b3BroadphaseProxy* b3DynamicBvhBroadphase::createProxy( const b3Vector3& aabbMin,
const b3Vector3& aabbMax,
int objectId,
void* userPtr,
short int collisionFilterGroup,
short int collisionFilterMask)
{
b3DbvtProxy* mem = &m_proxies[objectId];
b3DbvtProxy* proxy=new(mem) b3DbvtProxy( aabbMin,aabbMax,userPtr,
collisionFilterGroup,
collisionFilterMask);
b3DbvtAabbMm aabb = b3DbvtVolume::FromMM(aabbMin,aabbMax);
//bproxy->aabb = b3DbvtVolume::FromMM(aabbMin,aabbMax);
proxy->stage = m_stageCurrent;
proxy->m_uniqueId = objectId;
proxy->leaf = m_sets[0].insert(aabb,proxy);
b3ListAppend(proxy,m_stageRoots[m_stageCurrent]);
if(!m_deferedcollide)
{
b3DbvtTreeCollider collider(this);
collider.proxy=proxy;
m_sets[0].collideTV(m_sets[0].m_root,aabb,collider);
m_sets[1].collideTV(m_sets[1].m_root,aabb,collider);
}
return(proxy);
}
void b3DynamicBvhBroadphase::setAabbForceUpdate(b3BroadphaseProxy* absproxy,
const b3Vector3& aabbMin,
const b3Vector3& aabbMax,
b3Dispatcher* /*dispatcher*/)
{
b3DbvtProxy* proxy = (b3DbvtProxy*)absproxy;
B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume)
aabb = b3DbvtVolume::FromMM(aabbMin, aabbMax);
bool docollide = false;
if (proxy->stage == STAGECOUNT)
{ /* fixed -> dynamic set */
m_sets[1].remove(proxy->leaf);
proxy->leaf = m_sets[0].insert(aabb, proxy);
docollide = true;
}
else
{ /* dynamic set */
++m_updates_call;
/* Teleporting */
m_sets[0].update(proxy->leaf, aabb);
++m_updates_done;
docollide = true;
}
b3ListRemove(proxy, m_stageRoots[proxy->stage]);
proxy->m_aabbMin = aabbMin;
proxy->m_aabbMax = aabbMax;
proxy->stage = m_stageCurrent;
b3ListAppend(proxy, m_stageRoots[m_stageCurrent]);
if (docollide)
{
m_needcleanup = true;
if (!m_deferedcollide)
{
b3DbvtTreeCollider collider(this);
m_sets[1].collideTTpersistentStack(m_sets[1].m_root, proxy->leaf, collider);
m_sets[0].collideTTpersistentStack(m_sets[0].m_root, proxy->leaf, collider);
}
}
}
void b3DynamicBvhBroadphase::collide(b3Dispatcher* dispatcher)
{
/*printf("---------------------------------------------------------\n");
printf("m_sets[0].m_leaves=%d\n",m_sets[0].m_leaves);
printf("m_sets[1].m_leaves=%d\n",m_sets[1].m_leaves);
printf("numPairs = %d\n",getOverlappingPairCache()->getNumOverlappingPairs());
{
int i;
for (i=0;i<getOverlappingPairCache()->getNumOverlappingPairs();i++)
{
printf("pair[%d]=(%d,%d),",i,getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy0->getUid(),
getOverlappingPairCache()->getOverlappingPairArray()[i].m_pProxy1->getUid());
}
printf("\n");
}
*/
b3SPC(m_profiling.m_total);
/* optimize */
m_sets[0].optimizeIncremental(1+(m_sets[0].m_leaves*m_dupdates)/100);
if(m_fixedleft)
{
const int count=1+(m_sets[1].m_leaves*m_fupdates)/100;
m_sets[1].optimizeIncremental(1+(m_sets[1].m_leaves*m_fupdates)/100);
m_fixedleft=b3Max<int>(0,m_fixedleft-count);
}
/* dynamic -> fixed set */
m_stageCurrent=(m_stageCurrent+1)%STAGECOUNT;
b3DbvtProxy* current=m_stageRoots[m_stageCurrent];
if(current)
{
b3DbvtTreeCollider collider(this);
do {
b3DbvtProxy* next=current->links[1];
b3ListRemove(current,m_stageRoots[current->stage]);
b3ListAppend(current,m_stageRoots[STAGECOUNT]);
#if B3_DBVT_BP_ACCURATESLEEPING
m_paircache->removeOverlappingPairsContainingProxy(current,dispatcher);
collider.proxy=current;
b3DynamicBvh::collideTV(m_sets[0].m_root,current->aabb,collider);
b3DynamicBvh::collideTV(m_sets[1].m_root,current->aabb,collider);
#endif
m_sets[0].remove(current->leaf);
B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume) curAabb=b3DbvtVolume::FromMM(current->m_aabbMin,current->m_aabbMax);
current->leaf = m_sets[1].insert(curAabb,current);
current->stage = STAGECOUNT;
current = next;
} while(current);
m_fixedleft=m_sets[1].m_leaves;
m_needcleanup=true;
}
/* collide dynamics */
{
b3DbvtTreeCollider collider(this);
if(m_deferedcollide)
{
b3SPC(m_profiling.m_fdcollide);
m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[1].m_root,collider);
}
if(m_deferedcollide)
{
b3SPC(m_profiling.m_ddcollide);
m_sets[0].collideTTpersistentStack(m_sets[0].m_root,m_sets[0].m_root,collider);
}
}
/* clean up */
if(m_needcleanup)
{
b3SPC(m_profiling.m_cleanup);
b3BroadphasePairArray& pairs=m_paircache->getOverlappingPairArray();
if(pairs.size()>0)
{
int ni=b3Min(pairs.size(),b3Max<int>(m_newpairs,(pairs.size()*m_cupdates)/100));
for(int i=0;i<ni;++i)
{
b3BroadphasePair& p=pairs[(m_cid+i)%pairs.size()];
b3DbvtProxy* pa=&m_proxies[p.x];
b3DbvtProxy* pb=&m_proxies[p.y];
if(!b3Intersect(pa->leaf->volume,pb->leaf->volume))
{
#if B3_DBVT_BP_SORTPAIRS
if(pa->m_uniqueId>pb->m_uniqueId)
b3Swap(pa,pb);
#endif
m_paircache->removeOverlappingPair(pa->getUid(),pb->getUid(),dispatcher);
--ni;--i;
}
}
if(pairs.size()>0) m_cid=(m_cid+ni)%pairs.size(); else m_cid=0;
}
}
++m_pid;
m_newpairs=1;
m_needcleanup=false;
if(m_updates_call>0)
{ m_updates_ratio=m_updates_done/(b3Scalar)m_updates_call; }
else
{ m_updates_ratio=0; }
m_updates_done/=2;
m_updates_call/=2;
}
void b3DynamicBvhBroadphase::setAabb( b3BroadphaseProxy* absproxy,
const b3Vector3& aabbMin,
const b3Vector3& aabbMax,
b3Dispatcher* /*dispatcher*/)
{
b3DbvtProxy* proxy=(b3DbvtProxy*)absproxy;
B3_ATTRIBUTE_ALIGNED16(b3DbvtVolume) aabb=b3DbvtVolume::FromMM(aabbMin,aabbMax);
#if B3_DBVT_BP_PREVENTFALSEUPDATE
if(b3NotEqual(aabb,proxy->leaf->volume))
#endif
{
bool docollide=false;
if(proxy->stage==STAGECOUNT)
{/* fixed -> dynamic set */
m_sets[1].remove(proxy->leaf);
proxy->leaf=m_sets[0].insert(aabb,proxy);
docollide=true;
}
else
{/* dynamic set */
++m_updates_call;
if(b3Intersect(proxy->leaf->volume,aabb))
{/* Moving */
const b3Vector3 delta=aabbMin-proxy->m_aabbMin;
b3Vector3 velocity(((proxy->m_aabbMax-proxy->m_aabbMin)/2)*m_prediction);
if(delta[0]<0) velocity[0]=-velocity[0];
if(delta[1]<0) velocity[1]=-velocity[1];
if(delta[2]<0) velocity[2]=-velocity[2];
if (
#ifdef B3_DBVT_BP_MARGIN
m_sets[0].update(proxy->leaf,aabb,velocity,B3_DBVT_BP_MARGIN)
#else
m_sets[0].update(proxy->leaf,aabb,velocity)
#endif
)
{
++m_updates_done;
docollide=true;
}
}
else
{/* Teleporting */
m_sets[0].update(proxy->leaf,aabb);
++m_updates_done;
docollide=true;
}
}
b3ListRemove(proxy,m_stageRoots[proxy->stage]);
proxy->m_aabbMin = aabbMin;
proxy->m_aabbMax = aabbMax;
proxy->stage = m_stageCurrent;
b3ListAppend(proxy,m_stageRoots[m_stageCurrent]);
if(docollide)
{
m_needcleanup=true;
if(!m_deferedcollide)
{
b3DbvtTreeCollider collider(this);
m_sets[1].collideTTpersistentStack(m_sets[1].m_root,proxy->leaf,collider);
m_sets[0].collideTTpersistentStack(m_sets[0].m_root,proxy->leaf,collider);
}
}
}
}