#include <btDbvtBroadphase.h>

Inheritance diagram for btDbvtBroadphase:

Public Types
enum	{ DYNAMIC_SET = 0, FIXED_SET = 1, STAGECOUNT = 2 }
Public Member Functions
	btDbvtBroadphase (btOverlappingPairCache *paircache=0)
	~btDbvtBroadphase ()
void	collide (btDispatcher *dispatcher)
void	optimize ()
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	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)
virtual void	getAabb (btBroadphaseProxy *proxy, btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void	calculateOverlappingPairs (btDispatcher *dispatcher)
	calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
virtual btOverlappingPairCache *	getOverlappingPairCache ()
virtual const btOverlappingPairCache *	getOverlappingPairCache () const
virtual void	getBroadphaseAabb (btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void	printStats ()
virtual void	resetPool (btDispatcher *dispatcher)
	reset broadphase internal structures, to ensure determinism/reproducability
void	performDeferredRemoval (btDispatcher *dispatcher)
void	setVelocityPrediction (btScalar prediction)
btScalar	getVelocityPrediction () const
void	setAabbForceUpdate (btBroadphaseProxy absproxy, const btVector3 &aabbMin, const btVector3 &aabbMax, btDispatcher )
Static Public Member Functions
static void	benchmark (btBroadphaseInterface *)
Public Attributes
btDbvt	m_sets [2]
btDbvtProxy *	m_stageRoots [STAGECOUNT+1]
btOverlappingPairCache *	m_paircache
btScalar	m_prediction
int	m_stageCurrent
int	m_fupdates
int	m_dupdates
int	m_cupdates
int	m_newpairs
int	m_fixedleft
unsigned	m_updates_call
unsigned	m_updates_done
btScalar	m_updates_ratio
int	m_pid
int	m_cid
int	m_gid
bool	m_releasepaircache
bool	m_deferedcollide
bool	m_needcleanup

Detailed Description

The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see btDbvt). One tree is used for static/non-moving objects, and another tree is used for dynamic objects. Objects can move from one tree to the other. This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3.

Definition at line 62 of file btDbvtBroadphase.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

DYNAMIC_SET
FIXED_SET
STAGECOUNT

Definition at line 65 of file btDbvtBroadphase.h.

Constructor & Destructor Documentation

btDbvtBroadphase::btDbvtBroadphase ( btOverlappingPairCache * paircache = 0 )

Definition at line 122 of file btDbvtBroadphase.cpp.

References btAlignedAlloc, clear(), i, m_cid, m_cupdates, m_deferedcollide, m_dupdates, m_fixedleft, m_fupdates, m_gid, m_needcleanup, m_newpairs, m_paircache, m_pid, m_prediction, m_releasepaircache, m_stageCurrent, m_stageRoots, m_updates_call, m_updates_done, m_updates_ratio, and STAGECOUNT.

btDbvtBroadphase::~btDbvtBroadphase ( )

Definition at line 151 of file btDbvtBroadphase.cpp.

References btAlignedFree, m_paircache, m_releasepaircache, and btOverlappingPairCache::~btOverlappingPairCache().

Member Function Documentation

void btDbvtBroadphase::aabbTest	(	const btVector3 &	aabbMin,
		const btVector3 &	aabbMax,
		btBroadphaseAabbCallback &	callback
	)		`[virtual]`

Implements btBroadphaseInterface.

Definition at line 268 of file btDbvtBroadphase.cpp.

References ATTRIBUTE_ALIGNED16, bounds(), btDbvt::collideTV(), btDbvtAabbMm::FromMM(), iTaSC::m_root, and m_sets.

void btDbvtBroadphase::benchmark ( btBroadphaseInterface * ) [static]

Definition at line 789 of file btDbvtBroadphase.cpp.

void btDbvtBroadphase::calculateOverlappingPairs ( btDispatcher * dispatcher ) [virtual]

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

Implements btBroadphaseInterface.

Definition at line 390 of file btDbvtBroadphase.cpp.

References clear(), collide(), btOverlappingPairCache::getNumOverlappingPairs(), btDbvt::m_leaves, m_paircache, m_pid, m_sets, performDeferredRemoval(), and sum().

void btDbvtBroadphase::collide ( btDispatcher * dispatcher )

Definition at line 490 of file btDbvtBroadphase.cpp.

References ATTRIBUTE_ALIGNED16, btMin(), btSwap(), btDbvt::collideTTpersistentStack(), btDbvt::collideTV(), btDbvtAabbMm::FromMM(), btOverlappingPairCache::getOverlappingPairArray(), i, btDbvt::insert(), Intersect(), btDbvtProxy::leaf, btDbvtProxy::links, listappend(), listremove(), m_cid, m_cupdates, m_deferedcollide, m_dupdates, m_fixedleft, m_fupdates, btDbvt::m_leaves, m_needcleanup, m_newpairs, m_paircache, m_pid, iTaSC::m_root, m_sets, m_stageCurrent, m_stageRoots, m_updates_call, m_updates_done, m_updates_ratio, next, btDbvt::optimizeIncremental(), p, btDbvtTreeCollider::proxy, btDbvt::remove(), btOverlappingPairCallback::removeOverlappingPair(), btOverlappingPairCallback::removeOverlappingPairsContainingProxy(), btAlignedObjectArray< T >::size(), SPC, btDbvtProxy::stage, STAGECOUNT, and btDbvtNode::volume.

Referenced by calculateOverlappingPairs().

btBroadphaseProxy * btDbvtBroadphase::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 161 of file btDbvtBroadphase.cpp.

References btAlignedAlloc, btDbvt::collideTV(), btDbvtAabbMm::FromMM(), btDbvt::insert(), btDbvtProxy::leaf, listappend(), m_deferedcollide, m_gid, iTaSC::m_root, m_sets, m_stageCurrent, m_stageRoots, btDbvtTreeCollider::proxy, and btDbvtProxy::stage.

Referenced by CcdPhysicsEnvironment::addCcdGraphicController().

void btDbvtBroadphase::destroyProxy	(	btBroadphaseProxy *	proxy,
		btDispatcher *	dispatcher
	)		`[virtual]`

Implements btBroadphaseInterface.

Definition at line 192 of file btDbvtBroadphase.cpp.

References btAlignedFree, btDbvtProxy::leaf, listremove(), m_needcleanup, m_paircache, m_sets, m_stageRoots, btDbvt::remove(), btOverlappingPairCallback::removeOverlappingPairsContainingProxy(), btDbvtProxy::stage, and STAGECOUNT.

Referenced by CcdPhysicsEnvironment::removeCcdGraphicController().

void btDbvtBroadphase::getAabb	(	btBroadphaseProxy *	proxy,
		btVector3 &	aabbMin,
		btVector3 &	aabbMax
	)		const `[virtual]`

Implements btBroadphaseInterface.

Definition at line 206 of file btDbvtBroadphase.cpp.

void btDbvtBroadphase::getBroadphaseAabb	(	btVector3 &	aabbMin,
		btVector3 &	aabbMax
	)		const `[virtual]`

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

Implements btBroadphaseInterface.

Definition at line 615 of file btDbvtBroadphase.cpp.

References ATTRIBUTE_ALIGNED16, bounds(), credits_svn_gen::empty, btDbvtAabbMm::FromCR(), btDbvt::m_root, iTaSC::m_root, m_sets, btDbvtAabbMm::Maxs(), Merge(), btDbvtAabbMm::Mins(), and btDbvtNode::volume.

btOverlappingPairCache * btDbvtBroadphase::getOverlappingPairCache ( ) [virtual]

Implements btBroadphaseInterface.

Definition at line 603 of file btDbvtBroadphase.cpp.

References m_paircache.

const btOverlappingPairCache * btDbvtBroadphase::getOverlappingPairCache ( ) const [virtual]

Implements btBroadphaseInterface.

Definition at line 609 of file btDbvtBroadphase.cpp.

References m_paircache.

btScalar btDbvtBroadphase::getVelocityPrediction ( ) const [inline]

Definition at line 130 of file btDbvtBroadphase.h.

References m_prediction.

void btDbvtBroadphase::optimize ( )

Definition at line 596 of file btDbvtBroadphase.cpp.

References m_sets, and btDbvt::optimizeTopDown().

void btDbvtBroadphase::performDeferredRemoval ( btDispatcher * dispatcher )

Definition at line 417 of file btDbvtBroadphase.cpp.

References btAssert, btOverlappingPairCache::cleanOverlappingPair(), btOverlappingPairCache::getOverlappingPairArray(), btOverlappingPairCache::hasDeferredRemoval(), i, Intersect(), btDbvtProxy::leaf, m_paircache, btAlignedObjectArray< T >::quickSort(), btAlignedObjectArray< T >::resize(), btAlignedObjectArray< T >::size(), and btDbvtNode::volume.

Referenced by calculateOverlappingPairs().

void btDbvtBroadphase::printStats ( ) [virtual]

Implements btBroadphaseInterface.

Definition at line 665 of file btDbvtBroadphase.cpp.

void btDbvtBroadphase::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 227 of file btDbvtBroadphase.cpp.

References btBroadphaseRayCallback::m_lambda_max, btBroadphaseRayCallback::m_rayDirectionInverse, iTaSC::m_root, m_sets, btBroadphaseRayCallback::m_signs, and btDbvt::rayTestInternal().

void btDbvtBroadphase::resetPool ( btDispatcher * dispatcher ) [virtual]

reset broadphase internal structures, to ensure determinism/reproducability

Reimplemented from btBroadphaseInterface.

Definition at line 632 of file btDbvtBroadphase.cpp.

References btDbvt::clear(), i, m_cid, m_cupdates, m_deferedcollide, m_dupdates, m_fixedleft, m_fupdates, m_gid, btDbvt::m_leaves, m_needcleanup, m_newpairs, m_pid, m_sets, m_stageCurrent, m_stageRoots, m_updates_call, m_updates_done, m_updates_ratio, and STAGECOUNT.

void btDbvtBroadphase::setAabb	(	btBroadphaseProxy *	proxy,
		const btVector3 &	aabbMin,
		const btVector3 &	aabbMax,
		btDispatcher *	dispatcher
	)		`[virtual]`

Implements btBroadphaseInterface.

Definition at line 282 of file btDbvtBroadphase.cpp.

References ATTRIBUTE_ALIGNED16, btDbvt::collideTTpersistentStack(), DBVT_BP_MARGIN, btDbvtAabbMm::FromMM(), btDbvt::insert(), Intersect(), btDbvtProxy::leaf, listappend(), listremove(), m_deferedcollide, m_needcleanup, m_prediction, iTaSC::m_root, m_sets, m_stageCurrent, m_stageRoots, m_updates_call, m_updates_done, NotEqual(), btDbvt::remove(), btDbvtProxy::stage, STAGECOUNT, update(), btDbvt::update(), and btDbvtNode::volume.

Referenced by CcdGraphicController::SetGraphicTransform().

void btDbvtBroadphase::setAabbForceUpdate	(	btBroadphaseProxy *	absproxy,
		const btVector3 &	aabbMin,
		const btVector3 &	aabbMax,
		btDispatcher *
	)

this setAabbForceUpdate is similar to setAabb but always forces the aabb update. it is not part of the btBroadphaseInterface but specific to btDbvtBroadphase. it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see http://code.google.com/p/bullet/issues/detail?id=223

Definition at line 350 of file btDbvtBroadphase.cpp.

References ATTRIBUTE_ALIGNED16, btDbvt::collideTTpersistentStack(), btDbvtAabbMm::FromMM(), btDbvt::insert(), btDbvtProxy::leaf, listappend(), listremove(), m_deferedcollide, m_needcleanup, iTaSC::m_root, m_sets, m_stageCurrent, m_stageRoots, m_updates_call, m_updates_done, btDbvt::remove(), btDbvtProxy::stage, STAGECOUNT, and btDbvt::update().