btAxisSweep3Internal(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel,BP_FP_INT_TYPE userMaxHandles, btOverlappingPairCache* pairCache )
 :m_bpHandleMask(handleMask),
 m_handleSentinel(handleSentinel),
@@ -326 +250 @@
 m_userPairCallback(0),
 m_ownsPairCache(false),
-m_invalidPair(0),
-m_raycastAccelerator(0)
+m_invalidPair(0)
 {
         BP_FP_INT_TYPE maxHandles = static_cast<BP_FP_INT_TYPE>(userMaxHandles+1);//need to add one sentinel handle
@@ -336 +259 @@
                 m_pairCache = new(ptr) btHashedOverlappingPairCache();
                 m_ownsPairCache = true;
-        }
-
-        if (!disableRaycastAccelerator)
-        {
-                m_raycastAccelerator = new (btAlignedAlloc(sizeof(btDbvtBroadphase),16)) btDbvtBroadphase();//m_pairCache);
-                m_raycastAccelerator->m_deferedcollide = true;//don't add/remove pairs
         }
 
@@ -404 +321 @@
 btAxisSweep3Internal<BP_FP_INT_TYPE>::~btAxisSweep3Internal()
 {
-        if (m_raycastAccelerator)
-                btAlignedFree (m_raycastAccelerator);
-
+        
         for (int i = 2; i >= 0; i--)
         {
@@ -985 +900 @@
 public:
 
-        btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
+        btAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0);
 
 };
@@ -996 +911 @@
 public:
 
-        bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
+        bt32BitAxisSweep3(const btPoint3& worldAabbMin,const btPoint3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0);
 
 };