source: code/branches/doc/src/external/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp @ 7298

/*
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.
*/

#include "btMultiSapBroadphase.h"

#include "btSimpleBroadphase.h"
#include "LinearMath/btAabbUtil2.h"
#include "btQuantizedBvh.h"

///     btSapBroadphaseArray    m_sapBroadphases;

///     btOverlappingPairCache* m_overlappingPairs;
extern int gOverlappingPairs;

/*
class btMultiSapSortedOverlappingPairCache : public btSortedOverlappingPairCache
{
public:

        virtual btBroadphasePair*       addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
        {
                return btSortedOverlappingPairCache::addOverlappingPair((btBroadphaseProxy*)proxy0->m_multiSapParentProxy,(btBroadphaseProxy*)proxy1->m_multiSapParentProxy);
        }
};

*/

btMultiSapBroadphase::btMultiSapBroadphase(int /*maxProxies*/,btOverlappingPairCache* pairCache)
:m_overlappingPairs(pairCache),
m_optimizedAabbTree(0),
m_ownsPairCache(false),
m_invalidPair(0)
{
        if (!m_overlappingPairs)
        {
                m_ownsPairCache = true;
                void* mem = btAlignedAlloc(sizeof(btSortedOverlappingPairCache),16);
                m_overlappingPairs = new (mem)btSortedOverlappingPairCache();
        }

        struct btMultiSapOverlapFilterCallback : public btOverlapFilterCallback
        {
                virtual ~btMultiSapOverlapFilterCallback()
                {}
                // return true when pairs need collision
                virtual bool    needBroadphaseCollision(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1) const
                {
                        btBroadphaseProxy* multiProxy0 = (btBroadphaseProxy*)childProxy0->m_multiSapParentProxy;
                        btBroadphaseProxy* multiProxy1 = (btBroadphaseProxy*)childProxy1->m_multiSapParentProxy;
                        
                        bool collides = (multiProxy0->m_collisionFilterGroup & multiProxy1->m_collisionFilterMask) != 0;
                        collides = collides && (multiProxy1->m_collisionFilterGroup & multiProxy0->m_collisionFilterMask);
        
                        return collides;
                }
        };

        void* mem = btAlignedAlloc(sizeof(btMultiSapOverlapFilterCallback),16);
        m_filterCallback = new (mem)btMultiSapOverlapFilterCallback();

        m_overlappingPairs->setOverlapFilterCallback(m_filterCallback);
//      mem = btAlignedAlloc(sizeof(btSimpleBroadphase),16);
//      m_simpleBroadphase = new (mem) btSimpleBroadphase(maxProxies,m_overlappingPairs);
}

btMultiSapBroadphase::~btMultiSapBroadphase()
{
        if (m_ownsPairCache)
        {
                m_overlappingPairs->~btOverlappingPairCache();
                btAlignedFree(m_overlappingPairs);
        }
}


void    btMultiSapBroadphase::buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax)
{
        m_optimizedAabbTree = new btQuantizedBvh();
        m_optimizedAabbTree->setQuantizationValues(bvhAabbMin,bvhAabbMax);
        QuantizedNodeArray&     nodes = m_optimizedAabbTree->getLeafNodeArray();
        for (int i=0;i<m_sapBroadphases.size();i++)
        {
                btQuantizedBvhNode node;
                btVector3 aabbMin,aabbMax;
                m_sapBroadphases[i]->getBroadphaseAabb(aabbMin,aabbMax);
                m_optimizedAabbTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
                m_optimizedAabbTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
                int partId = 0;
                node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | i;
                nodes.push_back(node);
        }
        m_optimizedAabbTree->buildInternal();
}

btBroadphaseProxy*      btMultiSapBroadphase::createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* /*ignoreMe*/)
{
        //void* ignoreMe -> we could think of recursive multi-sap, if someone is interested

        void* mem = btAlignedAlloc(sizeof(btMultiSapProxy),16);
        btMultiSapProxy* proxy = new (mem)btMultiSapProxy(aabbMin,  aabbMax,shapeType,userPtr, collisionFilterGroup,collisionFilterMask);
        m_multiSapProxies.push_back(proxy);

        ///this should deal with inserting/removal into child broadphases
        setAabb(proxy,aabbMin,aabbMax,dispatcher);
        return proxy;
}

void    btMultiSapBroadphase::destroyProxy(btBroadphaseProxy* /*proxy*/,btDispatcher* /*dispatcher*/)
{
        ///not yet
        btAssert(0);

}


void    btMultiSapBroadphase::addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface*  childBroadphase)
{
        void* mem = btAlignedAlloc(sizeof(btBridgeProxy),16);
        btBridgeProxy* bridgeProxyRef = new(mem) btBridgeProxy;
        bridgeProxyRef->m_childProxy = childProxy;
        bridgeProxyRef->m_childBroadphase = childBroadphase;
        parentMultiSapProxy->m_bridgeProxies.push_back(bridgeProxyRef);
}


bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax);
bool boxIsContainedWithinBox(const btVector3& amin,const btVector3& amax,const btVector3& bmin,const btVector3& bmax)
{
return
amin.getX() >= bmin.getX() && amax.getX() <= bmax.getX() &&
amin.getY() >= bmin.getY() && amax.getY() <= bmax.getY() &&
amin.getZ() >= bmin.getZ() && amax.getZ() <= bmax.getZ();
}






void    btMultiSapBroadphase::getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const
{
        btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
        aabbMin = multiProxy->m_aabbMin;
        aabbMax = multiProxy->m_aabbMax;
}

void    btMultiSapBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin,const btVector3& aabbMax)
{
        for (int i=0;i<m_multiSapProxies.size();i++)
        {
                rayCallback.process(m_multiSapProxies[i]);
        }
}


//#include <stdio.h>

void    btMultiSapBroadphase::setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)
{
        btMultiSapProxy* multiProxy = static_cast<btMultiSapProxy*>(proxy);
        multiProxy->m_aabbMin = aabbMin;
        multiProxy->m_aabbMax = aabbMax;
        
        
//      bool fullyContained = false;
//      bool alreadyInSimple = false;
        


        
        struct MyNodeOverlapCallback : public btNodeOverlapCallback
        {
                btMultiSapBroadphase*   m_multiSap;
                btMultiSapProxy*                m_multiProxy;
                btDispatcher*                   m_dispatcher;

                MyNodeOverlapCallback(btMultiSapBroadphase* multiSap,btMultiSapProxy* multiProxy,btDispatcher* dispatcher)
                        :m_multiSap(multiSap),
                        m_multiProxy(multiProxy),
                        m_dispatcher(dispatcher)
                {

                }

                virtual void processNode(int /*nodeSubPart*/, int broadphaseIndex)
                {
                        btBroadphaseInterface* childBroadphase = m_multiSap->getBroadphaseArray()[broadphaseIndex];

                        int containingBroadphaseIndex = -1;
                        //already found?
                        for (int i=0;i<m_multiProxy->m_bridgeProxies.size();i++)
                        {

                                if (m_multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
                                {
                                        containingBroadphaseIndex = i;
                                        break;
                                }
                        }
                        if (containingBroadphaseIndex<0)
                        {
                                //add it
                                btBroadphaseProxy* childProxy = childBroadphase->createProxy(m_multiProxy->m_aabbMin,m_multiProxy->m_aabbMax,m_multiProxy->m_shapeType,m_multiProxy->m_clientObject,m_multiProxy->m_collisionFilterGroup,m_multiProxy->m_collisionFilterMask, m_dispatcher,m_multiProxy);
                                m_multiSap->addToChildBroadphase(m_multiProxy,childProxy,childBroadphase);

                        }
                }
        };

        MyNodeOverlapCallback   myNodeCallback(this,multiProxy,dispatcher);



        
        if (m_optimizedAabbTree)
                m_optimizedAabbTree->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);

        int i;

        for ( i=0;i<multiProxy->m_bridgeProxies.size();i++)
        {
                btVector3 worldAabbMin,worldAabbMax;
                multiProxy->m_bridgeProxies[i]->m_childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
                bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
                if (!overlapsBroadphase)
                {
                        //remove it now
                        btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[i];

                        btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
                        bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
                        
                        multiProxy->m_bridgeProxies.swap( i,multiProxy->m_bridgeProxies.size()-1);
                        multiProxy->m_bridgeProxies.pop_back();

                }
        }


        /*

        if (1)
        {

                //find broadphase that contain this multiProxy
                int numChildBroadphases = getBroadphaseArray().size();
                for (int i=0;i<numChildBroadphases;i++)
                {
                        btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
                        btVector3 worldAabbMin,worldAabbMax;
                        childBroadphase->getBroadphaseAabb(worldAabbMin,worldAabbMax);
                        bool overlapsBroadphase = TestAabbAgainstAabb2(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
                        
                //      fullyContained = fullyContained || boxIsContainedWithinBox(worldAabbMin,worldAabbMax,multiProxy->m_aabbMin,multiProxy->m_aabbMax);
                        int containingBroadphaseIndex = -1;
                        
                        //if already contains this
                        
                        for (int i=0;i<multiProxy->m_bridgeProxies.size();i++)
                        {
                                if (multiProxy->m_bridgeProxies[i]->m_childBroadphase == childBroadphase)
                                {
                                        containingBroadphaseIndex = i;
                                }
                                alreadyInSimple = alreadyInSimple || (multiProxy->m_bridgeProxies[i]->m_childBroadphase == m_simpleBroadphase);
                        }

                        if (overlapsBroadphase)
                        {
                                if (containingBroadphaseIndex<0)
                                {
                                        btBroadphaseProxy* childProxy = childBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
                                        childProxy->m_multiSapParentProxy = multiProxy;
                                        addToChildBroadphase(multiProxy,childProxy,childBroadphase);
                                }
                        } else
                        {
                                if (containingBroadphaseIndex>=0)
                                {
                                        //remove
                                        btBridgeProxy* bridgeProxy = multiProxy->m_bridgeProxies[containingBroadphaseIndex];

                                        btBroadphaseProxy* childProxy = bridgeProxy->m_childProxy;
                                        bridgeProxy->m_childBroadphase->destroyProxy(childProxy,dispatcher);
                                        
                                        multiProxy->m_bridgeProxies.swap( containingBroadphaseIndex,multiProxy->m_bridgeProxies.size()-1);
                                        multiProxy->m_bridgeProxies.pop_back();
                                }
                        }
                }


                ///If we are in no other child broadphase, stick the proxy in the global 'simple' broadphase (brute force)
                ///hopefully we don't end up with many entries here (can assert/provide feedback on stats)
                if (0)//!multiProxy->m_bridgeProxies.size())
                {
                        ///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
                        ///this is needed to be able to calculate the aabb overlap
                        btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
                        childProxy->m_multiSapParentProxy = multiProxy;
                        addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
                }
        }

        if (!multiProxy->m_bridgeProxies.size())
        {
                ///we don't pass the userPtr but our multisap proxy. We need to patch this, before processing an actual collision
                ///this is needed to be able to calculate the aabb overlap
                btBroadphaseProxy* childProxy = m_simpleBroadphase->createProxy(aabbMin,aabbMax,multiProxy->m_shapeType,multiProxy->m_clientObject,multiProxy->m_collisionFilterGroup,multiProxy->m_collisionFilterMask, dispatcher);
                childProxy->m_multiSapParentProxy = multiProxy;
                addToChildBroadphase(multiProxy,childProxy,m_simpleBroadphase);
        }
*/


        //update
        for ( i=0;i<multiProxy->m_bridgeProxies.size();i++)
        {
                btBridgeProxy* bridgeProxyRef = multiProxy->m_bridgeProxies[i];
                bridgeProxyRef->m_childBroadphase->setAabb(bridgeProxyRef->m_childProxy,aabbMin,aabbMax,dispatcher);
        }

}
bool stopUpdating=false;



class btMultiSapBroadphasePairSortPredicate
{
        public:

                bool operator() ( const btBroadphasePair& a1, const btBroadphasePair& b1 )
                {
                                btMultiSapBroadphase::btMultiSapProxy* aProxy0 = a1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy0->m_multiSapParentProxy : 0;
                                btMultiSapBroadphase::btMultiSapProxy* aProxy1 = a1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)a1.m_pProxy1->m_multiSapParentProxy : 0;
                                btMultiSapBroadphase::btMultiSapProxy* bProxy0 = b1.m_pProxy0 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy0->m_multiSapParentProxy : 0;
                                btMultiSapBroadphase::btMultiSapProxy* bProxy1 = b1.m_pProxy1 ? (btMultiSapBroadphase::btMultiSapProxy*)b1.m_pProxy1->m_multiSapParentProxy : 0;

                                 return aProxy0 > bProxy0 || 
                                        (aProxy0 == bProxy0 && aProxy1 > bProxy1) ||
                                        (aProxy0 == bProxy0 && aProxy1 == bProxy1 && a1.m_algorithm > b1.m_algorithm); 
                }
};


        ///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
void    btMultiSapBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
{

//      m_simpleBroadphase->calculateOverlappingPairs(dispatcher);

        if (!stopUpdating && getOverlappingPairCache()->hasDeferredRemoval())
        {
        
                btBroadphasePairArray&  overlappingPairArray = getOverlappingPairCache()->getOverlappingPairArray();

        //      quicksort(overlappingPairArray,0,overlappingPairArray.size());

                overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());

                //perform a sort, to find duplicates and to sort 'invalid' pairs to the end
        //      overlappingPairArray.heapSort(btMultiSapBroadphasePairSortPredicate());

                overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
                m_invalidPair = 0;

                
                int i;

                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];

                        btMultiSapProxy* aProxy0 = pair.m_pProxy0 ? (btMultiSapProxy*)pair.m_pProxy0->m_multiSapParentProxy : 0;
                        btMultiSapProxy* aProxy1 = pair.m_pProxy1 ? (btMultiSapProxy*)pair.m_pProxy1->m_multiSapParentProxy : 0;
                        btMultiSapProxy* bProxy0 = previousPair.m_pProxy0 ? (btMultiSapProxy*)previousPair.m_pProxy0->m_multiSapParentProxy : 0;
                        btMultiSapProxy* bProxy1 = previousPair.m_pProxy1 ? (btMultiSapProxy*)previousPair.m_pProxy1->m_multiSapParentProxy : 0;

                        bool isDuplicate = (aProxy0 == bProxy0) && (aProxy1 == bProxy1);
                        
                        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)
                        {
                                getOverlappingPairCache()->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.heapSort(btMultiSapBroadphasePairSortPredicate());
                overlappingPairArray.quickSort(btMultiSapBroadphasePairSortPredicate());

                overlappingPairArray.resize(overlappingPairArray.size() - m_invalidPair);
                m_invalidPair = 0;
        #endif//CLEAN_INVALID_PAIRS
                
                //printf("overlappingPairArray.size()=%d\n",overlappingPairArray.size());
        }


}


bool    btMultiSapBroadphase::testAabbOverlap(btBroadphaseProxy* childProxy0,btBroadphaseProxy* childProxy1)
{
        btMultiSapProxy* multiSapProxy0 = (btMultiSapProxy*)childProxy0->m_multiSapParentProxy;
                btMultiSapProxy* multiSapProxy1 = (btMultiSapProxy*)childProxy1->m_multiSapParentProxy;

                return  TestAabbAgainstAabb2(multiSapProxy0->m_aabbMin,multiSapProxy0->m_aabbMax,
                        multiSapProxy1->m_aabbMin,multiSapProxy1->m_aabbMax);
                
}


void    btMultiSapBroadphase::printStats()
{
/*      printf("---------------------------------\n");
        
                printf("btMultiSapBroadphase.h\n");
                printf("numHandles = %d\n",m_multiSapProxies.size());
                        //find broadphase that contain this multiProxy
                int numChildBroadphases = getBroadphaseArray().size();
                for (int i=0;i<numChildBroadphases;i++)
                {

                        btBroadphaseInterface* childBroadphase = getBroadphaseArray()[i];
                        childBroadphase->printStats();

                }
                */

}

void btMultiSapBroadphase::resetPool(btDispatcher* dispatcher)
{
        // not yet
}