137 lines
3.7 KiB
C++
137 lines
3.7 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef CUDA_DEMO_PAIR_CACHE_H
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#define CUDA_DEMO_PAIR_CACHE_H
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#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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#include "BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h"
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#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
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#include "LinearMath/btAlignedObjectArray.h"
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class btGpuDemoPairCache : public btNullPairCache
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{
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public:
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int m_maxProxies;
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int m_maxNeighbors;
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int* m_hNeighbors;
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int m_numPairs;
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int m_numSmallProxies;
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int m_maxSmallProxies;
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btGpuDemoPairCache(int maxProxies, int maxNeighbors, int maxSmallProxies)
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{
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m_maxProxies = maxProxies;
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m_maxNeighbors = maxNeighbors;
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m_maxSmallProxies = maxSmallProxies;
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int sz = maxProxies * maxNeighbors;
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m_hNeighbors = new int [sz];
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reset();
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}
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~btGpuDemoPairCache()
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{
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delete [] m_hNeighbors;
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}
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void reset(void)
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{
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int sz = m_maxProxies * m_maxNeighbors;
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for(int i = 0; i < sz; i++)
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{
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m_hNeighbors[i] = -1;
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}
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m_numPairs = 0;
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}
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virtual int getNumOverlappingPairs() const
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{
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return m_numPairs;
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//return 0; // to skip btSimulationIslandManager::findUnions()
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}
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virtual void processAllOverlappingPairs(btOverlapCallback* callback, btDispatcher* dispatcher);
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virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
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{
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int id0 = proxy0->m_uniqueId - 2;
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int id1 = proxy1->m_uniqueId - 2;
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if(id0 >= m_maxSmallProxies)
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{
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id0 -= m_maxSmallProxies - m_numSmallProxies;
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}
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if(id1 >= m_maxSmallProxies)
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{
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id1 -= m_maxSmallProxies - m_numSmallProxies;
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}
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if(id0 > id1)
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{
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int tmp = id0; id0 = id1; id1 = tmp;
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}
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int offs = id0 * m_maxNeighbors;
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int i;
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for(i = 0; i < m_maxNeighbors; i++)
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{
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if(m_hNeighbors[offs + i] < 0)
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{
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m_hNeighbors[offs + i] = id1;
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m_numPairs++;
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break;
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}
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}
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// btAssert(i < m_maxNeighbors);
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return 0;
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}
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virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* /*dispatcher*/)
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{
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int id0 = proxy0->m_uniqueId - 2;
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int id1 = proxy1->m_uniqueId - 2;
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if(id0 >= m_maxSmallProxies)
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{
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id0 -= m_maxSmallProxies - m_numSmallProxies;
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}
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if(id1 >= m_maxSmallProxies)
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{
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id1 -= m_maxSmallProxies - m_numSmallProxies;
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}
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if(id0 > id1)
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{
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int tmp = id0; id0 = id1; id1 = tmp;
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}
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int offs = id0 * m_maxNeighbors;
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int i;
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for(i = 0; i < m_maxNeighbors; i++)
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{
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if(m_hNeighbors[offs + i] == id1)
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{
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m_hNeighbors[offs + i] = -1;
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m_numPairs--;
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break;
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}
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}
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// btAssert(i < m_maxNeighbors);
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return 0;
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}
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};
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extern void cudaDemoNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
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#endif //CUDA_DEMO_PAIR_CACHE_H
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