#include <btSimpleBroadphase.h>

Inheritance diagram for btSimpleBroadphase:

Public Member Functions
	btSimpleBroadphase (int maxProxies=16384, btOverlappingPairCache *overlappingPairCache=0)
virtual	~btSimpleBroadphase ()
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	calculateOverlappingPairs (btDispatcher *dispatcher)
	calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
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)
btOverlappingPairCache *	getOverlappingPairCache ()
const btOverlappingPairCache *	getOverlappingPairCache () const
bool	testAabbOverlap (btBroadphaseProxy proxy0, btBroadphaseProxy proxy1)
virtual void	getBroadphaseAabb (btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void	printStats ()
Static Public Member Functions
static bool	aabbOverlap (btSimpleBroadphaseProxy proxy0, btSimpleBroadphaseProxy proxy1)
Protected Member Functions
int	allocHandle ()
void	freeHandle (btSimpleBroadphaseProxy *proxy)
btSimpleBroadphaseProxy *	getSimpleProxyFromProxy (btBroadphaseProxy *proxy)
const btSimpleBroadphaseProxy *	getSimpleProxyFromProxy (btBroadphaseProxy *proxy) const
virtual void	resetPool (btDispatcher *dispatcher)
	reset broadphase internal structures, to ensure determinism/reproducability
void	validate ()
Protected Attributes
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

Detailed Description

The SimpleBroadphase is just a unit-test for btAxisSweep3, bt32BitAxisSweep3, or btDbvtBroadphase, so use those classes instead. It is a brute force aabb culling broadphase based on O(n^2) aabb checks

Definition at line 49 of file btSimpleBroadphase.h.

Constructor & Destructor Documentation

btSimpleBroadphase::btSimpleBroadphase	(	int	maxProxies = `16384`,
		btOverlappingPairCache *	overlappingPairCache = `0`
	)

Definition at line 41 of file btSimpleBroadphase.cpp.

References btAlignedAlloc, i, m_firstFreeHandle, m_LastHandleIndex, m_maxHandles, m_numHandles, m_ownsPairCache, m_pairCache, m_pHandles, m_pHandlesRawPtr, and btSimpleBroadphaseProxy::SetNextFree().

btSimpleBroadphase::~btSimpleBroadphase ( ) [virtual]

Definition at line 75 of file btSimpleBroadphase.cpp.

References btAlignedFree, m_ownsPairCache, m_pairCache, m_pHandlesRawPtr, and btOverlappingPairCache::~btOverlappingPairCache().

Member Function Documentation

bool btSimpleBroadphase::aabbOverlap	(	btSimpleBroadphaseProxy *	proxy0,
		btSimpleBroadphaseProxy *	proxy1
	)		`[static]`

Definition at line 193 of file btSimpleBroadphase.cpp.

Referenced by calculateOverlappingPairs(), CheckOverlapCallback::processOverlap(), and testAabbOverlap().

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

Implements btBroadphaseInterface.

Definition at line 171 of file btSimpleBroadphase.cpp.

References i, m_LastHandleIndex, m_pHandles, btBroadphaseAabbCallback::process(), and TestAabbAgainstAabb2().

int btSimpleBroadphase::allocHandle ( ) [inline, protected]

Definition at line 63 of file btSimpleBroadphase.h.

References btAssert, freeHandle(), btSimpleBroadphaseProxy::GetNextFree(), m_firstFreeHandle, m_LastHandleIndex, m_maxHandles, m_numHandles, and m_pHandles.

Referenced by createProxy().

void btSimpleBroadphase::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 213 of file btSimpleBroadphase.cpp.

References aabbOverlap(), btOverlappingPairCallback::addOverlappingPair(), btAssert, btOverlappingPairCache::cleanOverlappingPair(), btOverlappingPairCache::findPair(), btOverlappingPairCache::getOverlappingPairArray(), getSimpleProxyFromProxy(), gOverlappingPairs, btOverlappingPairCache::hasDeferredRemoval(), i, m_invalidPair, m_LastHandleIndex, m_numHandles, m_ownsPairCache, m_pairCache, m_pHandles, btAlignedObjectArray< T >::quickSort(), btOverlappingPairCallback::removeOverlappingPair(), btAlignedObjectArray< T >::resize(), btAlignedObjectArray< T >::size(), and testAabbOverlap().

btBroadphaseProxy * btSimpleBroadphase::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 87 of file btSimpleBroadphase.cpp.

References allocHandle(), btAssert, m_maxHandles, m_numHandles, and m_pHandles.

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

Implements btBroadphaseInterface.

Definition at line 131 of file btSimpleBroadphase.cpp.

References freeHandle(), m_pairCache, and btOverlappingPairCallback::removeOverlappingPairsContainingProxy().

void btSimpleBroadphase::freeHandle ( btSimpleBroadphaseProxy * proxy ) [inline, protected]

Definition at line 76 of file btSimpleBroadphase.h.

References btAssert, m_firstFreeHandle, m_LastHandleIndex, m_maxHandles, m_numHandles, m_pHandles, and btSimpleBroadphaseProxy::SetNextFree().

Referenced by allocHandle(), and destroyProxy().

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

Implements btBroadphaseInterface.

Definition at line 143 of file btSimpleBroadphase.cpp.

References getSimpleProxyFromProxy().

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

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

Implements btBroadphaseInterface.

Definition at line 155 of file btSimpleBroadphase.h.

References BT_LARGE_FLOAT.

const btOverlappingPairCache* btSimpleBroadphase::getOverlappingPairCache ( ) const [inline, virtual]

Implements btBroadphaseInterface.

Definition at line 145 of file btSimpleBroadphase.h.

References m_pairCache.

btOverlappingPairCache* btSimpleBroadphase::getOverlappingPairCache ( ) [inline, virtual]

Implements btBroadphaseInterface.

Definition at line 141 of file btSimpleBroadphase.h.

References m_pairCache.

btSimpleBroadphaseProxy* btSimpleBroadphase::getSimpleProxyFromProxy ( btBroadphaseProxy * proxy ) [inline, protected]

Definition at line 99 of file btSimpleBroadphase.h.

Referenced by calculateOverlappingPairs(), getAabb(), setAabb(), and testAabbOverlap().

const btSimpleBroadphaseProxy* btSimpleBroadphase::getSimpleProxyFromProxy ( btBroadphaseProxy * proxy ) const [inline, protected]

Definition at line 105 of file btSimpleBroadphase.h.

virtual void btSimpleBroadphase::printStats ( ) [inline, virtual]

Implements btBroadphaseInterface.

Definition at line 161 of file btSimpleBroadphase.h.

void btSimpleBroadphase::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 157 of file btSimpleBroadphase.cpp.

References i, m_LastHandleIndex, m_pHandles, and btBroadphaseAabbCallback::process().

void btSimpleBroadphase::resetPool ( btDispatcher * dispatcher ) [protected, virtual]

reset broadphase internal structures, to ensure determinism/reproducability

Reimplemented from btBroadphaseInterface.

Definition at line 346 of file btSimpleBroadphase.cpp.

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