reactphysics3d/include/reactphysics3d/systems/BroadPhaseSystem.h
2020-09-05 15:06:51 +02:00

242 lines
9.3 KiB
C++

/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
* Copyright (c) 2010-2020 Daniel Chappuis *
*********************************************************************************
* *
* 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. *
* *
********************************************************************************/
#ifndef REACTPHYSICS3D_BROAD_PHASE_ALGORITHM_H
#define REACTPHYSICS3D_BROAD_PHASE_ALGORITHM_H
// Libraries
#include <reactphysics3d/collision/broadphase/DynamicAABBTree.h>
#include <reactphysics3d/containers/LinkedList.h>
#include <reactphysics3d/containers/Set.h>
#include <reactphysics3d/components/ColliderComponents.h>
#include <reactphysics3d/components/TransformComponents.h>
#include <reactphysics3d/components/RigidBodyComponents.h>
#include <cstring>
/// Namespace ReactPhysics3D
namespace reactphysics3d {
// Declarations
class CollisionDetectionSystem;
class BroadPhaseSystem;
class CollisionBody;
class Collider;
class MemoryManager;
class Profiler;
// class AABBOverlapCallback
class AABBOverlapCallback : public DynamicAABBTreeOverlapCallback {
public:
Array<int>& mOverlappingNodes;
// Constructor
AABBOverlapCallback(Array<int>& overlappingNodes) : mOverlappingNodes(overlappingNodes) {
}
// Called when a overlapping node has been found during the call to
// DynamicAABBTree:reportAllShapesOverlappingWithAABB()
virtual void notifyOverlappingNode(int nodeId) override;
};
// Class BroadPhaseRaycastCallback
/**
* Callback called when the AABB of a leaf node is hit by a ray the
* broad-phase Dynamic AABB Tree.
*/
class BroadPhaseRaycastCallback : public DynamicAABBTreeRaycastCallback {
private :
const DynamicAABBTree& mDynamicAABBTree;
unsigned short mRaycastWithCategoryMaskBits;
RaycastTest& mRaycastTest;
public:
// Constructor
BroadPhaseRaycastCallback(const DynamicAABBTree& dynamicAABBTree, unsigned short raycastWithCategoryMaskBits,
RaycastTest& raycastTest)
: mDynamicAABBTree(dynamicAABBTree), mRaycastWithCategoryMaskBits(raycastWithCategoryMaskBits),
mRaycastTest(raycastTest) {
}
// Destructor
virtual ~BroadPhaseRaycastCallback() override = default;
// Called for a broad-phase shape that has to be tested for raycast
virtual decimal raycastBroadPhaseShape(int32 nodeId, const Ray& ray) override;
};
// Class BroadPhaseSystem
/**
* This class represents the broad-phase collision detection. The
* goal of the broad-phase collision detection is to compute the pairs of colliders
* that have their AABBs overlapping. Only those pairs of bodies will be tested
* later for collision during the narrow-phase collision detection. A dynamic AABB
* tree data structure is used for fast broad-phase collision detection.
*/
class BroadPhaseSystem {
protected :
// -------------------- Attributes -------------------- //
/// Dynamic AABB tree
DynamicAABBTree mDynamicAABBTree;
/// Reference to the colliders components
ColliderComponents& mCollidersComponents;
/// Reference to the transform components
TransformComponents& mTransformsComponents;
/// Reference to the rigid body components
RigidBodyComponents& mRigidBodyComponents;
/// Set with the broad-phase IDs of all collision shapes that have moved (or have been
/// created) during the last simulation step. Those are the shapes that need to be tested
/// for overlapping in the next simulation step.
Set<int> mMovedShapes;
/// Reference to the collision detection object
CollisionDetectionSystem& mCollisionDetection;
#ifdef IS_RP3D_PROFILING_ENABLED
/// Pointer to the profiler
Profiler* mProfiler;
#endif
// -------------------- Methods -------------------- //
/// Notify the Dynamic AABB tree that a collider needs to be updated
void updateColliderInternal(int32 broadPhaseId, Collider* collider, const AABB& aabb,
bool forceReInsert);
/// Update the broad-phase state of some colliders components
void updateCollidersComponents(uint32 startIndex, uint32 nbItems, decimal timeStep);
public :
// -------------------- Methods -------------------- //
/// Constructor
BroadPhaseSystem(CollisionDetectionSystem& collisionDetection, ColliderComponents& collidersComponents,
TransformComponents& transformComponents, RigidBodyComponents& rigidBodyComponents);
/// Destructor
~BroadPhaseSystem() = default;
/// Deleted copy-constructor
BroadPhaseSystem(const BroadPhaseSystem& algorithm) = delete;
/// Deleted assignment operator
BroadPhaseSystem& operator=(const BroadPhaseSystem& algorithm) = delete;
/// Add a collider into the broad-phase collision detection
void addCollider(Collider* collider, const AABB& aabb);
/// Remove a collider from the broad-phase collision detection
void removeCollider(Collider* collider);
/// Update the broad-phase state of a single collider
void updateCollider(Entity colliderEntity, decimal timeStep);
/// Update the broad-phase state of all the enabled colliders
void updateColliders(decimal timeStep);
/// Add a collider in the array of colliders that have moved in the last simulation step
/// and that need to be tested again for broad-phase overlapping.
void addMovedCollider(int broadPhaseID, Collider* collider);
/// Remove a collider from the array of colliders that have moved in the last simulation
/// step and that need to be tested again for broad-phase overlapping.
void removeMovedCollider(int broadPhaseID);
/// Compute all the overlapping pairs of collision shapes
void computeOverlappingPairs(MemoryManager& memoryManager, Array<Pair<int32, int32>>& overlappingNodes);
/// Return the collider corresponding to the broad-phase node id in parameter
Collider* getColliderForBroadPhaseId(int broadPhaseId) const;
/// Return true if the two broad-phase collision shapes are overlapping
bool testOverlappingShapes(int32 shape1BroadPhaseId, int32 shape2BroadPhaseId) const;
/// Return the fat AABB of a given broad-phase shape
const AABB& getFatAABB(int broadPhaseId) const;
/// Ray casting method
void raycast(const Ray& ray, RaycastTest& raycastTest, unsigned short raycastWithCategoryMaskBits) const;
#ifdef IS_RP3D_PROFILING_ENABLED
/// Set the profiler
void setProfiler(Profiler* profiler);
#endif
};
// Return the fat AABB of a given broad-phase shape
RP3D_FORCE_INLINE const AABB& BroadPhaseSystem::getFatAABB(int broadPhaseId) const {
return mDynamicAABBTree.getFatAABB(broadPhaseId);
}
// Remove a collider from the array of colliders that have moved in the last simulation step
// and that need to be tested again for broad-phase overlapping.
RP3D_FORCE_INLINE void BroadPhaseSystem::removeMovedCollider(int broadPhaseID) {
// Remove the broad-phase ID from the set
mMovedShapes.remove(broadPhaseID);
}
// Return the collider corresponding to the broad-phase node id in parameter
RP3D_FORCE_INLINE Collider* BroadPhaseSystem::getColliderForBroadPhaseId(int broadPhaseId) const {
return static_cast<Collider*>(mDynamicAABBTree.getNodeDataPointer(broadPhaseId));
}
#ifdef IS_RP3D_PROFILING_ENABLED
// Set the profiler
RP3D_FORCE_INLINE void BroadPhaseSystem::setProfiler(Profiler* profiler) {
mProfiler = profiler;
mDynamicAABBTree.setProfiler(profiler);
}
#endif
}
#endif