btMultiSapBroadphase.h

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/*
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 BT_MULTI_SAP_BROADPHASE
#define BT_MULTI_SAP_BROADPHASE

#include "btBroadphaseInterface.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btOverlappingPairCache.h"


class btBroadphaseInterface;
class btSimpleBroadphase;


typedef btAlignedObjectArray<btBroadphaseInterface*> btSapBroadphaseArray;

class btMultiSapBroadphase :public btBroadphaseInterface
{
    btSapBroadphaseArray    m_sapBroadphases;
    
    btSimpleBroadphase*     m_simpleBroadphase;

    btOverlappingPairCache* m_overlappingPairs;

    class btQuantizedBvh*           m_optimizedAabbTree;


    bool                    m_ownsPairCache;
    
    btOverlapFilterCallback*    m_filterCallback;

    int         m_invalidPair;

    struct  btBridgeProxy
    {
        btBroadphaseProxy*      m_childProxy;
        btBroadphaseInterface*  m_childBroadphase;
    };


public:

    struct  btMultiSapProxy : public btBroadphaseProxy
    {

        btAlignedObjectArray<btBridgeProxy*> m_bridgeProxies;
        btVector3   m_aabbMin;
        btVector3   m_aabbMax;

        int m_shapeType;

/*      void*   m_userPtr;
        short int   m_collisionFilterGroup;
        short int   m_collisionFilterMask;
*/
        btMultiSapProxy(const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
            :btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask),
            m_aabbMin(aabbMin),
            m_aabbMax(aabbMax),
            m_shapeType(shapeType)
        {
            m_multiSapParentProxy =this;
        }

        
    };

protected:


    btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies;

public:

    btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0);


    btSapBroadphaseArray&   getBroadphaseArray()
    {
        return m_sapBroadphases;
    }

    const btSapBroadphaseArray& getBroadphaseArray() const
    {
        return m_sapBroadphases;
    }

    virtual ~btMultiSapBroadphase();

    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    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));

    void    addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface*    childBroadphase);

    virtual void    calculateOverlappingPairs(btDispatcher* dispatcher);

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

    virtual btOverlappingPairCache* getOverlappingPairCache()
    {
        return m_overlappingPairs;
    }
    virtual const btOverlappingPairCache*   getOverlappingPairCache() const
    {
        return m_overlappingPairs;
    }

    virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
    {
        aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
        aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
    }

    void    buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax);

    virtual void    printStats();

    void quicksort (btBroadphasePairArray& a, int lo, int hi);

    virtual void resetPool(btDispatcher* dispatcher);

};

#endif //BT_MULTI_SAP_BROADPHASE