void BasicDemo::clientMoveAndDisplay() { glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); //simple dynamics world doesn't handle fixed-time-stepping float ms = getDeltaTimeMicroseconds(); ///step the simulation if (m_dynamicsWorld) { m_dynamicsWorld->stepSimulation(ms / 1000000.f); //optional but useful: debug drawing m_dynamicsWorld->debugDrawWorld(); btVector3 aabbMin(1,1,1); btVector3 aabbMax(2,2,2); MyOverlapCallback aabbOverlap(aabbMin,aabbMax); m_dynamicsWorld->getBroadphase()->aabbTest(aabbMin,aabbMax,aabbOverlap); //if (aabbOverlap.m_numOverlap) // printf("#aabb overlap = %d\n", aabbOverlap.m_numOverlap); } renderme(); glFlush(); swapBuffers(); }
void btGpu3DGridBroadphase::addLarge2LargePairsToCache(btDispatcher* dispatcher) { int i,j; if (m_numLargeHandles <= 0) { return; } int new_largest_index = -1; for(i = 0; i <= m_LastLargeHandleIndex; i++) { btSimpleBroadphaseProxy* proxy0 = &m_pLargeHandles[i]; if(!proxy0->m_clientObject) { continue; } new_largest_index = i; for(j = i + 1; j <= m_LastLargeHandleIndex; j++) { btSimpleBroadphaseProxy* proxy1 = &m_pLargeHandles[j]; if(!proxy1->m_clientObject) { continue; } btAssert(proxy0 != proxy1); btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0); btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1); if(aabbOverlap(p0,p1)) { if (!m_pairCache->findPair(proxy0,proxy1)) { m_pairCache->addOverlappingPair(proxy0,proxy1); } } else { if(m_pairCache->findPair(proxy0,proxy1)) { m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher); } } } } m_LastLargeHandleIndex = new_largest_index; return; }
bool btSimpleBroadphase::testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) { btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0); btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1); return aabbOverlap(p0,p1); }
void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher) { //first check for new overlapping pairs int i,j; if (m_numHandles >= 0) { int new_largest_index = -1; for (i=0; i <= m_LastHandleIndex; i++) { btSimpleBroadphaseProxy* proxy0 = &m_pHandles[i]; if(!proxy0->m_clientObject) { continue; } new_largest_index = i; for (j=i+1; j <= m_LastHandleIndex; j++) { btSimpleBroadphaseProxy* proxy1 = &m_pHandles[j]; btAssert(proxy0 != proxy1); if(!proxy1->m_clientObject) { continue; } btSimpleBroadphaseProxy* p0 = getSimpleProxyFromProxy(proxy0); btSimpleBroadphaseProxy* p1 = getSimpleProxyFromProxy(proxy1); if (aabbOverlap(p0,p1)) { if ( !m_pairCache->findPair(proxy0,proxy1)) { m_pairCache->addOverlappingPair(proxy0,proxy1); } } else { if (!m_pairCache->hasDeferredRemoval()) { if ( m_pairCache->findPair(proxy0,proxy1)) { m_pairCache->removeOverlappingPair(proxy0,proxy1,dispatcher); } } } } } m_LastHandleIndex = new_largest_index; if (m_ownsPairCache && m_pairCache->hasDeferredRemoval()) { btBroadphasePairArray& overlappingPairArray = m_pairCache->getOverlappingPairArray(); //perform a sort, to find duplicates and to sort 'invalid' pairs to the end overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); m_invalidPair = 0; btBroadphasePair previousPair; previousPair.m_pProxy0 = 0; previousPair.m_pProxy1 = 0; previousPair.m_algorithm = 0; for (i=0;i<overlappingPairArray.size();i++) { btBroadphasePair& pair = overlappingPairArray[i]; bool isDuplicate = (pair == previousPair); previousPair = pair; bool needsRemoval = false; if (!isDuplicate) { bool hasOverlap = testAabbOverlap(pair.m_pProxy0,pair.m_pProxy1); if (hasOverlap) { needsRemoval = false;//callback->processOverlap(pair); } else { needsRemoval = true; } } else { //remove duplicate needsRemoval = true; //should have no algorithm btAssert(!pair.m_algorithm); } if (needsRemoval) { m_pairCache->cleanOverlappingPair(pair,dispatcher); // m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1); // m_overlappingPairArray.pop_back(); pair.m_pProxy0 = 0; pair.m_pProxy1 = 0; m_invalidPair++; gOverlappingPairs--; } } ///if you don't like to skip the invalid pairs in the array, execute following code: #define CLEAN_INVALID_PAIRS 1 #ifdef CLEAN_INVALID_PAIRS //perform a sort, to sort 'invalid' pairs to the end overlappingPairArray.quickSort(btBroadphasePairSortPredicate()); overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair); m_invalidPair = 0; #endif//CLEAN_INVALID_PAIRS } } }