ruby-bullet 0.0.2-x86-mingw32

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  1. data/INSTALL.md +22 -0
  2. data/LICENSE +23 -0
  3. data/README.md +41 -0
  4. data/Rakefile +131 -0
  5. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btAxisSweep3.i +30 -0
  6. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseInterface.i +8 -0
  7. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseProxy.i +8 -0
  8. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.i +8 -0
  9. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvt.i +10 -0
  10. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvtBroadphase.i +8 -0
  11. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDispatcher.i +8 -0
  12. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.i +10 -0
  13. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCache.i +8 -0
  14. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.i +8 -0
  15. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btQuantizedBvh.i +8 -0
  16. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btSimpleBroadphase.i +8 -0
  17. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/local_btAxisSweep3Internal.h +191 -0
  18. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/SphereTriangleDetector.i +8 -0
  19. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.i +8 -0
  20. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.i +8 -0
  21. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.i +8 -0
  22. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxDetector.i +8 -0
  23. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionConfiguration.i +21 -0
  24. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionCreateFunc.i +8 -0
  25. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionDispatcher.i +24 -0
  26. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionObject.i +8 -0
  27. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionWorld.i +82 -0
  28. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.i +8 -0
  29. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.i +8 -0
  30. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.i +8 -0
  31. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.i +8 -0
  32. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.i +8 -0
  33. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.i +8 -0
  34. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.i +8 -0
  35. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btGhostObject.i +8 -0
  36. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btInternalEdgeUtility.i +8 -0
  37. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btManifoldResult.i +8 -0
  38. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSimulationIslandManager.i +8 -0
  39. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.i +8 -0
  40. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.i +8 -0
  41. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.i +8 -0
  42. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btUnionFind.i +10 -0
  43. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBox2dShape.i +8 -0
  44. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBoxShape.i +22 -0
  45. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.i +8 -0
  46. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCapsuleShape.i +8 -0
  47. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionMargin.i +8 -0
  48. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionShape.i +8 -0
  49. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCompoundShape.i +8 -0
  50. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConcaveShape.i +8 -0
  51. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConeShape.i +8 -0
  52. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvex2dShape.i +8 -0
  53. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexHullShape.i +8 -0
  54. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexInternalShape.i +8 -0
  55. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPointCloudShape.i +8 -0
  56. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPolyhedron.i +8 -0
  57. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexShape.i +8 -0
  58. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.i +8 -0
  59. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCylinderShape.i +8 -0
  60. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btEmptyShape.i +8 -0
  61. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.i +8 -0
  62. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMaterial.i +8 -0
  63. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMinkowskiSumShape.i +8 -0
  64. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultiSphereShape.i +8 -0
  65. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.i +8 -0
  66. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btOptimizedBvh.i +8 -0
  67. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btPolyhedralConvexShape.i +8 -0
  68. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.i +8 -0
  69. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btShapeHull.i +8 -0
  70. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btSphereShape.i +8 -0
  71. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStaticPlaneShape.i +8 -0
  72. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStridingMeshInterface.i +8 -0
  73. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTetrahedronShape.i +8 -0
  74. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleBuffer.i +8 -0
  75. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleCallback.i +8 -0
  76. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.i +8 -0
  77. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.i +8 -0
  78. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleInfoMap.i +8 -0
  79. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleMeshShape.i +8 -0
  80. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleShape.i +8 -0
  81. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btUniformScalingShape.i +8 -0
  82. data/bindings/bullet/interface/BulletCollision/Gimpact/btBoxCollision.i +8 -0
  83. data/bindings/bullet/interface/BulletCollision/Gimpact/btClipPolygon.i +8 -0
  84. data/bindings/bullet/interface/BulletCollision/Gimpact/btContactProcessing.i +8 -0
  85. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactBvh.i +8 -0
  86. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.i +8 -0
  87. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactMassUtil.i +8 -0
  88. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactQuantizedBvh.i +8 -0
  89. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactShape.i +8 -0
  90. data/bindings/bullet/interface/BulletCollision/Gimpact/btGenericPoolAllocator.i +11 -0
  91. data/bindings/bullet/interface/BulletCollision/Gimpact/btGeometryOperations.i +8 -0
  92. data/bindings/bullet/interface/BulletCollision/Gimpact/btQuantization.i +8 -0
  93. data/bindings/bullet/interface/BulletCollision/Gimpact/btTriangleShapeEx.i +8 -0
  94. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.i +8 -0
  95. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexCast.i +8 -0
  96. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.i +8 -0
  97. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.i +11 -0
  98. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.i +8 -0
  99. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpa2.i +8 -0
  100. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.i +8 -0
  101. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.i +8 -0
  102. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btManifoldPoint.i +8 -0
  103. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.i +8 -0
  104. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPersistentManifold.i +8 -0
  105. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPointCollector.i +8 -0
  106. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.i +8 -0
  107. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btRaycastCallback.i +8 -0
  108. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.i +8 -0
  109. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.i +8 -0
  110. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.i +8 -0
  111. data/bindings/bullet/interface/BulletDynamics/Character/btCharacterControllerInterface.i +8 -0
  112. data/bindings/bullet/interface/BulletDynamics/Character/btKinematicCharacterController.i +8 -0
  113. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConeTwistConstraint.i +8 -0
  114. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConstraintSolver.i +8 -0
  115. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactConstraint.i +8 -0
  116. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactSolverInfo.i +8 -0
  117. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.i +8 -0
  118. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.i +8 -0
  119. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHinge2Constraint.i +8 -0
  120. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHingeConstraint.i +8 -0
  121. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btJacobianEntry.i +8 -0
  122. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.i +8 -0
  123. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.i +21 -0
  124. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSliderConstraint.i +8 -0
  125. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.i +8 -0
  126. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverBody.i +8 -0
  127. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverConstraint.i +8 -0
  128. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btTypedConstraint.i +8 -0
  129. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btUniversalConstraint.i +8 -0
  130. data/bindings/bullet/interface/BulletDynamics/Dynamics/btActionInterface.i +8 -0
  131. data/bindings/bullet/interface/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.i +23 -0
  132. data/bindings/bullet/interface/BulletDynamics/Dynamics/btDynamicsWorld.i +37 -0
  133. data/bindings/bullet/interface/BulletDynamics/Dynamics/btRigidBody.i +20 -0
  134. data/bindings/bullet/interface/BulletDynamics/Dynamics/btSimpleDynamicsWorld.i +8 -0
  135. data/bindings/bullet/interface/BulletDynamics/Vehicle/btRaycastVehicle.i +12 -0
  136. data/bindings/bullet/interface/BulletDynamics/Vehicle/btVehicleRaycaster.i +8 -0
  137. data/bindings/bullet/interface/BulletDynamics/Vehicle/btWheelInfo.i +8 -0
  138. data/bindings/bullet/interface/BulletSoftBody/btDefaultSoftBodySolver.i +8 -0
  139. data/bindings/bullet/interface/BulletSoftBody/btSoftBody.i +8 -0
  140. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.i +8 -0
  141. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyData.i +8 -0
  142. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyHelpers.i +8 -0
  143. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyInternals.i +8 -0
  144. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.i +8 -0
  145. data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolverVertexBuffer.i +8 -0
  146. data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolvers.i +8 -0
  147. data/bindings/bullet/interface/BulletSoftBody/btSoftRigidCollisionAlgorithm.i +8 -0
  148. data/bindings/bullet/interface/BulletSoftBody/btSoftRigidDynamicsWorld.i +8 -0
  149. data/bindings/bullet/interface/BulletSoftBody/btSoftSoftCollisionAlgorithm.i +8 -0
  150. data/bindings/bullet/interface/BulletSoftBody/btSparseSDF.i +8 -0
  151. data/bindings/bullet/interface/LinearMath/btAabbUtil2.i +8 -0
  152. data/bindings/bullet/interface/LinearMath/btAlignedAllocator.i +8 -0
  153. data/bindings/bullet/interface/LinearMath/btAlignedObjectArray.i +8 -0
  154. data/bindings/bullet/interface/LinearMath/btConvexHull.i +8 -0
  155. data/bindings/bullet/interface/LinearMath/btConvexHullComputer.i +8 -0
  156. data/bindings/bullet/interface/LinearMath/btDefaultMotionState.i +10 -0
  157. data/bindings/bullet/interface/LinearMath/btGeometryUtil.i +10 -0
  158. data/bindings/bullet/interface/LinearMath/btGrahamScan2dConvexHull.i +8 -0
  159. data/bindings/bullet/interface/LinearMath/btHashMap.i +8 -0
  160. data/bindings/bullet/interface/LinearMath/btIDebugDraw.i +10 -0
  161. data/bindings/bullet/interface/LinearMath/btList.i +8 -0
  162. data/bindings/bullet/interface/LinearMath/btMatrix3x3.i +8 -0
  163. data/bindings/bullet/interface/LinearMath/btMinMax.i +8 -0
  164. data/bindings/bullet/interface/LinearMath/btMotionState.i +10 -0
  165. data/bindings/bullet/interface/LinearMath/btPoolAllocator.i +10 -0
  166. data/bindings/bullet/interface/LinearMath/btQuadWord.i +8 -0
  167. data/bindings/bullet/interface/LinearMath/btQuaternion.i +60 -0
  168. data/bindings/bullet/interface/LinearMath/btQuickprof.i +10 -0
  169. data/bindings/bullet/interface/LinearMath/btRandom.i +8 -0
  170. data/bindings/bullet/interface/LinearMath/btScalar.i +8 -0
  171. data/bindings/bullet/interface/LinearMath/btSerializer.i +10 -0
  172. data/bindings/bullet/interface/LinearMath/btStackAlloc.i +10 -0
  173. data/bindings/bullet/interface/LinearMath/btTransform.i +8 -0
  174. data/bindings/bullet/interface/LinearMath/btTransformUtil.i +8 -0
  175. data/bindings/bullet/interface/LinearMath/btVector3.i +42 -0
  176. data/bindings/bullet/interface/Makefile +19 -0
  177. data/bindings/bullet/interface/bullet.i +9 -0
  178. data/bindings/bullet/interface/bullet_all.i +186 -0
  179. data/bindings/bullet/interface/bullet_wrap.cpp +194161 -0
  180. data/bindings/bullet/interface/bullet_wrap.h +106 -0
  181. data/bindings/bullet/interface/bullet_wrap.o +0 -0
  182. data/bindings/bullet/src/TickListener.h +22 -0
  183. data/deps/include/bullet/Bullet-C-Api.h +176 -0
  184. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp +37 -0
  185. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h +1051 -0
  186. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h +82 -0
  187. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp +17 -0
  188. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +270 -0
  189. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp +23 -0
  190. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h +80 -0
  191. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp +1295 -0
  192. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.h +1257 -0
  193. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp +796 -0
  194. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +146 -0
  195. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.cpp +22 -0
  196. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h +110 -0
  197. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp +489 -0
  198. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h +151 -0
  199. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp +633 -0
  200. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +469 -0
  201. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h +40 -0
  202. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp +1375 -0
  203. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h +579 -0
  204. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp +349 -0
  205. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h +171 -0
  206. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btAxisSweep3.obj +0 -0
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  209. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btDbvt.obj +0 -0
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  212. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btMultiSapBroadphase.obj +0 -0
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  229. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btConvexPlaneCollisionAlgorithm.obj +0 -0
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@@ -0,0 +1,796 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
+
5
+ This software is provided 'as-is', without any express or implied warranty.
6
+ In no event will the authors be held liable for any damages arising from the use of this software.
7
+ Permission is granted to anyone to use this software for any purpose,
8
+ including commercial applications, and to alter it and redistribute it freely,
9
+ subject to the following restrictions:
10
+
11
+ 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.
12
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13
+ 3. This notice may not be removed or altered from any source distribution.
14
+ */
15
+
16
+ ///btDbvtBroadphase implementation by Nathanael Presson
17
+
18
+ #include "btDbvtBroadphase.h"
19
+
20
+ //
21
+ // Profiling
22
+ //
23
+
24
+ #if DBVT_BP_PROFILE||DBVT_BP_ENABLE_BENCHMARK
25
+ #include <stdio.h>
26
+ #endif
27
+
28
+ #if DBVT_BP_PROFILE
29
+ struct ProfileScope
30
+ {
31
+ __forceinline ProfileScope(btClock& clock,unsigned long& value) :
32
+ m_clock(&clock),m_value(&value),m_base(clock.getTimeMicroseconds())
33
+ {
34
+ }
35
+ __forceinline ~ProfileScope()
36
+ {
37
+ (*m_value)+=m_clock->getTimeMicroseconds()-m_base;
38
+ }
39
+ btClock* m_clock;
40
+ unsigned long* m_value;
41
+ unsigned long m_base;
42
+ };
43
+ #define SPC(_value_) ProfileScope spc_scope(m_clock,_value_)
44
+ #else
45
+ #define SPC(_value_)
46
+ #endif
47
+
48
+ //
49
+ // Helpers
50
+ //
51
+
52
+ //
53
+ template <typename T>
54
+ static inline void listappend(T* item,T*& list)
55
+ {
56
+ item->links[0]=0;
57
+ item->links[1]=list;
58
+ if(list) list->links[0]=item;
59
+ list=item;
60
+ }
61
+
62
+ //
63
+ template <typename T>
64
+ static inline void listremove(T* item,T*& list)
65
+ {
66
+ if(item->links[0]) item->links[0]->links[1]=item->links[1]; else list=item->links[1];
67
+ if(item->links[1]) item->links[1]->links[0]=item->links[0];
68
+ }
69
+
70
+ //
71
+ template <typename T>
72
+ static inline int listcount(T* root)
73
+ {
74
+ int n=0;
75
+ while(root) { ++n;root=root->links[1]; }
76
+ return(n);
77
+ }
78
+
79
+ //
80
+ template <typename T>
81
+ static inline void clear(T& value)
82
+ {
83
+ static const struct ZeroDummy : T {} zerodummy;
84
+ value=zerodummy;
85
+ }
86
+
87
+ //
88
+ // Colliders
89
+ //
90
+
91
+ /* Tree collider */
92
+ struct btDbvtTreeCollider : btDbvt::ICollide
93
+ {
94
+ btDbvtBroadphase* pbp;
95
+ btDbvtProxy* proxy;
96
+ btDbvtTreeCollider(btDbvtBroadphase* p) : pbp(p) {}
97
+ void Process(const btDbvtNode* na,const btDbvtNode* nb)
98
+ {
99
+ if(na!=nb)
100
+ {
101
+ btDbvtProxy* pa=(btDbvtProxy*)na->data;
102
+ btDbvtProxy* pb=(btDbvtProxy*)nb->data;
103
+ #if DBVT_BP_SORTPAIRS
104
+ if(pa->m_uniqueId>pb->m_uniqueId)
105
+ btSwap(pa,pb);
106
+ #endif
107
+ pbp->m_paircache->addOverlappingPair(pa,pb);
108
+ ++pbp->m_newpairs;
109
+ }
110
+ }
111
+ void Process(const btDbvtNode* n)
112
+ {
113
+ Process(n,proxy->leaf);
114
+ }
115
+ };
116
+
117
+ //
118
+ // btDbvtBroadphase
119
+ //
120
+
121
+ //
122
+ btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache)
123
+ {
124
+ m_deferedcollide = false;
125
+ m_needcleanup = true;
126
+ m_releasepaircache = (paircache!=0)?false:true;
127
+ m_prediction = 0;
128
+ m_stageCurrent = 0;
129
+ m_fixedleft = 0;
130
+ m_fupdates = 1;
131
+ m_dupdates = 0;
132
+ m_cupdates = 10;
133
+ m_newpairs = 1;
134
+ m_updates_call = 0;
135
+ m_updates_done = 0;
136
+ m_updates_ratio = 0;
137
+ m_paircache = paircache? paircache : new(btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
138
+ m_gid = 0;
139
+ m_pid = 0;
140
+ m_cid = 0;
141
+ for(int i=0;i<=STAGECOUNT;++i)
142
+ {
143
+ m_stageRoots[i]=0;
144
+ }
145
+ #if DBVT_BP_PROFILE
146
+ clear(m_profiling);
147
+ #endif
148
+ }
149
+
150
+ //
151
+ btDbvtBroadphase::~btDbvtBroadphase()
152
+ {
153
+ if(m_releasepaircache)
154
+ {
155
+ m_paircache->~btOverlappingPairCache();
156
+ btAlignedFree(m_paircache);
157
+ }
158
+ }
159
+
160
+ //
161
+ btBroadphaseProxy* btDbvtBroadphase::createProxy( const btVector3& aabbMin,
162
+ const btVector3& aabbMax,
163
+ int /*shapeType*/,
164
+ void* userPtr,
165
+ short int collisionFilterGroup,
166
+ short int collisionFilterMask,
167
+ btDispatcher* /*dispatcher*/,
168
+ void* /*multiSapProxy*/)
169
+ {
170
+ btDbvtProxy* proxy=new(btAlignedAlloc(sizeof(btDbvtProxy),16)) btDbvtProxy( aabbMin,aabbMax,userPtr,
171
+ collisionFilterGroup,
172
+ collisionFilterMask);
173
+
174
+ btDbvtAabbMm aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
175
+
176
+ //bproxy->aabb = btDbvtVolume::FromMM(aabbMin,aabbMax);
177
+ proxy->stage = m_stageCurrent;
178
+ proxy->m_uniqueId = ++m_gid;
179
+ proxy->leaf = m_sets[0].insert(aabb,proxy);
180
+ listappend(proxy,m_stageRoots[m_stageCurrent]);
181
+ if(!m_deferedcollide)
182
+ {
183
+ btDbvtTreeCollider collider(this);
184
+ collider.proxy=proxy;
185
+ m_sets[0].collideTV(m_sets[0].m_root,aabb,collider);
186
+ m_sets[1].collideTV(m_sets[1].m_root,aabb,collider);
187
+ }
188
+ return(proxy);
189
+ }
190
+
191
+ //
192
+ void btDbvtBroadphase::destroyProxy( btBroadphaseProxy* absproxy,
193
+ btDispatcher* dispatcher)
194
+ {
195
+ btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
196
+ if(proxy->stage==STAGECOUNT)
197
+ m_sets[1].remove(proxy->leaf);
198
+ else
199
+ m_sets[0].remove(proxy->leaf);
200
+ listremove(proxy,m_stageRoots[proxy->stage]);
201
+ m_paircache->removeOverlappingPairsContainingProxy(proxy,dispatcher);
202
+ btAlignedFree(proxy);
203
+ m_needcleanup=true;
204
+ }
205
+
206
+ void btDbvtBroadphase::getAabb(btBroadphaseProxy* absproxy,btVector3& aabbMin, btVector3& aabbMax ) const
207
+ {
208
+ btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
209
+ aabbMin = proxy->m_aabbMin;
210
+ aabbMax = proxy->m_aabbMax;
211
+ }
212
+
213
+ struct BroadphaseRayTester : btDbvt::ICollide
214
+ {
215
+ btBroadphaseRayCallback& m_rayCallback;
216
+ BroadphaseRayTester(btBroadphaseRayCallback& orgCallback)
217
+ :m_rayCallback(orgCallback)
218
+ {
219
+ }
220
+ void Process(const btDbvtNode* leaf)
221
+ {
222
+ btDbvtProxy* proxy=(btDbvtProxy*)leaf->data;
223
+ m_rayCallback.process(proxy);
224
+ }
225
+ };
226
+
227
+ void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax)
228
+ {
229
+ BroadphaseRayTester callback(rayCallback);
230
+
231
+ m_sets[0].rayTestInternal( m_sets[0].m_root,
232
+ rayFrom,
233
+ rayTo,
234
+ rayCallback.m_rayDirectionInverse,
235
+ rayCallback.m_signs,
236
+ rayCallback.m_lambda_max,
237
+ aabbMin,
238
+ aabbMax,
239
+ callback);
240
+
241
+ m_sets[1].rayTestInternal( m_sets[1].m_root,
242
+ rayFrom,
243
+ rayTo,
244
+ rayCallback.m_rayDirectionInverse,
245
+ rayCallback.m_signs,
246
+ rayCallback.m_lambda_max,
247
+ aabbMin,
248
+ aabbMax,
249
+ callback);
250
+
251
+ }
252
+
253
+
254
+ struct BroadphaseAabbTester : btDbvt::ICollide
255
+ {
256
+ btBroadphaseAabbCallback& m_aabbCallback;
257
+ BroadphaseAabbTester(btBroadphaseAabbCallback& orgCallback)
258
+ :m_aabbCallback(orgCallback)
259
+ {
260
+ }
261
+ void Process(const btDbvtNode* leaf)
262
+ {
263
+ btDbvtProxy* proxy=(btDbvtProxy*)leaf->data;
264
+ m_aabbCallback.process(proxy);
265
+ }
266
+ };
267
+
268
+ void btDbvtBroadphase::aabbTest(const btVector3& aabbMin,const btVector3& aabbMax,btBroadphaseAabbCallback& aabbCallback)
269
+ {
270
+ BroadphaseAabbTester callback(aabbCallback);
271
+
272
+ const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(aabbMin,aabbMax);
273
+ //process all children, that overlap with the given AABB bounds
274
+ m_sets[0].collideTV(m_sets[0].m_root,bounds,callback);
275
+ m_sets[1].collideTV(m_sets[1].m_root,bounds,callback);
276
+
277
+ }
278
+
279
+
280
+
281
+ //
282
+ void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
283
+ const btVector3& aabbMin,
284
+ const btVector3& aabbMax,
285
+ btDispatcher* /*dispatcher*/)
286
+ {
287
+ btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
288
+ ATTRIBUTE_ALIGNED16(btDbvtVolume) aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
289
+ #if DBVT_BP_PREVENTFALSEUPDATE
290
+ if(NotEqual(aabb,proxy->leaf->volume))
291
+ #endif
292
+ {
293
+ bool docollide=false;
294
+ if(proxy->stage==STAGECOUNT)
295
+ {/* fixed -> dynamic set */
296
+ m_sets[1].remove(proxy->leaf);
297
+ proxy->leaf=m_sets[0].insert(aabb,proxy);
298
+ docollide=true;
299
+ }
300
+ else
301
+ {/* dynamic set */
302
+ ++m_updates_call;
303
+ if(Intersect(proxy->leaf->volume,aabb))
304
+ {/* Moving */
305
+
306
+ const btVector3 delta=aabbMin-proxy->m_aabbMin;
307
+ btVector3 velocity(((proxy->m_aabbMax-proxy->m_aabbMin)/2)*m_prediction);
308
+ if(delta[0]<0) velocity[0]=-velocity[0];
309
+ if(delta[1]<0) velocity[1]=-velocity[1];
310
+ if(delta[2]<0) velocity[2]=-velocity[2];
311
+ if (
312
+ #ifdef DBVT_BP_MARGIN
313
+ m_sets[0].update(proxy->leaf,aabb,velocity,DBVT_BP_MARGIN)
314
+ #else
315
+ m_sets[0].update(proxy->leaf,aabb,velocity)
316
+ #endif
317
+ )
318
+ {
319
+ ++m_updates_done;
320
+ docollide=true;
321
+ }
322
+ }
323
+ else
324
+ {/* Teleporting */
325
+ m_sets[0].update(proxy->leaf,aabb);
326
+ ++m_updates_done;
327
+ docollide=true;
328
+ }
329
+ }
330
+ listremove(proxy,m_stageRoots[proxy->stage]);
331
+ proxy->m_aabbMin = aabbMin;
332
+ proxy->m_aabbMax = aabbMax;
333
+ proxy->stage = m_stageCurrent;
334
+ listappend(proxy,m_stageRoots[m_stageCurrent]);
335
+ if(docollide)
336
+ {
337
+ m_needcleanup=true;
338
+ if(!m_deferedcollide)
339
+ {
340
+ btDbvtTreeCollider collider(this);
341
+ m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
342
+ m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
343
+ }
344
+ }
345
+ }
346
+ }
347
+
348
+
349
+ //
350
+ void btDbvtBroadphase::setAabbForceUpdate( btBroadphaseProxy* absproxy,
351
+ const btVector3& aabbMin,
352
+ const btVector3& aabbMax,
353
+ btDispatcher* /*dispatcher*/)
354
+ {
355
+ btDbvtProxy* proxy=(btDbvtProxy*)absproxy;
356
+ ATTRIBUTE_ALIGNED16(btDbvtVolume) aabb=btDbvtVolume::FromMM(aabbMin,aabbMax);
357
+ bool docollide=false;
358
+ if(proxy->stage==STAGECOUNT)
359
+ {/* fixed -> dynamic set */
360
+ m_sets[1].remove(proxy->leaf);
361
+ proxy->leaf=m_sets[0].insert(aabb,proxy);
362
+ docollide=true;
363
+ }
364
+ else
365
+ {/* dynamic set */
366
+ ++m_updates_call;
367
+ /* Teleporting */
368
+ m_sets[0].update(proxy->leaf,aabb);
369
+ ++m_updates_done;
370
+ docollide=true;
371
+ }
372
+ listremove(proxy,m_stageRoots[proxy->stage]);
373
+ proxy->m_aabbMin = aabbMin;
374
+ proxy->m_aabbMax = aabbMax;
375
+ proxy->stage = m_stageCurrent;
376
+ listappend(proxy,m_stageRoots[m_stageCurrent]);
377
+ if(docollide)
378
+ {
379
+ m_needcleanup=true;
380
+ if(!m_deferedcollide)
381
+ {
382
+ btDbvtTreeCollider collider(this);
383
+ m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
384
+ m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
385
+ }
386
+ }
387
+ }
388
+
389
+ //
390
+ void btDbvtBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
391
+ {
392
+ collide(dispatcher);
393
+ #if DBVT_BP_PROFILE
394
+ if(0==(m_pid%DBVT_BP_PROFILING_RATE))
395
+ {
396
+ printf("fixed(%u) dynamics(%u) pairs(%u)\r\n",m_sets[1].m_leaves,m_sets[0].m_leaves,m_paircache->getNumOverlappingPairs());
397
+ unsigned int total=m_profiling.m_total;
398
+ if(total<=0) total=1;
399
+ printf("ddcollide: %u%% (%uus)\r\n",(50+m_profiling.m_ddcollide*100)/total,m_profiling.m_ddcollide/DBVT_BP_PROFILING_RATE);
400
+ printf("fdcollide: %u%% (%uus)\r\n",(50+m_profiling.m_fdcollide*100)/total,m_profiling.m_fdcollide/DBVT_BP_PROFILING_RATE);
401
+ printf("cleanup: %u%% (%uus)\r\n",(50+m_profiling.m_cleanup*100)/total,m_profiling.m_cleanup/DBVT_BP_PROFILING_RATE);
402
+ printf("total: %uus\r\n",total/DBVT_BP_PROFILING_RATE);
403
+ const unsigned long sum=m_profiling.m_ddcollide+
404
+ m_profiling.m_fdcollide+
405
+ m_profiling.m_cleanup;
406
+ printf("leaked: %u%% (%uus)\r\n",100-((50+sum*100)/total),(total-sum)/DBVT_BP_PROFILING_RATE);
407
+ printf("job counts: %u%%\r\n",(m_profiling.m_jobcount*100)/((m_sets[0].m_leaves+m_sets[1].m_leaves)*DBVT_BP_PROFILING_RATE));
408
+ clear(m_profiling);
409
+ m_clock.reset();
410
+ }
411
+ #endif
412
+
413
+ performDeferredRemoval(dispatcher);
414
+
415
+ }
416
+
417
+ void btDbvtBroadphase::performDeferredRemoval(btDispatcher* dispatcher)
418
+ {
419
+
420
+ if (m_paircache->hasDeferredRemoval())
421
+ {
422
+
423
+ btBroadphasePairArray& overlappingPairArray = m_paircache->getOverlappingPairArray();
424
+
425
+ //perform a sort, to find duplicates and to sort 'invalid' pairs to the end
426
+ overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
427
+
428
+ int invalidPair = 0;
429
+
430
+
431
+ int i;
432
+
433
+ btBroadphasePair previousPair;
434
+ previousPair.m_pProxy0 = 0;
435
+ previousPair.m_pProxy1 = 0;
436
+ previousPair.m_algorithm = 0;
437
+
438
+
439
+ for (i=0;i<overlappingPairArray.size();i++)
440
+ {
441
+
442
+ btBroadphasePair& pair = overlappingPairArray[i];
443
+
444
+ bool isDuplicate = (pair == previousPair);
445
+
446
+ previousPair = pair;
447
+
448
+ bool needsRemoval = false;
449
+
450
+ if (!isDuplicate)
451
+ {
452
+ //important to perform AABB check that is consistent with the broadphase
453
+ btDbvtProxy* pa=(btDbvtProxy*)pair.m_pProxy0;
454
+ btDbvtProxy* pb=(btDbvtProxy*)pair.m_pProxy1;
455
+ bool hasOverlap = Intersect(pa->leaf->volume,pb->leaf->volume);
456
+
457
+ if (hasOverlap)
458
+ {
459
+ needsRemoval = false;
460
+ } else
461
+ {
462
+ needsRemoval = true;
463
+ }
464
+ } else
465
+ {
466
+ //remove duplicate
467
+ needsRemoval = true;
468
+ //should have no algorithm
469
+ btAssert(!pair.m_algorithm);
470
+ }
471
+
472
+ if (needsRemoval)
473
+ {
474
+ m_paircache->cleanOverlappingPair(pair,dispatcher);
475
+
476
+ pair.m_pProxy0 = 0;
477
+ pair.m_pProxy1 = 0;
478
+ invalidPair++;
479
+ }
480
+
481
+ }
482
+
483
+ //perform a sort, to sort 'invalid' pairs to the end
484
+ overlappingPairArray.quickSort(btBroadphasePairSortPredicate());
485
+ overlappingPairArray.resize(overlappingPairArray.size() - invalidPair);
486
+ }
487
+ }
488
+
489
+ //
490
+ void btDbvtBroadphase::collide(btDispatcher* dispatcher)
491
+ {
492
+ /*printf("---------------------------------------------------------\n");
493
+ printf("m_sets[0].m_leaves=%d\n",m_sets[0].m_leaves);
494
+ printf("m_sets[1].m_leaves=%d\n",m_sets[1].m_leaves);
495
+ printf("numPairs = %d\n",getOverlappingPairCache()->getNumOverlappingPairs());
496
+ {
497
+ int i;
498
+ for (i=0;i<getOverlappingPairCache()->getNumOverlappingPairs();i++)
499
+ {
500
+ printf("pair[%d]=(%d,%d),",i,getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy0->getUid(),
501
+ getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy1->getUid());
502
+ }
503
+ printf("\n");
504
+ }
505
+ */
506
+
507
+
508
+
509
+ SPC(m_profiling.m_total);
510
+ /* optimize */
511
+ m_sets[0].optimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100);
512
+ if(m_fixedleft)
513
+ {
514
+ const int count=1+(m_sets[1].m_leaves*m_fupdates)/100;
515
+ m_sets[1].optimizeIncremental(1+(m_sets[1].m_leaves*m_fupdates)/100);
516
+ m_fixedleft=btMax<int>(0,m_fixedleft-count);
517
+ }
518
+ /* dynamic -> fixed set */
519
+ m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT;
520
+ btDbvtProxy* current=m_stageRoots[m_stageCurrent];
521
+ if(current)
522
+ {
523
+ btDbvtTreeCollider collider(this);
524
+ do {
525
+ btDbvtProxy* next=current->links[1];
526
+ listremove(current,m_stageRoots[current->stage]);
527
+ listappend(current,m_stageRoots[STAGECOUNT]);
528
+ #if DBVT_BP_ACCURATESLEEPING
529
+ m_paircache->removeOverlappingPairsContainingProxy(current,dispatcher);
530
+ collider.proxy=current;
531
+ btDbvt::collideTV(m_sets[0].m_root,current->aabb,collider);
532
+ btDbvt::collideTV(m_sets[1].m_root,current->aabb,collider);
533
+ #endif
534
+ m_sets[0].remove(current->leaf);
535
+ ATTRIBUTE_ALIGNED16(btDbvtVolume) curAabb=btDbvtVolume::FromMM(current->m_aabbMin,current->m_aabbMax);
536
+ current->leaf = m_sets[1].insert(curAabb,current);
537
+ current->stage = STAGECOUNT;
538
+ current = next;
539
+ } while(current);
540
+ m_fixedleft=m_sets[1].m_leaves;
541
+ m_needcleanup=true;
542
+ }
543
+ /* collide dynamics */
544
+ {
545
+ btDbvtTreeCollider collider(this);
546
+ if(m_deferedcollide)
547
+ {
548
+ SPC(m_profiling.m_fdcollide);
549
+ m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[1].m_root,collider);
550
+ }
551
+ if(m_deferedcollide)
552
+ {
553
+ SPC(m_profiling.m_ddcollide);
554
+ m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[0].m_root,collider);
555
+ }
556
+ }
557
+ /* clean up */
558
+ if(m_needcleanup)
559
+ {
560
+ SPC(m_profiling.m_cleanup);
561
+ btBroadphasePairArray& pairs=m_paircache->getOverlappingPairArray();
562
+ if(pairs.size()>0)
563
+ {
564
+
565
+ int ni=btMin(pairs.size(),btMax<int>(m_newpairs,(pairs.size()*m_cupdates)/100));
566
+ for(int i=0;i<ni;++i)
567
+ {
568
+ btBroadphasePair& p=pairs[(m_cid+i)%pairs.size()];
569
+ btDbvtProxy* pa=(btDbvtProxy*)p.m_pProxy0;
570
+ btDbvtProxy* pb=(btDbvtProxy*)p.m_pProxy1;
571
+ if(!Intersect(pa->leaf->volume,pb->leaf->volume))
572
+ {
573
+ #if DBVT_BP_SORTPAIRS
574
+ if(pa->m_uniqueId>pb->m_uniqueId)
575
+ btSwap(pa,pb);
576
+ #endif
577
+ m_paircache->removeOverlappingPair(pa,pb,dispatcher);
578
+ --ni;--i;
579
+ }
580
+ }
581
+ if(pairs.size()>0) m_cid=(m_cid+ni)%pairs.size(); else m_cid=0;
582
+ }
583
+ }
584
+ ++m_pid;
585
+ m_newpairs=1;
586
+ m_needcleanup=false;
587
+ if(m_updates_call>0)
588
+ { m_updates_ratio=m_updates_done/(btScalar)m_updates_call; }
589
+ else
590
+ { m_updates_ratio=0; }
591
+ m_updates_done/=2;
592
+ m_updates_call/=2;
593
+ }
594
+
595
+ //
596
+ void btDbvtBroadphase::optimize()
597
+ {
598
+ m_sets[0].optimizeTopDown();
599
+ m_sets[1].optimizeTopDown();
600
+ }
601
+
602
+ //
603
+ btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache()
604
+ {
605
+ return(m_paircache);
606
+ }
607
+
608
+ //
609
+ const btOverlappingPairCache* btDbvtBroadphase::getOverlappingPairCache() const
610
+ {
611
+ return(m_paircache);
612
+ }
613
+
614
+ //
615
+ void btDbvtBroadphase::getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
616
+ {
617
+
618
+ ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds;
619
+
620
+ if(!m_sets[0].empty())
621
+ if(!m_sets[1].empty()) Merge( m_sets[0].m_root->volume,
622
+ m_sets[1].m_root->volume,bounds);
623
+ else
624
+ bounds=m_sets[0].m_root->volume;
625
+ else if(!m_sets[1].empty()) bounds=m_sets[1].m_root->volume;
626
+ else
627
+ bounds=btDbvtVolume::FromCR(btVector3(0,0,0),0);
628
+ aabbMin=bounds.Mins();
629
+ aabbMax=bounds.Maxs();
630
+ }
631
+
632
+ void btDbvtBroadphase::resetPool(btDispatcher* dispatcher)
633
+ {
634
+
635
+ int totalObjects = m_sets[0].m_leaves + m_sets[1].m_leaves;
636
+ if (!totalObjects)
637
+ {
638
+ //reset internal dynamic tree data structures
639
+ m_sets[0].clear();
640
+ m_sets[1].clear();
641
+
642
+ m_deferedcollide = false;
643
+ m_needcleanup = true;
644
+ m_stageCurrent = 0;
645
+ m_fixedleft = 0;
646
+ m_fupdates = 1;
647
+ m_dupdates = 0;
648
+ m_cupdates = 10;
649
+ m_newpairs = 1;
650
+ m_updates_call = 0;
651
+ m_updates_done = 0;
652
+ m_updates_ratio = 0;
653
+
654
+ m_gid = 0;
655
+ m_pid = 0;
656
+ m_cid = 0;
657
+ for(int i=0;i<=STAGECOUNT;++i)
658
+ {
659
+ m_stageRoots[i]=0;
660
+ }
661
+ }
662
+ }
663
+
664
+ //
665
+ void btDbvtBroadphase::printStats()
666
+ {}
667
+
668
+ //
669
+ #if DBVT_BP_ENABLE_BENCHMARK
670
+
671
+ struct btBroadphaseBenchmark
672
+ {
673
+ struct Experiment
674
+ {
675
+ const char* name;
676
+ int object_count;
677
+ int update_count;
678
+ int spawn_count;
679
+ int iterations;
680
+ btScalar speed;
681
+ btScalar amplitude;
682
+ };
683
+ struct Object
684
+ {
685
+ btVector3 center;
686
+ btVector3 extents;
687
+ btBroadphaseProxy* proxy;
688
+ btScalar time;
689
+ void update(btScalar speed,btScalar amplitude,btBroadphaseInterface* pbi)
690
+ {
691
+ time += speed;
692
+ center[0] = btCos(time*(btScalar)2.17)*amplitude+
693
+ btSin(time)*amplitude/2;
694
+ center[1] = btCos(time*(btScalar)1.38)*amplitude+
695
+ btSin(time)*amplitude;
696
+ center[2] = btSin(time*(btScalar)0.777)*amplitude;
697
+ pbi->setAabb(proxy,center-extents,center+extents,0);
698
+ }
699
+ };
700
+ static int UnsignedRand(int range=RAND_MAX-1) { return(rand()%(range+1)); }
701
+ static btScalar UnitRand() { return(UnsignedRand(16384)/(btScalar)16384); }
702
+ static void OutputTime(const char* name,btClock& c,unsigned count=0)
703
+ {
704
+ const unsigned long us=c.getTimeMicroseconds();
705
+ const unsigned long ms=(us+500)/1000;
706
+ const btScalar sec=us/(btScalar)(1000*1000);
707
+ if(count>0)
708
+ printf("%s : %u us (%u ms), %.2f/s\r\n",name,us,ms,count/sec);
709
+ else
710
+ printf("%s : %u us (%u ms)\r\n",name,us,ms);
711
+ }
712
+ };
713
+
714
+ void btDbvtBroadphase::benchmark(btBroadphaseInterface* pbi)
715
+ {
716
+ static const btBroadphaseBenchmark::Experiment experiments[]=
717
+ {
718
+ {"1024o.10%",1024,10,0,8192,(btScalar)0.005,(btScalar)100},
719
+ /*{"4096o.10%",4096,10,0,8192,(btScalar)0.005,(btScalar)100},
720
+ {"8192o.10%",8192,10,0,8192,(btScalar)0.005,(btScalar)100},*/
721
+ };
722
+ static const int nexperiments=sizeof(experiments)/sizeof(experiments[0]);
723
+ btAlignedObjectArray<btBroadphaseBenchmark::Object*> objects;
724
+ btClock wallclock;
725
+ /* Begin */
726
+ for(int iexp=0;iexp<nexperiments;++iexp)
727
+ {
728
+ const btBroadphaseBenchmark::Experiment& experiment=experiments[iexp];
729
+ const int object_count=experiment.object_count;
730
+ const int update_count=(object_count*experiment.update_count)/100;
731
+ const int spawn_count=(object_count*experiment.spawn_count)/100;
732
+ const btScalar speed=experiment.speed;
733
+ const btScalar amplitude=experiment.amplitude;
734
+ printf("Experiment #%u '%s':\r\n",iexp,experiment.name);
735
+ printf("\tObjects: %u\r\n",object_count);
736
+ printf("\tUpdate: %u\r\n",update_count);
737
+ printf("\tSpawn: %u\r\n",spawn_count);
738
+ printf("\tSpeed: %f\r\n",speed);
739
+ printf("\tAmplitude: %f\r\n",amplitude);
740
+ srand(180673);
741
+ /* Create objects */
742
+ wallclock.reset();
743
+ objects.reserve(object_count);
744
+ for(int i=0;i<object_count;++i)
745
+ {
746
+ btBroadphaseBenchmark::Object* po=new btBroadphaseBenchmark::Object();
747
+ po->center[0]=btBroadphaseBenchmark::UnitRand()*50;
748
+ po->center[1]=btBroadphaseBenchmark::UnitRand()*50;
749
+ po->center[2]=btBroadphaseBenchmark::UnitRand()*50;
750
+ po->extents[0]=btBroadphaseBenchmark::UnitRand()*2+2;
751
+ po->extents[1]=btBroadphaseBenchmark::UnitRand()*2+2;
752
+ po->extents[2]=btBroadphaseBenchmark::UnitRand()*2+2;
753
+ po->time=btBroadphaseBenchmark::UnitRand()*2000;
754
+ po->proxy=pbi->createProxy(po->center-po->extents,po->center+po->extents,0,po,1,1,0,0);
755
+ objects.push_back(po);
756
+ }
757
+ btBroadphaseBenchmark::OutputTime("\tInitialization",wallclock);
758
+ /* First update */
759
+ wallclock.reset();
760
+ for(int i=0;i<objects.size();++i)
761
+ {
762
+ objects[i]->update(speed,amplitude,pbi);
763
+ }
764
+ btBroadphaseBenchmark::OutputTime("\tFirst update",wallclock);
765
+ /* Updates */
766
+ wallclock.reset();
767
+ for(int i=0;i<experiment.iterations;++i)
768
+ {
769
+ for(int j=0;j<update_count;++j)
770
+ {
771
+ objects[j]->update(speed,amplitude,pbi);
772
+ }
773
+ pbi->calculateOverlappingPairs(0);
774
+ }
775
+ btBroadphaseBenchmark::OutputTime("\tUpdate",wallclock,experiment.iterations);
776
+ /* Clean up */
777
+ wallclock.reset();
778
+ for(int i=0;i<objects.size();++i)
779
+ {
780
+ pbi->destroyProxy(objects[i]->proxy,0);
781
+ delete objects[i];
782
+ }
783
+ objects.resize(0);
784
+ btBroadphaseBenchmark::OutputTime("\tRelease",wallclock);
785
+ }
786
+
787
+ }
788
+ #else
789
+ void btDbvtBroadphase::benchmark(btBroadphaseInterface*)
790
+ {}
791
+ #endif
792
+
793
+ #if DBVT_BP_PROFILE
794
+ #undef SPC
795
+ #endif
796
+