852b923c21
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@391 92aac97c-a6ce-11dd-a772-7fcde58d38e6
83 lines
4.8 KiB
C++
83 lines
4.8 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010 Daniel Chappuis *
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*********************************************************************************
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* *
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* Permission is hereby granted, free of charge, to any person obtaining a copy *
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* of this software and associated documentation files (the "Software"), to deal *
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* in the Software without restriction, including without limitation the rights *
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
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* copies of the Software, and to permit persons to whom the Software is *
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* furnished to do so, subject to the following conditions: *
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* *
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* The above copyright notice and this permission notice shall be included in *
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* all copies or substantial portions of the Software. *
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* *
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
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* THE SOFTWARE. *
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********************************************************************************/
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#ifndef SAPALGORITHM_H
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#define SAPALGORITHM_H
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// Libraries
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#include "BroadPhaseAlgorithm.h"
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#include "../body/AABB.h"
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// Namespace ReactPhysics3D
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namespace reactphysics3d {
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/* --------------------------------------------------------------------
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Class SAPAlgorithm :
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This class implements the Sweep and Prune (SAP) broad-phase
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algorithm. This algorithm uses the AABB bounding-volume of the
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bodies and keep a sorted representation of the intervals of the
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bodies' AABB on the three x. y and z axis. Given this sorted
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representation, we can efficiently compute the set of possible
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colliding pairs of bodies. At each broad-phase computation, we
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should sort the AABB according to the axis (x, y or z) with the
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largest variance of the AABBs positions in order that the sorted
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AABB's set does not change a lot between each computations. To do
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so, we compute at each time the variance of each axis and select
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the axis (sortAxis) with the largest variance for the next
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broad-phase computation.
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--------------------------------------------------------------------
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*/
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class SAPAlgorithm : public BroadPhaseAlgorithm {
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protected :
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std::vector<const AABB*> sortedAABBs; // Sorted set of AABB of the bodies on one of the x.y or z axis
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static unsigned short int sortAxis; // Current sorting axis (0 for x, 1 for y, 2 for z axis)
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static bool compareAABBs(const AABB* a, const AABB* b); // Static method that compare two AABBs (in order to sort them)
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void removeBodiesAABB(std::vector<Body*> bodies); // Remove the AABB representation of a given set of bodies from the sortedAABBs set
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void addBodiesAABB(std::vector<Body*> bodies); // Add the AABB representation of a given set of bodies in the sortedAABBs set
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public :
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SAPAlgorithm(); // Constructor
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virtual ~SAPAlgorithm(); // Destructor
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virtual void computePossibleCollisionPairs(std::vector<Body*> addedBodies, std::vector<Body*> removedBodies,
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std::vector<std::pair<const Body*, const Body* > >& possibleCollisionPairs); // Compute the possible collision pairs of bodies
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};
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// Static method that compare two AABBs. This method will be used to compare to AABBs
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// in order to sort them with the sort() function to obtain the sortedAABBs set.
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// This method must return true if the AABB "a" goes before the AABB "b". We
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// consider that "a" goes before "b" if the minimum value of "a" on the current
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// sorting axis (sortAxis) is smaller than the minimum value of "b" on this same
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// axis.
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inline bool SAPAlgorithm::compareAABBs(const AABB* a, const AABB* b) {
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return (a->getMinValueOnAxis(sortAxis) < b->getMinValueOnAxis(sortAxis));
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}
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} // End of reactphysics3d namespace
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#endif
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