btGpu3DGridBroadphase.h

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/*
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
Copyright (C) 2006, 2009 Sony Computer Entertainment Inc. 

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.
*/

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#ifndef BTGPU3DGRIDBROADPHASE_H
#define BTGPU3DGRIDBROADPHASE_H

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#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"

#include "btGpu3DGridBroadphaseSharedTypes.h"

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class btGpu3DGridBroadphase : public btSimpleBroadphase
{
protected:
        bool                    m_bInitialized;
    unsigned int        m_numBodies;
    unsigned int        m_numCells;
        unsigned int    m_maxPairsPerBody;
        btScalar                m_cellFactorAABB;
    unsigned int        m_maxBodiesPerCell;
        bt3DGridBroadphaseParams m_params;
        btScalar                m_maxRadius;
        // CPU data
    unsigned int*       m_hBodiesHash;
    unsigned int*       m_hCellStart;
        unsigned int*   m_hPairBuffStartCurr;
        bt3DGrid3F1U*           m_hAABB;
        unsigned int*   m_hPairBuff;
        unsigned int*   m_hPairScan;
        unsigned int*   m_hPairOut;
// large proxies
        int             m_numLargeHandles;                                              
        int             m_maxLargeHandles;                                              
        int             m_LastLargeHandleIndex;                                                 
        btSimpleBroadphaseProxy* m_pLargeHandles;
        void* m_pLargeHandlesRawPtr;
        int             m_firstFreeLargeHandle;
        int allocLargeHandle()
        {
                btAssert(m_numLargeHandles < m_maxLargeHandles);
                int freeLargeHandle = m_firstFreeLargeHandle;
                m_firstFreeLargeHandle = m_pLargeHandles[freeLargeHandle].GetNextFree();
                m_numLargeHandles++;
                if(freeLargeHandle > m_LastLargeHandleIndex)
                {
                        m_LastLargeHandleIndex = freeLargeHandle;
                }
                return freeLargeHandle;
        }
        void freeLargeHandle(btSimpleBroadphaseProxy* proxy)
        {
                int handle = int(proxy - m_pLargeHandles);
                btAssert((handle >= 0) && (handle < m_maxHandles));
                if(handle == m_LastLargeHandleIndex)
                {
                        m_LastLargeHandleIndex--;
                }
                proxy->SetNextFree(m_firstFreeLargeHandle);
                m_firstFreeLargeHandle = handle;
                proxy->m_clientObject = 0;
                m_numLargeHandles--;
        }
        bool isLargeProxy(const btVector3& aabbMin,  const btVector3& aabbMax);
        bool isLargeProxy(btBroadphaseProxy* proxy);
// debug
        unsigned int    m_numPairsAdded;
        unsigned int    m_numPairsRemoved;
        unsigned int    m_numOverflows;
// 
public:
        btGpu3DGridBroadphase(const btVector3& worldAabbMin,const btVector3& worldAabbMax, 
                                           int gridSizeX, int gridSizeY, int gridSizeZ, 
                                           int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
                                           int maxBodiesPerCell = 8,
                                           btScalar cellFactorAABB = btScalar(1.0f));
        btGpu3DGridBroadphase(  btOverlappingPairCache* overlappingPairCache,
                                                const btVector3& worldAabbMin,const btVector3& worldAabbMax, 
                                                int gridSizeX, int gridSizeY, int gridSizeZ, 
                                                int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
                                                int maxBodiesPerCell = 8,
                                                btScalar cellFactorAABB = btScalar(1.0f));
        virtual ~btGpu3DGridBroadphase();
        virtual void    calculateOverlappingPairs(btDispatcher* dispatcher);

        virtual 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    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    resetPool(btDispatcher* dispatcher);

protected:
        void _initialize(       const btVector3& worldAabbMin,const btVector3& worldAabbMax, 
                                                int gridSizeX, int gridSizeY, int gridSizeZ, 
                                                int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
                                                int maxBodiesPerCell = 8,
                                                btScalar cellFactorAABB = btScalar(1.0f));
        void _finalize();
        void addPairsToCache(btDispatcher* dispatcher);
        void addLarge2LargePairsToCache(btDispatcher* dispatcher);

// overrides for CPU version
        virtual void setParameters(bt3DGridBroadphaseParams* hostParams);
        virtual void prepareAABB();
        virtual void calcHashAABB();
        virtual void sortHash();        
        virtual void findCellStart();
        virtual void findOverlappingPairs();
        virtual void findPairsLarge();
        virtual void computePairCacheChanges();
        virtual void scanOverlappingPairBuff();
        virtual void squeezeOverlappingPairBuff();
};

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#endif //BTGPU3DGRIDBROADPHASE_H

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