The internal templace class btAxisSweep3Internal implements the sweep and prune broadphase. More...

#include <btAxisSweep3.h>

Inheritance diagram for btAxisSweep3Internal< BP_FP_INT_TYPE >:

Collaboration diagram for btAxisSweep3Internal< BP_FP_INT_TYPE >:

Classes
class	Edge

class	Handle

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btAxisSweep3Internal (const btVector3 &worldAabbMin, const btVector3 &worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles=16384, btOverlappingPairCache *pairCache=0, bool disableRaycastAccelerator=false)

virtual	~btAxisSweep3Internal ()

BP_FP_INT_TYPE	getNumHandles () const

virtual void	calculateOverlappingPairs (btDispatcher *dispatcher)
	calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb More...

BP_FP_INT_TYPE	addHandle (const btVector3 &aabbMin, const btVector3 &aabbMax, void pOwner, short int collisionFilterGroup, short int collisionFilterMask, btDispatcher dispatcher, void *multiSapProxy)

void	removeHandle (BP_FP_INT_TYPE handle, btDispatcher *dispatcher)

void	updateHandle (BP_FP_INT_TYPE handle, const btVector3 &aabbMin, const btVector3 &aabbMax, btDispatcher *dispatcher)

Handle *	getHandle (BP_FP_INT_TYPE index) const

virtual void	resetPool (btDispatcher *dispatcher)
	reset broadphase internal structures, to ensure determinism/reproducability More...

void	processAllOverlappingPairs (btOverlapCallback *callback)

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	setAabb (btBroadphaseProxy proxy, const btVector3 &aabbMin, const btVector3 &aabbMax, btDispatcher dispatcher)

virtual void	getAabb (btBroadphaseProxy *proxy, btVector3 &aabbMin, btVector3 &aabbMax) const

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	aabbTest (const btVector3 &aabbMin, const btVector3 &aabbMax, btBroadphaseAabbCallback &callback)

void	quantize (BP_FP_INT_TYPE *out, const btVector3 &point, int isMax) const

void	unQuantize (btBroadphaseProxy *proxy, btVector3 &aabbMin, btVector3 &aabbMax) const
	unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result More...

bool	testAabbOverlap (btBroadphaseProxy proxy0, btBroadphaseProxy proxy1)

btOverlappingPairCache *	getOverlappingPairCache ()

const btOverlappingPairCache *	getOverlappingPairCache () const

void	setOverlappingPairUserCallback (btOverlappingPairCallback *pairCallback)

const btOverlappingPairCallback *	getOverlappingPairUserCallback () const

virtual void	getBroadphaseAabb (btVector3 &aabbMin, btVector3 &aabbMax) const
	getAabb returns the axis aligned bounding box in the 'global' coordinate frame will add some transform later More...

virtual void	printStats ()

Public Member Functions inherited from btBroadphaseInterface
virtual	~btBroadphaseInterface ()

Protected Member Functions
BP_FP_INT_TYPE	allocHandle ()

void	freeHandle (BP_FP_INT_TYPE handle)

bool	testOverlap2D (const Handle pHandleA, const Handle pHandleB, int axis0, int axis1)

void	sortMinDown (int axis, BP_FP_INT_TYPE edge, btDispatcher *dispatcher, bool updateOverlaps)

void	sortMinUp (int axis, BP_FP_INT_TYPE edge, btDispatcher *dispatcher, bool updateOverlaps)

void	sortMaxDown (int axis, BP_FP_INT_TYPE edge, btDispatcher *dispatcher, bool updateOverlaps)

void	sortMaxUp (int axis, BP_FP_INT_TYPE edge, btDispatcher *dispatcher, bool updateOverlaps)

Protected Attributes
BP_FP_INT_TYPE	m_bpHandleMask

BP_FP_INT_TYPE	m_handleSentinel

btVector3	m_worldAabbMin

btVector3	m_worldAabbMax

btVector3	m_quantize

BP_FP_INT_TYPE	m_numHandles

BP_FP_INT_TYPE	m_maxHandles

Handle *	m_pHandles

BP_FP_INT_TYPE	m_firstFreeHandle

Edge *	m_pEdges [3]

void *	m_pEdgesRawPtr [3]

btOverlappingPairCache *	m_pairCache

btOverlappingPairCallback *	m_userPairCallback
	btOverlappingPairCallback is an additional optional user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache. More...

bool	m_ownsPairCache

int	m_invalidPair

btDbvtBroadphase *	m_raycastAccelerator
	additional dynamic aabb structure, used to accelerate ray cast queries. More...

btOverlappingPairCache *	m_nullPairCache

Detailed Description

template<typename BP_FP_INT_TYPE>
class btAxisSweep3Internal< BP_FP_INT_TYPE >

The internal templace class btAxisSweep3Internal implements the sweep and prune broadphase.

It uses quantized integers to represent the begin and end points for each of the 3 axis. Dont use this class directly, use btAxisSweep3 or bt32BitAxisSweep3 instead.

Definition at line 36 of file btAxisSweep3.h.

Constructor & Destructor Documentation

template<typename BP_FP_INT_TYPE>

btAxisSweep3Internal< BP_FP_INT_TYPE >::btAxisSweep3Internal	(	const btVector3 &	worldAabbMin,
		const btVector3 &	worldAabbMax,
		BP_FP_INT_TYPE	handleMask,
		BP_FP_INT_TYPE	handleSentinel,
		BP_FP_INT_TYPE	maxHandles = `16384`,
		btOverlappingPairCache *	pairCache = `0`,
		bool	disableRaycastAccelerator = `false`
	)

Definition at line 352 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE >

btAxisSweep3Internal< BP_FP_INT_TYPE >::~btAxisSweep3Internal ( )

virtual

Definition at line 435 of file btAxisSweep3.h.

Member Function Documentation

template<typename BP_FP_INT_TYPE >

void btAxisSweep3Internal< BP_FP_INT_TYPE >::aabbTest	(	const btVector3 &	aabbMin,
		const btVector3 &	aabbMax,
		btBroadphaseAabbCallback &	callback
	)

virtual

Implements btBroadphaseInterface.

Definition at line 291 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE >

BP_FP_INT_TYPE btAxisSweep3Internal< BP_FP_INT_TYPE >::addHandle	(	const btVector3 &	aabbMin,
		const btVector3 &	aabbMax,
		void *	pOwner,
		short int	collisionFilterGroup,
		short int	collisionFilterMask,
		btDispatcher *	dispatcher,
		void *	multiSapProxy
	)

Definition at line 505 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE >

BP_FP_INT_TYPE btAxisSweep3Internal< BP_FP_INT_TYPE >::allocHandle ( )

protected

Definition at line 481 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

btAxisSweep3Internal< BP_FP_INT_TYPE >::BT_DECLARE_ALIGNED_ALLOCATOR ( )

template<typename BP_FP_INT_TYPE >

void btAxisSweep3Internal< BP_FP_INT_TYPE >::calculateOverlappingPairs ( btDispatcher * dispatcher )

virtual

calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb

important to use an AABB test that is consistent with the broadphase

if you don't like to skip the invalid pairs in the array, execute following code:

Implements btBroadphaseInterface.

Definition at line 636 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE >

btBroadphaseProxy * btAxisSweep3Internal< BP_FP_INT_TYPE >::createProxy	(	const btVector3 &	aabbMin,
		const btVector3 &	aabbMax,
		int	shapeType,
		void *	userPtr,
		short int	collisionFilterGroup,
		short int	collisionFilterMask,
		btDispatcher *	dispatcher,
		void *	multiSapProxy
	)

virtual

Implements btBroadphaseInterface.

Definition at line 231 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE >

void btAxisSweep3Internal< BP_FP_INT_TYPE >::destroyProxy	(	btBroadphaseProxy *	proxy,
		btDispatcher *	dispatcher
	)

virtual

Implements btBroadphaseInterface.

Definition at line 249 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

void btAxisSweep3Internal< BP_FP_INT_TYPE >::freeHandle ( BP_FP_INT_TYPE handle )

protected

Definition at line 493 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE >

void btAxisSweep3Internal< BP_FP_INT_TYPE >::getAabb	(	btBroadphaseProxy *	proxy,
		btVector3 &	aabbMin,
		btVector3 &	aabbMax
	)		const

virtual

Implements btBroadphaseInterface.

Definition at line 318 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

virtual void btAxisSweep3Internal< BP_FP_INT_TYPE >::getBroadphaseAabb	(	btVector3 &	aabbMin,
		btVector3 &	aabbMax
	)		const

inlinevirtual

getAabb returns the axis aligned bounding box in the 'global' coordinate frame will add some transform later

Implements btBroadphaseInterface.

Definition at line 182 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

Handle* btAxisSweep3Internal< BP_FP_INT_TYPE >::getHandle ( BP_FP_INT_TYPE index ) const

inline

Definition at line 140 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

BP_FP_INT_TYPE btAxisSweep3Internal< BP_FP_INT_TYPE >::getNumHandles ( ) const

inline

Definition at line 130 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

btOverlappingPairCache* btAxisSweep3Internal< BP_FP_INT_TYPE >::getOverlappingPairCache ( )

inlinevirtual

Implements btBroadphaseInterface.

Definition at line 162 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

const btOverlappingPairCache* btAxisSweep3Internal< BP_FP_INT_TYPE >::getOverlappingPairCache ( ) const

inlinevirtual

Implements btBroadphaseInterface.

Definition at line 166 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

const btOverlappingPairCallback* btAxisSweep3Internal< BP_FP_INT_TYPE >::getOverlappingPairUserCallback ( ) const

inline

Definition at line 175 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

virtual void btAxisSweep3Internal< BP_FP_INT_TYPE >::printStats ( )

inlinevirtual

Implements btBroadphaseInterface.

Definition at line 188 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

void btAxisSweep3Internal< BP_FP_INT_TYPE >::processAllOverlappingPairs ( btOverlapCallback * callback )

template<typename BP_FP_INT_TYPE>

void btAxisSweep3Internal< BP_FP_INT_TYPE >::quantize	(	BP_FP_INT_TYPE *	out,
		const btVector3 &	point,
		int	isMax
	)		const

Definition at line 459 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE >

void btAxisSweep3Internal< BP_FP_INT_TYPE >::rayTest	(	const btVector3 &	rayFrom,
		const btVector3 &	rayTo,
		btBroadphaseRayCallback &	rayCallback,
		const btVector3 &	aabbMin = `btVector3(0,0,0)`,
		const btVector3 &	aabbMax = `btVector3(0,0,0)`
	)

virtual

Implements btBroadphaseInterface.

Definition at line 270 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

void btAxisSweep3Internal< BP_FP_INT_TYPE >::removeHandle	(	BP_FP_INT_TYPE	handle,
		btDispatcher *	dispatcher
	)

Definition at line 561 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE >

void btAxisSweep3Internal< BP_FP_INT_TYPE >::resetPool ( btDispatcher * dispatcher )

virtual

reset broadphase internal structures, to ensure determinism/reproducability

Reimplemented from btBroadphaseInterface.

Definition at line 618 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE >

void btAxisSweep3Internal< BP_FP_INT_TYPE >::setAabb	(	btBroadphaseProxy *	proxy,
		const btVector3 &	aabbMin,
		const btVector3 &	aabbMax,
		btDispatcher *	dispatcher
	)

virtual

Implements btBroadphaseInterface.

Definition at line 258 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

void btAxisSweep3Internal< BP_FP_INT_TYPE >::setOverlappingPairUserCallback ( btOverlappingPairCallback * pairCallback )

inline

Definition at line 171 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

void btAxisSweep3Internal< BP_FP_INT_TYPE >::sortMaxDown	(	int	axis,
		BP_FP_INT_TYPE	edge,
		btDispatcher *	dispatcher,
		bool	updateOverlaps
	)

protected

Definition at line 915 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

void btAxisSweep3Internal< BP_FP_INT_TYPE >::sortMaxUp	(	int	axis,
		BP_FP_INT_TYPE	edge,
		btDispatcher *	dispatcher,
		bool	updateOverlaps
	)

protected

Definition at line 978 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

void btAxisSweep3Internal< BP_FP_INT_TYPE >::sortMinDown	(	int	axis,
		BP_FP_INT_TYPE	edge,
		btDispatcher *	dispatcher,
		bool	updateOverlaps
	)

protected

Definition at line 807 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

void btAxisSweep3Internal< BP_FP_INT_TYPE >::sortMinUp	(	int	axis,
		BP_FP_INT_TYPE	edge,
		btDispatcher *	dispatcher,
		bool	updateOverlaps
	)

protected

Definition at line 859 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE >

bool btAxisSweep3Internal< BP_FP_INT_TYPE >::testAabbOverlap	(	btBroadphaseProxy *	proxy0,
		btBroadphaseProxy *	proxy1
	)

Definition at line 722 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE >

bool btAxisSweep3Internal< BP_FP_INT_TYPE >::testOverlap2D	(	const Handle *	pHandleA,
		const Handle *	pHandleB,
		int	axis0,
		int	axis1
	)

protected

Definition at line 741 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE >

void btAxisSweep3Internal< BP_FP_INT_TYPE >::unQuantize	(	btBroadphaseProxy *	proxy,
		btVector3 &	aabbMin,
		btVector3 &	aabbMax
	)		const

unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result

Definition at line 327 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

void btAxisSweep3Internal< BP_FP_INT_TYPE >::updateHandle	(	BP_FP_INT_TYPE	handle,
		const btVector3 &	aabbMin,
		const btVector3 &	aabbMax,
		btDispatcher *	dispatcher
	)

Definition at line 756 of file btAxisSweep3.h.

Member Data Documentation

template<typename BP_FP_INT_TYPE>

BP_FP_INT_TYPE btAxisSweep3Internal< BP_FP_INT_TYPE >::m_bpHandleMask

protected

Definition at line 40 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

BP_FP_INT_TYPE btAxisSweep3Internal< BP_FP_INT_TYPE >::m_firstFreeHandle

protected

Definition at line 83 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

BP_FP_INT_TYPE btAxisSweep3Internal< BP_FP_INT_TYPE >::m_handleSentinel

protected

Definition at line 41 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

int btAxisSweep3Internal< BP_FP_INT_TYPE >::m_invalidPair

protected

Definition at line 95 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

BP_FP_INT_TYPE btAxisSweep3Internal< BP_FP_INT_TYPE >::m_maxHandles

protected

Definition at line 80 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

btOverlappingPairCache* btAxisSweep3Internal< BP_FP_INT_TYPE >::m_nullPairCache

protected

Definition at line 100 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

BP_FP_INT_TYPE btAxisSweep3Internal< BP_FP_INT_TYPE >::m_numHandles

protected

Definition at line 79 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

bool btAxisSweep3Internal< BP_FP_INT_TYPE >::m_ownsPairCache

protected

Definition at line 93 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

btOverlappingPairCache* btAxisSweep3Internal< BP_FP_INT_TYPE >::m_pairCache

protected

Definition at line 88 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

Edge* btAxisSweep3Internal< BP_FP_INT_TYPE >::m_pEdges[3]

protected

Definition at line 85 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

void* btAxisSweep3Internal< BP_FP_INT_TYPE >::m_pEdgesRawPtr[3]

protected

Definition at line 86 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

Handle* btAxisSweep3Internal< BP_FP_INT_TYPE >::m_pHandles

protected

Definition at line 81 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

btVector3 btAxisSweep3Internal< BP_FP_INT_TYPE >::m_quantize

protected

Definition at line 77 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

btDbvtBroadphase* btAxisSweep3Internal< BP_FP_INT_TYPE >::m_raycastAccelerator

protected

additional dynamic aabb structure, used to accelerate ray cast queries.

can be disabled using a optional argument in the constructor

Definition at line 99 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

btOverlappingPairCallback* btAxisSweep3Internal< BP_FP_INT_TYPE >::m_userPairCallback

protected

btOverlappingPairCallback is an additional optional user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache.

Definition at line 91 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

btVector3 btAxisSweep3Internal< BP_FP_INT_TYPE >::m_worldAabbMax

protected

Definition at line 75 of file btAxisSweep3.h.

template<typename BP_FP_INT_TYPE>

btVector3 btAxisSweep3Internal< BP_FP_INT_TYPE >::m_worldAabbMin

protected

Definition at line 74 of file btAxisSweep3.h.

The documentation for this class was generated from the following file:

btAxisSweep3.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename BP_FP_INT_TYPE> class btAxisSweep3Internal< BP_FP_INT_TYPE >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename BP_FP_INT_TYPE>
class btAxisSweep3Internal< BP_FP_INT_TYPE >