Exemplo n.º 1
0
        public virtual BroadphaseProxy CreateProxy(ref IndexedVector3 aabbMin, ref IndexedVector3 aabbMax, BroadphaseNativeTypes shapeType, Object userPtr, CollisionFilterGroups collisionFilterGroup, CollisionFilterGroups collisionFilterMask, IDispatcher dispatcher, Object multiSapProxy)
        {
            DbvtProxy proxy = new DbvtProxy(ref aabbMin, ref aabbMax, userPtr, collisionFilterGroup, collisionFilterMask);

            DbvtAabbMm aabb = DbvtAabbMm.FromMM(ref aabbMin, ref aabbMax);

            //bproxy.aabb			=	btDbvtAabbMm::FromMM(aabbMin,aabbMax);
            proxy.stage      = m_stageCurrent;
            proxy.m_uniqueId = ++m_gid;
            proxy.leaf       = m_sets[0].Insert(ref aabb, proxy);
            ListAppend(proxy, ref m_stageRoots[m_stageCurrent]);
            if (!m_deferedcollide)
            {
                DbvtTreeCollider collider = BulletGlobals.DbvtTreeColliderPool.Get();
                collider.Initialize(this);
                collider.proxy = proxy;
                Dbvt.CollideTV(m_sets[0].m_root, ref aabb, collider);
                Dbvt.CollideTV(m_sets[1].m_root, ref aabb, collider);
                BulletGlobals.DbvtTreeColliderPool.Free(collider);
            }
            return(proxy);
        }
Exemplo n.º 2
0
        ///this setAabbForceUpdate is similar to setAabb but always forces the aabb update.
        ///it is not part of the btBroadphaseInterface but specific to btDbvtBroadphase.
        ///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see
        ///http://code.google.com/p/bullet/issues/detail?id=223
        public void SetAabbForceUpdate(BroadphaseProxy absproxy, ref IndexedVector3 aabbMin, ref IndexedVector3 aabbMax, IDispatcher dispatcher)
        {
            DbvtProxy  proxy     = absproxy as DbvtProxy;
            DbvtAabbMm bounds    = DbvtAabbMm.FromMM(ref aabbMin, ref aabbMax);
            bool       docollide = false;

            if (proxy.stage == STAGECOUNT)
            {/* fixed . dynamic set	*/
                m_sets[1].Remove(proxy.leaf);
                proxy.leaf = m_sets[0].Insert(ref bounds, proxy);
                docollide  = true;
            }
            else
            {/* dynamic set				*/
                ++m_updates_call;
                /* Teleporting			*/
                m_sets[0].Update(proxy.leaf, ref bounds);
                ++m_updates_done;
                docollide = true;
            }
            ListRemove(proxy, ref m_stageRoots[proxy.stage]);
            proxy.m_aabbMin = aabbMin;
            proxy.m_aabbMax = aabbMax;
            proxy.stage     = m_stageCurrent;
            ListAppend(proxy, ref m_stageRoots[m_stageCurrent]);
            if (docollide)
            {
                m_needcleanup = true;
                if (!m_deferedcollide)
                {
                    DbvtTreeCollider collider = BulletGlobals.DbvtTreeColliderPool.Get();
                    collider.Initialize(this);
                    Dbvt.CollideTTpersistentStack(m_sets[1].m_root, proxy.leaf, collider);
                    Dbvt.CollideTTpersistentStack(m_sets[0].m_root, proxy.leaf, collider);
                    BulletGlobals.DbvtTreeColliderPool.Free(collider);
                }
            }
        }
Exemplo n.º 3
0
        public virtual void SetAabb(BroadphaseProxy absproxy, ref IndexedVector3 aabbMin, ref IndexedVector3 aabbMax, IDispatcher dispatcher)
        {
            DbvtProxy  proxy = absproxy as DbvtProxy;
            DbvtAabbMm aabb  = DbvtAabbMm.FromMM(ref aabbMin, ref aabbMax);

#if DBVT_BP_PREVENTFALSEUPDATE
            if (NotEqual(ref 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(ref aabb, proxy);
                    docollide  = true;
                }
                else
                {/* dynamic set				*/
                    ++m_updates_call;
                    if (DbvtAabbMm.Intersect(ref proxy.leaf.volume, ref aabb))
                    {/* Moving				*/
                        IndexedVector3 delta    = aabbMin - proxy.m_aabbMin;
                        IndexedVector3 velocity = (((proxy.m_aabbMax - proxy.m_aabbMin) / 2f) * m_prediction);
                        if (delta.X < 0)
                        {
                            velocity.X = -velocity.X;
                        }
                        if (delta.Y < 0)
                        {
                            velocity.Y = -velocity.Y;
                        }
                        if (delta.Z < 0)
                        {
                            velocity.Z = -velocity.Z;
                        }
                        if (
#if DBVT_BP_MARGIN
                            m_sets[0].Update(proxy.leaf, ref aabb, ref velocity, DBVT_BP_MARGIN)
#else
                            m_sets[0].update(proxy.leaf, aabb, ref velocity)
#endif
                            )
                        {
                            ++m_updates_done;
                            docollide = true;
                        }
                    }
                    else
                    {/* Teleporting			*/
                        m_sets[0].Update(proxy.leaf, ref aabb);
                        ++m_updates_done;
                        docollide = true;
                    }
                }
                ListRemove(proxy, ref m_stageRoots[proxy.stage]);
                proxy.m_aabbMin = aabbMin;
                proxy.m_aabbMax = aabbMax;
                proxy.stage     = m_stageCurrent;
                ListAppend(proxy, ref m_stageRoots[m_stageCurrent]);
                if (docollide)
                {
                    m_needcleanup = true;
                    if (!m_deferedcollide)
                    {
                        DbvtTreeCollider collider = BulletGlobals.DbvtTreeColliderPool.Get();
                        collider.Initialize(this);
                        Dbvt.CollideTTpersistentStack(m_sets[1].m_root, proxy.leaf, collider);
                        Dbvt.CollideTTpersistentStack(m_sets[0].m_root, proxy.leaf, collider);
                        BulletGlobals.DbvtTreeColliderPool.Free(collider);
                    }
                }
            }
        }
Exemplo n.º 4
0
        public void Collide(IDispatcher dispatcher)
        {
            BulletGlobals.StartProfile("BroadphaseCollide");
            //SPC(m_profiling.m_total);
            /* optimize				*/
            m_sets[0].OptimizeIncremental(1 + (m_sets[0].m_leaves * m_dupdates) / 100);
            if (m_fixedleft > 0)
            {
                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 = Math.Max(0, m_fixedleft - count);
            }
            /* dynamic . fixed set	*/
            m_stageCurrent = (m_stageCurrent + 1) % STAGECOUNT;

            DbvtProxy current = m_stageRoots[m_stageCurrent];

            if (current != null)
            {
                DbvtTreeCollider collider = BulletGlobals.DbvtTreeColliderPool.Get();
                collider.Initialize(this);
                do
                {
                    DbvtProxy next = current.links[1];
                    ListRemove(current, ref m_stageRoots[current.stage]);
                    ListAppend(current, ref m_stageRoots[STAGECOUNT]);
#if DBVT_BP_ACCURATESLEEPING
                    m_paircache.removeOverlappingPairsContainingProxy(current, dispatcher);
                    collider.proxy = current;
                    btDbvt::collideTV(m_sets[0].m_root, current.aabb, collider);
                    btDbvt::collideTV(m_sets[1].m_root, current.aabb, collider);
#endif
                    m_sets[0].Remove(current.leaf);
                    DbvtAabbMm curAabb = DbvtAabbMm.FromMM(ref current.m_aabbMin, ref current.m_aabbMax);
                    current.leaf  = m_sets[1].Insert(ref curAabb, current);
                    current.stage = STAGECOUNT;
                    current       = next;
                } while (current != null);
                m_fixedleft = m_sets[1].m_leaves;
                BulletGlobals.DbvtTreeColliderPool.Free(collider);
                m_needcleanup = true;
            }
            /* collide dynamics		*/
            {
                DbvtTreeCollider collider = BulletGlobals.DbvtTreeColliderPool.Get();
                collider.Initialize(this);
                if (m_deferedcollide)
                {
                    //Stopwatch fdCollideStopwatch = new Stopwatch();
                    //fdCollideStopwatch.Start();
                    //SPC(m_profiling.m_fdcollide);
                    Dbvt.CollideTTpersistentStack(m_sets[0].m_root, m_sets[1].m_root, collider);
                    //fdCollideStopwatch.Stop();
                    //m_profiling.m_fdcollide += (ulong)fdCollideStopwatch.ElapsedMilliseconds;
                }
                if (m_deferedcollide)
                {
                    //Stopwatch ddCollideStopwatch = new Stopwatch();
                    //ddCollideStopwatch.Start();
                    //SPC(m_profiling.m_ddcollide);
                    Dbvt.CollideTTpersistentStack(m_sets[0].m_root, m_sets[0].m_root, collider);
                    //ddCollideStopwatch.Stop();
                    //m_profiling.m_ddcollide += (ulong)ddCollideStopwatch.ElapsedMilliseconds;
                }
                BulletGlobals.DbvtTreeColliderPool.Free(collider);
            }
            /* clean up				*/
            if (m_needcleanup)
            {
                Stopwatch cleanupStopwatch = new Stopwatch();
                cleanupStopwatch.Start();
                //SPC(m_profiling.m_cleanup);
                IList <BroadphasePair> pairs = m_paircache.GetOverlappingPairArray();
                if (pairs.Count > 0)
                {
                    int ni = Math.Min(pairs.Count, Math.Max(m_newpairs, (pairs.Count * m_cupdates) / 100));
                    for (int i = 0; i < ni; ++i)
                    {
                        BroadphasePair p  = pairs[(m_cid + i) % pairs.Count];
                        DbvtProxy      pa = p.m_pProxy0 as DbvtProxy;
                        DbvtProxy      pb = p.m_pProxy1 as DbvtProxy;
                        if (!DbvtAabbMm.Intersect(ref pa.leaf.volume, ref pb.leaf.volume))
                        {
#if DBVT_BP_SORTPAIRS
                            if (pa.m_uniqueId > pb.m_uniqueId)
                            {
                                btSwap(pa, pb);
                            }
#endif
                            m_paircache.RemoveOverlappingPair(pa, pb, dispatcher);
                            --ni; --i;
                        }
                    }
                    if (pairs.Count > 0)
                    {
                        m_cid = (m_cid + ni) % pairs.Count;
                    }
                    else
                    {
                        m_cid = 0;
                    }
                }
                cleanupStopwatch.Stop();
                //m_profiling.m_cleanup += (ulong)cleanupStopwatch.ElapsedMilliseconds;
            }
            ++m_pid;
            m_newpairs    = 1;
            m_needcleanup = false;
            if (m_updates_call > 0)
            {
                m_updates_ratio = m_updates_done / (float)m_updates_call;
            }
            else
            {
                m_updates_ratio = 0;
            }
            m_updates_done /= 2;
            m_updates_call /= 2;

            BulletGlobals.StopProfile();
        }