btDbvtBroadphase Struct Reference

#include <btDbvtBroadphase.h>

Inheritance diagram for btDbvtBroadphase:

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

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 )

btDbvtBroadphase::~btDbvtBroadphase ( )

Member Function Documentation

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

Implements btBroadphaseInterface.

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

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

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

Implements btBroadphaseInterface.

void btDbvtBroadphase::collide ( btDispatcher * dispatcher )

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.

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

Implements btBroadphaseInterface.

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

Implements btBroadphaseInterface.

virtual 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.

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

Implements btBroadphaseInterface.

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

Implements btBroadphaseInterface.

btScalar btDbvtBroadphase::getVelocityPrediction ( ) const [inline]

Definition at line 130 of file btDbvtBroadphase.h.

void btDbvtBroadphase::optimize ( )

void btDbvtBroadphase::performDeferredRemoval ( btDispatcher * dispatcher )

virtual void btDbvtBroadphase::printStats ( ) [virtual]

Implements btBroadphaseInterface.

virtual 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.

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

reset broadphase internal structures, to ensure determinism/reproducability

Reimplemented from btBroadphaseInterface.

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

Implements btBroadphaseInterface.

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

void btDbvtBroadphase::setVelocityPrediction ( btScalar prediction ) [inline]

Definition at line 126 of file btDbvtBroadphase.h.