Bullet Collision Detection & Physics Library: btMultiSapBroadphase Class Reference

The btMultiSapBroadphase is a research project, not recommended to use in production. More...

#include <btMultiSapBroadphase.h>

Inheritance diagram for btMultiSapBroadphase:

Collaboration diagram for btMultiSapBroadphase:

Classes
struct	btBridgeProxy

struct	btMultiSapProxy

Public Member Functions
	btMultiSapBroadphase (int maxProxies=16384, btOverlappingPairCache *pairCache=0)

btSapBroadphaseArray &	getBroadphaseArray ()

const btSapBroadphaseArray &	getBroadphaseArray () const

virtual	~btMultiSapBroadphase ()

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))

void	addToChildBroadphase (btMultiSapProxy parentMultiSapProxy, btBroadphaseProxy childProxy, btBroadphaseInterface *childBroadphase)

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

bool	testAabbOverlap (btBroadphaseProxy proxy0, btBroadphaseProxy proxy1)

virtual btOverlappingPairCache *	getOverlappingPairCache ()

virtual const btOverlappingPairCache *	getOverlappingPairCache () 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...

void	buildTree (const btVector3 &bvhAabbMin, const btVector3 &bvhAabbMax)

virtual void	printStats ()

void	quicksort (btBroadphasePairArray &a, int lo, int hi)

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

Public Member Functions inherited from btBroadphaseInterface
virtual	~btBroadphaseInterface ()

virtual void	aabbTest (const btVector3 &aabbMin, const btVector3 &aabbMax, btBroadphaseAabbCallback &callback)=0

Protected Attributes
btAlignedObjectArray < btMultiSapProxy * >	m_multiSapProxies

Private Attributes
btSapBroadphaseArray	m_sapBroadphases

btSimpleBroadphase *	m_simpleBroadphase

btOverlappingPairCache *	m_overlappingPairs

class btQuantizedBvh *	m_optimizedAabbTree

bool	m_ownsPairCache

btOverlapFilterCallback *	m_filterCallback

int	m_invalidPair

Detailed Description

The btMultiSapBroadphase is a research project, not recommended to use in production.

Use btAxisSweep3 or btDbvtBroadphase instead. The btMultiSapBroadphase is a broadphase that contains multiple SAP broadphases. The user can add SAP broadphases that cover the world. A btBroadphaseProxy can be in multiple child broadphases at the same time. A btQuantizedBvh acceleration structures finds overlapping SAPs for each btBroadphaseProxy. See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328 and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329

Definition at line 35 of file btMultiSapBroadphase.h.

Constructor & Destructor Documentation

btMultiSapBroadphase::btMultiSapBroadphase	(	int	maxProxies = `16384`,
		btOverlappingPairCache *	pairCache = `0`
	)

Definition at line 40 of file btMultiSapBroadphase.cpp.

btMultiSapBroadphase::~btMultiSapBroadphase ( )

virtual

Definition at line 78 of file btMultiSapBroadphase.cpp.

Member Function Documentation

void btMultiSapBroadphase::addToChildBroadphase	(	btMultiSapProxy *	parentMultiSapProxy,
		btBroadphaseProxy *	childProxy,
		btBroadphaseInterface *	childBroadphase
	)

Definition at line 128 of file btMultiSapBroadphase.cpp.

void btMultiSapBroadphase::buildTree	(	const btVector3 &	bvhAabbMin,
		const btVector3 &	bvhAabbMax
	)

Definition at line 88 of file btMultiSapBroadphase.cpp.

void btMultiSapBroadphase::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:

Implements btBroadphaseInterface.

Definition at line 359 of file btMultiSapBroadphase.cpp.

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

virtual

this should deal with inserting/removal into child broadphases

Implements btBroadphaseInterface.

Definition at line 107 of file btMultiSapBroadphase.cpp.

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

virtual

not yet

Implements btBroadphaseInterface.

Definition at line 120 of file btMultiSapBroadphase.cpp.

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

virtual

Implements btBroadphaseInterface.

Definition at line 152 of file btMultiSapBroadphase.cpp.

virtual void btMultiSapBroadphase::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 134 of file btMultiSapBroadphase.h.

btSapBroadphaseArray& btMultiSapBroadphase::getBroadphaseArray ( )

inline

Definition at line 97 of file btMultiSapBroadphase.h.

const btSapBroadphaseArray& btMultiSapBroadphase::getBroadphaseArray ( ) const

inline

Definition at line 102 of file btMultiSapBroadphase.h.

virtual btOverlappingPairCache* btMultiSapBroadphase::getOverlappingPairCache ( )

inlinevirtual

Implements btBroadphaseInterface.

Definition at line 123 of file btMultiSapBroadphase.h.

virtual const btOverlappingPairCache* btMultiSapBroadphase::getOverlappingPairCache ( ) const

inlinevirtual

Implements btBroadphaseInterface.

Definition at line 127 of file btMultiSapBroadphase.h.

void btMultiSapBroadphase::printStats ( )

virtual

Implements btBroadphaseInterface.

Definition at line 467 of file btMultiSapBroadphase.cpp.

void btMultiSapBroadphase::quicksort	(	btBroadphasePairArray &	a,
		int	lo,
		int	hi
	)

void btMultiSapBroadphase::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 159 of file btMultiSapBroadphase.cpp.

void btMultiSapBroadphase::resetPool ( btDispatcher * dispatcher )

virtual

reset broadphase internal structures, to ensure determinism/reproducability

Reimplemented from btBroadphaseInterface.

Definition at line 486 of file btMultiSapBroadphase.cpp.

void btMultiSapBroadphase::setAabb	(	btBroadphaseProxy *	proxy,
		const btVector3 &	aabbMin,
		const btVector3 &	aabbMax,
		btDispatcher *	dispatcher
	)

virtual

Implements btBroadphaseInterface.

Definition at line 170 of file btMultiSapBroadphase.cpp.

bool btMultiSapBroadphase::testAabbOverlap	(	btBroadphaseProxy *	proxy0,
		btBroadphaseProxy *	proxy1
	)

Definition at line 456 of file btMultiSapBroadphase.cpp.

Member Data Documentation

btOverlapFilterCallback* btMultiSapBroadphase::m_filterCallback

private

Definition at line 48 of file btMultiSapBroadphase.h.

int btMultiSapBroadphase::m_invalidPair

private

Definition at line 50 of file btMultiSapBroadphase.h.

btAlignedObjectArray<btMultiSapProxy*> btMultiSapBroadphase::m_multiSapProxies

protected

Definition at line 90 of file btMultiSapBroadphase.h.

class btQuantizedBvh* btMultiSapBroadphase::m_optimizedAabbTree

private

Definition at line 43 of file btMultiSapBroadphase.h.

btOverlappingPairCache* btMultiSapBroadphase::m_overlappingPairs

private

Definition at line 41 of file btMultiSapBroadphase.h.

bool btMultiSapBroadphase::m_ownsPairCache

private

Definition at line 46 of file btMultiSapBroadphase.h.

btSapBroadphaseArray btMultiSapBroadphase::m_sapBroadphases

private

Definition at line 37 of file btMultiSapBroadphase.h.

btSimpleBroadphase* btMultiSapBroadphase::m_simpleBroadphase

private

Definition at line 39 of file btMultiSapBroadphase.h.

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

Classes

Public Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation