/*
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* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
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*
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* Bullet Continuous Collision Detection and Physics Library
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* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
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*
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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
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* the use of this software.
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*
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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
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* 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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package com.bulletphysics.collision.broadphase;
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import com.bulletphysics.util.ObjectArrayList;
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import javax.vecmath.Vector3f;
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/**
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* SimpleBroadphase is just a unit-test for {@link AxisSweep3}, {@link AxisSweep3_32},
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* or {@link DbvtBroadphase}, so use those classes instead. It is a brute force AABB
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* culling broadphase based on O(n^2) AABB checks.
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*
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* @author jezek2
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*/
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public class SimpleBroadphase extends BroadphaseInterface {
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private final ObjectArrayList<SimpleBroadphaseProxy> handles = new ObjectArrayList<SimpleBroadphaseProxy>();
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private int maxHandles; // max number of handles
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private OverlappingPairCache pairCache;
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private boolean ownsPairCache;
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public SimpleBroadphase() {
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this(16384, null);
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}
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public SimpleBroadphase(int maxProxies) {
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this(maxProxies, null);
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}
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public SimpleBroadphase(int maxProxies, OverlappingPairCache overlappingPairCache) {
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this.pairCache = overlappingPairCache;
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if (overlappingPairCache == null) {
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pairCache = new HashedOverlappingPairCache();
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ownsPairCache = true;
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}
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}
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public BroadphaseProxy createProxy(Vector3f aabbMin, Vector3f aabbMax, BroadphaseNativeType shapeType, Object userPtr, short collisionFilterGroup, short collisionFilterMask, Dispatcher dispatcher, Object multiSapProxy) {
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assert (aabbMin.x <= aabbMax.x && aabbMin.y <= aabbMax.y && aabbMin.z <= aabbMax.z);
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SimpleBroadphaseProxy proxy = new SimpleBroadphaseProxy(aabbMin, aabbMax, shapeType, userPtr, collisionFilterGroup, collisionFilterMask, multiSapProxy);
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proxy.uniqueId = handles.size();
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handles.add(proxy);
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return proxy;
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}
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public void destroyProxy(BroadphaseProxy proxyOrg, Dispatcher dispatcher) {
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handles.remove(proxyOrg);
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pairCache.removeOverlappingPairsContainingProxy(proxyOrg, dispatcher);
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}
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public void setAabb(BroadphaseProxy proxy, Vector3f aabbMin, Vector3f aabbMax, Dispatcher dispatcher) {
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SimpleBroadphaseProxy sbp = (SimpleBroadphaseProxy)proxy;
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sbp.min.set(aabbMin);
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sbp.max.set(aabbMax);
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}
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private static boolean aabbOverlap(SimpleBroadphaseProxy proxy0, SimpleBroadphaseProxy proxy1) {
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return proxy0.min.x <= proxy1.max.x && proxy1.min.x <= proxy0.max.x &&
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proxy0.min.y <= proxy1.max.y && proxy1.min.y <= proxy0.max.y &&
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proxy0.min.z <= proxy1.max.z && proxy1.min.z <= proxy0.max.z;
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}
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public void calculateOverlappingPairs(Dispatcher dispatcher) {
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for (int i=0; i<handles.size(); i++) {
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SimpleBroadphaseProxy proxy0 = handles.getQuick(i);
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for (int j=0; j<handles.size(); j++) {
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SimpleBroadphaseProxy proxy1 = handles.getQuick(j);
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if (proxy0 == proxy1) continue;
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if (aabbOverlap(proxy0, proxy1)) {
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if (pairCache.findPair(proxy0, proxy1) == null) {
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pairCache.addOverlappingPair(proxy0, proxy1);
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}
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}
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else {
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// JAVA NOTE: pairCache.hasDeferredRemoval() = true is not implemented
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if (!pairCache.hasDeferredRemoval()) {
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if (pairCache.findPair(proxy0, proxy1) != null) {
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pairCache.removeOverlappingPair(proxy0, proxy1, dispatcher);
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}
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}
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}
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}
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}
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}
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public OverlappingPairCache getOverlappingPairCache() {
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return pairCache;
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}
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public void getBroadphaseAabb(Vector3f aabbMin, Vector3f aabbMax) {
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aabbMin.set(-1e30f, -1e30f, -1e30f);
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aabbMax.set(1e30f, 1e30f, 1e30f);
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}
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public void printStats() {
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// System.out.printf("btSimpleBroadphase.h\n");
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// System.out.printf("numHandles = %d, maxHandles = %d\n", /*numHandles*/ handles.size(), maxHandles);
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}
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}
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