bullet: btMultiSapBroadphase Class Reference

#include <btMultiSapBroadphase.h>

Inheritance diagram for btMultiSapBroadphase:

Classes
struct	btBridgeProxy
struct	btMultiSapProxy
Public Member Functions
void	addToChildBroadphase (btMultiSapProxy parentMultiSapProxy, btBroadphaseProxy childProxy, btBroadphaseInterface *childBroadphase)
	btMultiSapBroadphase (int maxProxies=16384, btOverlappingPairCache *pairCache=0)
void	buildTree (const btVector3 &bvhAabbMin, const btVector3 &bvhAabbMax)
virtual void	calculateOverlappingPairs (btDispatcher *dispatcher)
	calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
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	getAabb (btBroadphaseProxy *proxy, btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void	getBroadphaseAabb (btVector3 &aabbMin, btVector3 &aabbMax) const
btSapBroadphaseArray &	getBroadphaseArray ()
const btSapBroadphaseArray &	getBroadphaseArray () const
virtual btOverlappingPairCache *	getOverlappingPairCache ()
virtual const btOverlappingPairCache *	getOverlappingPairCache () const
virtual void	printStats ()
void	quicksort (btBroadphasePairArray &a, int lo, int hi)
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)
bool	testAabbOverlap (btBroadphaseProxy proxy0, btBroadphaseProxy proxy1)
virtual	~btMultiSapBroadphase ()
Protected Attributes
btAlignedObjectArray < btMultiSapProxy * >	m_multiSapProxies
Private Attributes
btOverlapFilterCallback *	m_filterCallback
int	m_invalidPair
class btQuantizedBvh *	m_optimizedAabbTree
btOverlappingPairCache *	m_overlappingPairs
bool	m_ownsPairCache
btSapBroadphaseArray	m_sapBroadphases
btSimpleBroadphase *	m_simpleBroadphase

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`
	)

virtual btMultiSapBroadphase::~btMultiSapBroadphase ( ) [virtual]

Member Function Documentation

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

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

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

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

Implements btBroadphaseInterface.

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

Implements btBroadphaseInterface.

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

Implements btBroadphaseInterface.

virtual void btMultiSapBroadphase::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 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 ( ) [inline, virtual]

Implements btBroadphaseInterface.

Definition at line 123 of file btMultiSapBroadphase.h.

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

Implements btBroadphaseInterface.

Definition at line 127 of file btMultiSapBroadphase.h.

virtual void btMultiSapBroadphase::printStats ( ) [virtual]

Implements btBroadphaseInterface.

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

virtual 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.

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

reset broadphase internal structures, to ensure determinism/reproducability

Reimplemented from btBroadphaseInterface.

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