source: code/branches/Racingbot/src/external/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h @ 10171

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org

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.
*/

///btDbvtBroadphase implementation by Nathanael Presson
#ifndef BT_DBVT_BROADPHASE_H
#define BT_DBVT_BROADPHASE_H

#include "BulletCollision/BroadphaseCollision/btDbvt.h"
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"

//
// Compile time config
//

#define DBVT_BP_PROFILE                                 0
//#define DBVT_BP_SORTPAIRS                             1
#define DBVT_BP_PREVENTFALSEUPDATE              0
#define DBVT_BP_ACCURATESLEEPING                0
#define DBVT_BP_ENABLE_BENCHMARK                0
#define DBVT_BP_MARGIN                                  (btScalar)0.05

#if DBVT_BP_PROFILE
#define DBVT_BP_PROFILING_RATE  256
#include "LinearMath/btQuickprof.h"
#endif

//
// btDbvtProxy
//
struct btDbvtProxy : btBroadphaseProxy
{
        /* Fields               */ 
        //btDbvtAabbMm  aabb;
        btDbvtNode*             leaf;
        btDbvtProxy*    links[2];
        int                             stage;
        /* ctor                 */ 
        btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
        btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
        {
                links[0]=links[1]=0;
        }
};

typedef btAlignedObjectArray<btDbvtProxy*>      btDbvtProxyArray;

///The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see btDbvt).
///One tree is used for static/non-moving objects, and another tree is used for dynamic objects. Objects can move from one tree to the other.
///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3.
struct  btDbvtBroadphase : btBroadphaseInterface
{
        /* Config               */ 
        enum    {
                DYNAMIC_SET                     =       0,      /* Dynamic set index    */ 
                FIXED_SET                       =       1,      /* Fixed set index              */ 
                STAGECOUNT                      =       2       /* Number of stages             */ 
        };
        /* Fields               */ 
        btDbvt                                  m_sets[2];                                      // Dbvt sets
        btDbvtProxy*                    m_stageRoots[STAGECOUNT+1];     // Stages list
        btOverlappingPairCache* m_paircache;                            // Pair cache
        btScalar                                m_prediction;                           // Velocity prediction
        int                                             m_stageCurrent;                         // Current stage
        int                                             m_fupdates;                                     // % of fixed updates per frame
        int                                             m_dupdates;                                     // % of dynamic updates per frame
        int                                             m_cupdates;                                     // % of cleanup updates per frame
        int                                             m_newpairs;                                     // Number of pairs created
        int                                             m_fixedleft;                            // Fixed optimization left
        unsigned                                m_updates_call;                         // Number of updates call
        unsigned                                m_updates_done;                         // Number of updates done
        btScalar                                m_updates_ratio;                        // m_updates_done/m_updates_call
        int                                             m_pid;                                          // Parse id
        int                                             m_cid;                                          // Cleanup index
        int                                             m_gid;                                          // Gen id
        bool                                    m_releasepaircache;                     // Release pair cache on delete
        bool                                    m_deferedcollide;                       // Defere dynamic/static collision to collide call
        bool                                    m_needcleanup;                          // Need to run cleanup?
#if DBVT_BP_PROFILE
        btClock                                 m_clock;
        struct  {
                unsigned long           m_total;
                unsigned long           m_ddcollide;
                unsigned long           m_fdcollide;
                unsigned long           m_cleanup;
                unsigned long           m_jobcount;
        }                               m_profiling;
#endif
        /* Methods              */ 
        btDbvtBroadphase(btOverlappingPairCache* paircache=0);
        ~btDbvtBroadphase();
        void                                                    collide(btDispatcher* dispatcher);
        void                                                    optimize();
        
        /* btBroadphaseInterface Implementation */
        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                                    rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
        virtual void                                    aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);

        virtual void                                    getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
        virtual void                                    calculateOverlappingPairs(btDispatcher* dispatcher);
        virtual btOverlappingPairCache* getOverlappingPairCache();
        virtual const btOverlappingPairCache*   getOverlappingPairCache() const;
        virtual void                                    getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
        virtual void                                    printStats();


        ///reset broadphase internal structures, to ensure determinism/reproducability
        virtual void resetPool(btDispatcher* dispatcher);

        void    performDeferredRemoval(btDispatcher* dispatcher);
        
        void    setVelocityPrediction(btScalar prediction)
        {
                m_prediction = prediction;
        }
        btScalar getVelocityPrediction() const
        {
                return m_prediction;
        }

        ///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
        void                                                    setAabbForceUpdate(             btBroadphaseProxy* absproxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* /*dispatcher*/);

        static void                                             benchmark(btBroadphaseInterface*);


};

#endif