The btGpu3DGridBroadphase uses GPU-style code compiled for CPU to compute overlapping pairs. More...

#include <btGpu3DGridBroadphase.h>

Inheritance diagram for btGpu3DGridBroadphase:

Collaboration diagram for btGpu3DGridBroadphase:

Public Member Functions
	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)
	calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb More...

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)
	reset broadphase internal structures, to ensure determinism/reproducability More...

Public Member Functions inherited from btSimpleBroadphase
	btSimpleBroadphase (int maxProxies=16384, btOverlappingPairCache *overlappingPairCache=0)

virtual	~btSimpleBroadphase ()

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

btOverlappingPairCache *	getOverlappingPairCache ()

const btOverlappingPairCache *	getOverlappingPairCache () const

bool	testAabbOverlap (btBroadphaseProxy proxy0, btBroadphaseProxy proxy1)

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
int	allocLargeHandle ()

void	freeLargeHandle (btSimpleBroadphaseProxy *proxy)

bool	isLargeProxy (const btVector3 &aabbMin, const btVector3 &aabbMax)

bool	isLargeProxy (btBroadphaseProxy *proxy)

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)

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 ()

Protected Member Functions inherited from btSimpleBroadphase
int	allocHandle ()

void	freeHandle (btSimpleBroadphaseProxy *proxy)

btSimpleBroadphaseProxy *	getSimpleProxyFromProxy (btBroadphaseProxy *proxy)

const btSimpleBroadphaseProxy *	getSimpleProxyFromProxy (btBroadphaseProxy *proxy) const

void	validate ()

Protected Attributes
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

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

int	m_numLargeHandles

int	m_maxLargeHandles

int	m_LastLargeHandleIndex

btSimpleBroadphaseProxy *	m_pLargeHandles

void *	m_pLargeHandlesRawPtr

int	m_firstFreeLargeHandle

unsigned int	m_numPairsAdded

unsigned int	m_numPairsRemoved

unsigned int	m_numOverflows

Protected Attributes inherited from btSimpleBroadphase
int	m_numHandles

int	m_maxHandles

int	m_LastHandleIndex

btSimpleBroadphaseProxy *	m_pHandles

void *	m_pHandlesRawPtr

int	m_firstFreeHandle

btOverlappingPairCache *	m_pairCache

bool	m_ownsPairCache

int	m_invalidPair

Additional Inherited Members
Static Public Member Functions inherited from btSimpleBroadphase
static bool	aabbOverlap (btSimpleBroadphaseProxy proxy0, btSimpleBroadphaseProxy proxy1)

Detailed Description

The btGpu3DGridBroadphase uses GPU-style code compiled for CPU to compute overlapping pairs.

Definition at line 31 of file btGpu3DGridBroadphase.h.

Constructor & Destructor Documentation

btGpu3DGridBroadphase::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)`
	)

Definition at line 46 of file btGpu3DGridBroadphase.cpp.

btGpu3DGridBroadphase::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)`
	)

Definition at line 64 of file btGpu3DGridBroadphase.cpp.

btGpu3DGridBroadphase::~btGpu3DGridBroadphase ( )

virtual

Definition at line 81 of file btGpu3DGridBroadphase.cpp.

Member Function Documentation

void btGpu3DGridBroadphase::_finalize ( )

protected

Definition at line 176 of file btGpu3DGridBroadphase.cpp.

void btGpu3DGridBroadphase::_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)`
	)

protected

Definition at line 90 of file btGpu3DGridBroadphase.cpp.

void btGpu3DGridBroadphase::addLarge2LargePairsToCache ( btDispatcher * dispatcher )

protected

Definition at line 348 of file btGpu3DGridBroadphase.cpp.

void btGpu3DGridBroadphase::addPairsToCache ( btDispatcher * dispatcher )

protected

Definition at line 226 of file btGpu3DGridBroadphase.cpp.

int btGpu3DGridBroadphase::allocLargeHandle ( )

inlineprotected

Definition at line 57 of file btGpu3DGridBroadphase.h.

void btGpu3DGridBroadphase::calcHashAABB ( )

protectedvirtual

Definition at line 485 of file btGpu3DGridBroadphase.cpp.

void btGpu3DGridBroadphase::calculateOverlappingPairs ( btDispatcher * dispatcher )

virtual

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

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

Reimplemented from btSimpleBroadphase.

Definition at line 192 of file btGpu3DGridBroadphase.cpp.

void btGpu3DGridBroadphase::computePairCacheChanges ( )

protectedvirtual

Definition at line 556 of file btGpu3DGridBroadphase.cpp.

btBroadphaseProxy * btGpu3DGridBroadphase::createProxy	(	const btVector3 &	aabbMin,
		const btVector3 &	aabbMax,
		int	shapeType,
		void *	userPtr,
		short int	collisionFilterGroup,
		short int	collisionFilterMask,
		btDispatcher *	dispatcher,
		void *	multiSapProxy
	)

virtual

you have to increase the cell size, so 'large' proxies become 'small' proxies (fitting a cell)

Reimplemented from btSimpleBroadphase.

Definition at line 271 of file btGpu3DGridBroadphase.cpp.

void btGpu3DGridBroadphase::destroyProxy	(	btBroadphaseProxy *	proxy,
		btDispatcher *	dispatcher
	)

virtual

Reimplemented from btSimpleBroadphase.

Definition at line 296 of file btGpu3DGridBroadphase.cpp.

void btGpu3DGridBroadphase::findCellStart ( )

protectedvirtual

Definition at line 529 of file btGpu3DGridBroadphase.cpp.

void btGpu3DGridBroadphase::findOverlappingPairs ( )

protectedvirtual

Definition at line 538 of file btGpu3DGridBroadphase.cpp.

void btGpu3DGridBroadphase::findPairsLarge ( )

protectedvirtual

Definition at line 547 of file btGpu3DGridBroadphase.cpp.

void btGpu3DGridBroadphase::freeLargeHandle ( btSimpleBroadphaseProxy * proxy )

inlineprotected

Definition at line 69 of file btGpu3DGridBroadphase.h.

bool btGpu3DGridBroadphase::isLargeProxy	(	const btVector3 &	aabbMin,
		const btVector3 &	aabbMax
	)

protected

use the bounding sphere radius of this bounding box, to include rotation

Definition at line 328 of file btGpu3DGridBroadphase.cpp.

bool btGpu3DGridBroadphase::isLargeProxy ( btBroadphaseProxy * proxy )

protected

Definition at line 341 of file btGpu3DGridBroadphase.cpp.

void btGpu3DGridBroadphase::prepareAABB ( )

protectedvirtual

Definition at line 418 of file btGpu3DGridBroadphase.cpp.

void btGpu3DGridBroadphase::rayTest	(	const btVector3 &	rayFrom,
		const btVector3 &	rayTo,
		btBroadphaseRayCallback &	rayCallback,
		const btVector3 &	aabbMin = `btVector3(0,0,0)`,
		const btVector3 &	aabbMax = `btVector3(0,0,0)`
	)

virtual

Reimplemented from btSimpleBroadphase.

Definition at line 396 of file btGpu3DGridBroadphase.cpp.

void btGpu3DGridBroadphase::resetPool ( btDispatcher * dispatcher )

virtual

reset broadphase internal structures, to ensure determinism/reproducability

Reimplemented from btSimpleBroadphase.

Definition at line 315 of file btGpu3DGridBroadphase.cpp.

void btGpu3DGridBroadphase::scanOverlappingPairBuff ( )

protectedvirtual

Definition at line 565 of file btGpu3DGridBroadphase.cpp.

void btGpu3DGridBroadphase::setParameters ( bt3DGridBroadphaseParams * hostParams )

protectedvirtual

Definition at line 477 of file btGpu3DGridBroadphase.cpp.

void btGpu3DGridBroadphase::sortHash ( )

protectedvirtual

Definition at line 494 of file btGpu3DGridBroadphase.cpp.

void btGpu3DGridBroadphase::squeezeOverlappingPairBuff ( )

protectedvirtual

Definition at line 579 of file btGpu3DGridBroadphase.cpp.

Member Data Documentation

bool btGpu3DGridBroadphase::m_bInitialized

protected

Definition at line 34 of file btGpu3DGridBroadphase.h.

btScalar btGpu3DGridBroadphase::m_cellFactorAABB

protected

Definition at line 38 of file btGpu3DGridBroadphase.h.

int btGpu3DGridBroadphase::m_firstFreeLargeHandle

protected

Definition at line 56 of file btGpu3DGridBroadphase.h.

bt3DGrid3F1U* btGpu3DGridBroadphase::m_hAABB

protected

Definition at line 46 of file btGpu3DGridBroadphase.h.

unsigned int* btGpu3DGridBroadphase::m_hBodiesHash

protected

Definition at line 43 of file btGpu3DGridBroadphase.h.

unsigned int* btGpu3DGridBroadphase::m_hCellStart

protected

Definition at line 44 of file btGpu3DGridBroadphase.h.

unsigned int* btGpu3DGridBroadphase::m_hPairBuff

protected

Definition at line 47 of file btGpu3DGridBroadphase.h.

unsigned int* btGpu3DGridBroadphase::m_hPairBuffStartCurr

protected

Definition at line 45 of file btGpu3DGridBroadphase.h.

unsigned int* btGpu3DGridBroadphase::m_hPairOut

protected

Definition at line 49 of file btGpu3DGridBroadphase.h.

unsigned int* btGpu3DGridBroadphase::m_hPairScan

protected

Definition at line 48 of file btGpu3DGridBroadphase.h.

int btGpu3DGridBroadphase::m_LastLargeHandleIndex

protected

Definition at line 53 of file btGpu3DGridBroadphase.h.

unsigned int btGpu3DGridBroadphase::m_maxBodiesPerCell

protected

Definition at line 39 of file btGpu3DGridBroadphase.h.

int btGpu3DGridBroadphase::m_maxLargeHandles

protected

Definition at line 52 of file btGpu3DGridBroadphase.h.

unsigned int btGpu3DGridBroadphase::m_maxPairsPerBody

protected

Definition at line 37 of file btGpu3DGridBroadphase.h.

btScalar btGpu3DGridBroadphase::m_maxRadius

protected

Definition at line 41 of file btGpu3DGridBroadphase.h.

unsigned int btGpu3DGridBroadphase::m_numBodies

protected

Definition at line 35 of file btGpu3DGridBroadphase.h.

unsigned int btGpu3DGridBroadphase::m_numCells

protected

Definition at line 36 of file btGpu3DGridBroadphase.h.

int btGpu3DGridBroadphase::m_numLargeHandles

protected

Definition at line 51 of file btGpu3DGridBroadphase.h.

unsigned int btGpu3DGridBroadphase::m_numOverflows

protected

Definition at line 87 of file btGpu3DGridBroadphase.h.

unsigned int btGpu3DGridBroadphase::m_numPairsAdded

protected

Definition at line 85 of file btGpu3DGridBroadphase.h.

unsigned int btGpu3DGridBroadphase::m_numPairsRemoved

protected

Definition at line 86 of file btGpu3DGridBroadphase.h.

bt3DGridBroadphaseParams btGpu3DGridBroadphase::m_params

protected

Definition at line 40 of file btGpu3DGridBroadphase.h.

btSimpleBroadphaseProxy* btGpu3DGridBroadphase::m_pLargeHandles

protected

Definition at line 54 of file btGpu3DGridBroadphase.h.

void* btGpu3DGridBroadphase::m_pLargeHandlesRawPtr

protected

Definition at line 55 of file btGpu3DGridBroadphase.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation