Box2D: /build/box2d/src/box2d-2.4.1/include/box2d/b2_broad_phase.h Source File

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b2_broad_phase.h
1// MIT License
2
3// Copyright (c) 2019 Erin Catto
4
5// Permission is hereby granted, free of charge, to any person obtaining a copy
6// of this software and associated documentation files (the "Software"), to deal
7// in the Software without restriction, including without limitation the rights
8// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
9// copies of the Software, and to permit persons to whom the Software is
10// furnished to do so, subject to the following conditions:
11
12// The above copyright notice and this permission notice shall be included in all
13// copies or substantial portions of the Software.
14
15// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21// SOFTWARE.
22
23#ifndef B2_BROAD_PHASE_H
24#define B2_BROAD_PHASE_H
25
26#include "b2_api.h"
27#include "b2_settings.h"
28#include "b2_collision.h"
29#include "b2_dynamic_tree.h"
30
31 struct B2_API b2Pair
32{
33 int32 proxyIdA;
34 int32 proxyIdB;
35};
36
40 class B2_API b2BroadPhase
41{
42public:
43
44 enum
45 {
46 e_nullProxy = -1
47 };
48
49 b2BroadPhase();
50 ~b2BroadPhase();
51
54 int32 CreateProxy(const b2AABB& aabb, void* userData);
55
57 void DestroyProxy(int32 proxyId);
58
61 void MoveProxy(int32 proxyId, const b2AABB& aabb, const b2Vec2& displacement);
62
64 void TouchProxy(int32 proxyId);
65
67 const b2AABB& GetFatAABB(int32 proxyId) const;
68
70 void* GetUserData(int32 proxyId) const;
71
73 bool TestOverlap(int32 proxyIdA, int32 proxyIdB) const;
74
76 int32 GetProxyCount() const;
77
79 template <typename T>
80 void UpdatePairs(T* callback);
81
84 template <typename T>
85 void Query(T* callback, const b2AABB& aabb) const;
86
94 template <typename T>
95 void RayCast(T* callback, const b2RayCastInput& input) const;
96
98 int32 GetTreeHeight() const;
99
101 int32 GetTreeBalance() const;
102
104 float GetTreeQuality() const;
105
109 void ShiftOrigin(const b2Vec2& newOrigin);
110
111private:
112
113 friend class b2DynamicTree;
114
115 void BufferMove(int32 proxyId);
116 void UnBufferMove(int32 proxyId);
117
118 bool QueryCallback(int32 proxyId);
119
120 b2DynamicTree m_tree;
121
122 int32 m_proxyCount;
123
124 int32* m_moveBuffer;
125 int32 m_moveCapacity;
126 int32 m_moveCount;
127
128 b2Pair* m_pairBuffer;
129 int32 m_pairCapacity;
130 int32 m_pairCount;
131
132 int32 m_queryProxyId;
133};
134
135 inline void* b2BroadPhase::GetUserData(int32 proxyId) const
136{
137 return m_tree.GetUserData(proxyId);
138}
139
140 inline bool b2BroadPhase::TestOverlap(int32 proxyIdA, int32 proxyIdB) const
141{
142 const b2AABB& aabbA = m_tree.GetFatAABB(proxyIdA);
143 const b2AABB& aabbB = m_tree.GetFatAABB(proxyIdB);
144 return b2TestOverlap(aabbA, aabbB);
145}
146
147 inline const b2AABB& b2BroadPhase::GetFatAABB(int32 proxyId) const
148{
149 return m_tree.GetFatAABB(proxyId);
150}
151
152 inline int32 b2BroadPhase::GetProxyCount() const
153{
154 return m_proxyCount;
155}
156
157 inline int32 b2BroadPhase::GetTreeHeight() const
158{
159 return m_tree.GetHeight();
160}
161
162 inline int32 b2BroadPhase::GetTreeBalance() const
163{
164 return m_tree.GetMaxBalance();
165}
166
167 inline float b2BroadPhase::GetTreeQuality() const
168{
169 return m_tree.GetAreaRatio();
170}
171
172template <typename T>
173 void b2BroadPhase::UpdatePairs(T* callback)
174{
175 // Reset pair buffer
176 m_pairCount = 0;
177
178 // Perform tree queries for all moving proxies.
179 for (int32 i = 0; i < m_moveCount; ++i)
180 {
181 m_queryProxyId = m_moveBuffer[i];
182 if (m_queryProxyId == e_nullProxy)
183 {
184 continue;
185 }
186
187 // We have to query the tree with the fat AABB so that
188 // we don't fail to create a pair that may touch later.
189 const b2AABB& fatAABB = m_tree.GetFatAABB(m_queryProxyId);
190
191 // Query tree, create pairs and add them pair buffer.
192 m_tree.Query(this, fatAABB);
193 }
194
195 // Send pairs to caller
196 for (int32 i = 0; i < m_pairCount; ++i)
197 {
198 b2Pair* primaryPair = m_pairBuffer + i;
199 void* userDataA = m_tree.GetUserData(primaryPair->proxyIdA);
200 void* userDataB = m_tree.GetUserData(primaryPair->proxyIdB);
201
202 callback->AddPair(userDataA, userDataB);
203 }
204
205 // Clear move flags
206 for (int32 i = 0; i < m_moveCount; ++i)
207 {
208 int32 proxyId = m_moveBuffer[i];
209 if (proxyId == e_nullProxy)
210 {
211 continue;
212 }
213
214 m_tree.ClearMoved(proxyId);
215 }
216
217 // Reset move buffer
218 m_moveCount = 0;
219}
220
221template <typename T>
222 inline void b2BroadPhase::Query(T* callback, const b2AABB& aabb) const
223{
224 m_tree.Query(callback, aabb);
225}
226
227template <typename T>
228 inline void b2BroadPhase::RayCast(T* callback, const b2RayCastInput& input) const
229{
230 m_tree.RayCast(callback, input);
231}
232
233 inline void b2BroadPhase::ShiftOrigin(const b2Vec2& newOrigin)
234{
235 m_tree.ShiftOrigin(newOrigin);
236}
237
238#endif
b2_collision.h
b2TestOverlap
B2_API bool b2TestOverlap(const b2Shape *shapeA, int32 indexA, const b2Shape *shapeB, int32 indexB, const b2Transform &xfA, const b2Transform &xfB)
Determine if two generic shapes overlap.
b2_settings.h
b2BroadPhase
Definition b2_broad_phase.h:41
b2BroadPhase::MoveProxy
void MoveProxy(int32 proxyId, const b2AABB &aabb, const b2Vec2 &displacement)
b2BroadPhase::UpdatePairs
void UpdatePairs(T *callback)
Update the pairs. This results in pair callbacks. This can only add pairs.
Definition b2_broad_phase.h:173
b2BroadPhase::Query
void Query(T *callback, const b2AABB &aabb) const
Definition b2_broad_phase.h:222
b2BroadPhase::TestOverlap
bool TestOverlap(int32 proxyIdA, int32 proxyIdB) const
Test overlap of fat AABBs.
Definition b2_broad_phase.h:140
b2BroadPhase::GetTreeBalance
int32 GetTreeBalance() const
Get the balance of the embedded tree.
Definition b2_broad_phase.h:162
b2BroadPhase::GetUserData
void * GetUserData(int32 proxyId) const
Get user data from a proxy. Returns nullptr if the id is invalid.
Definition b2_broad_phase.h:135
b2BroadPhase::ShiftOrigin
void ShiftOrigin(const b2Vec2 &newOrigin)
Definition b2_broad_phase.h:233
b2BroadPhase::TouchProxy
void TouchProxy(int32 proxyId)
Call to trigger a re-processing of it's pairs on the next call to UpdatePairs.
b2BroadPhase::DestroyProxy
void DestroyProxy(int32 proxyId)
Destroy a proxy. It is up to the client to remove any pairs.
b2BroadPhase::GetTreeHeight
int32 GetTreeHeight() const
Get the height of the embedded tree.
Definition b2_broad_phase.h:157
b2BroadPhase::GetProxyCount
int32 GetProxyCount() const
Get the number of proxies.
Definition b2_broad_phase.h:152
b2BroadPhase::GetTreeQuality
float GetTreeQuality() const
Get the quality metric of the embedded tree.
Definition b2_broad_phase.h:167
b2BroadPhase::CreateProxy
int32 CreateProxy(const b2AABB &aabb, void *userData)
b2BroadPhase::RayCast
void RayCast(T *callback, const b2RayCastInput &input) const
Definition b2_broad_phase.h:228
b2BroadPhase::GetFatAABB
const b2AABB & GetFatAABB(int32 proxyId) const
Get the fat AABB for a proxy.
Definition b2_broad_phase.h:147
b2DynamicTree
Definition b2_dynamic_tree.h:69
b2DynamicTree::GetAreaRatio
float GetAreaRatio() const
Get the ratio of the sum of the node areas to the root area.
b2DynamicTree::Query
void Query(T *callback, const b2AABB &aabb) const
Definition b2_dynamic_tree.h:188
b2DynamicTree::GetMaxBalance
int32 GetMaxBalance() const
b2DynamicTree::GetFatAABB
const b2AABB & GetFatAABB(int32 proxyId) const
Get the fat AABB for a proxy.
Definition b2_dynamic_tree.h:181
b2DynamicTree::GetUserData
void * GetUserData(int32 proxyId) const
Definition b2_dynamic_tree.h:163
b2DynamicTree::GetHeight
int32 GetHeight() const
b2DynamicTree::RayCast
void RayCast(T *callback, const b2RayCastInput &input) const
Definition b2_dynamic_tree.h:223
b2DynamicTree::ShiftOrigin
void ShiftOrigin(const b2Vec2 &newOrigin)
b2AABB
An axis aligned bounding box.
Definition b2_collision.h:169
b2Pair
Definition b2_broad_phase.h:32
b2RayCastInput
Ray-cast input data. The ray extends from p1 to p1 + maxFraction * (p2 - p1).
Definition b2_collision.h:154
b2Vec2
A 2D column vector.
Definition b2_math.h:42