Bullet Collision Detection & Physics Library
btSimpleBroadphase.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_SIMPLE_BROADPHASE_H
17#define BT_SIMPLE_BROADPHASE_H
18
19
21
22
24{
26
27// int m_handleId;
28
29
31
32 btSimpleBroadphaseProxy(const btVector3& minpt,const btVector3& maxpt,int shapeType,void* userPtr, int collisionFilterGroup, int collisionFilterMask)
33 :btBroadphaseProxy(minpt,maxpt,userPtr,collisionFilterGroup,collisionFilterMask)
34 {
35 (void)shapeType;
36 }
37
38
39 SIMD_FORCE_INLINE void SetNextFree(int next) {m_nextFree = next;}
41
42
43
44
45};
46
50{
51
52protected:
53
54 int m_numHandles; // number of active handles
55 int m_maxHandles; // max number of handles
57
59
61 int m_firstFreeHandle; // free handles list
62
64 {
70 {
72 }
73 return freeHandle;
74 }
75
77 {
78 int handle = int(proxy-m_pHandles);
79 btAssert(handle >= 0 && handle < m_maxHandles);
80 if(handle == m_LastHandleIndex)
81 {
83 }
85 m_firstFreeHandle = handle;
86
87 proxy->m_clientObject = 0;
88
90 }
91
94
96
97
98
100 {
101 btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxy);
102 return proxy0;
103 }
104
106 {
107 const btSimpleBroadphaseProxy* proxy0 = static_cast<const btSimpleBroadphaseProxy*>(proxy);
108 return proxy0;
109 }
110
112 virtual void resetPool(btDispatcher* dispatcher);
113
114
115 void validate();
116
117protected:
118
119
120
121
122public:
123 btSimpleBroadphase(int maxProxies=16384,btOverlappingPairCache* overlappingPairCache=0);
124 virtual ~btSimpleBroadphase();
125
126
128
129
130 virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr , int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher);
131
132 virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
133
134 virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
135 virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
136 virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
137
138 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));
139 virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
140
142 {
143 return m_pairCache;
144 }
146 {
147 return m_pairCache;
148 }
149
151
152
155 virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
156 {
159 }
160
161 virtual void printStats()
162 {
163// printf("btSimpleBroadphase.h\n");
164// printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
165 }
166};
167
168
169
170#endif //BT_SIMPLE_BROADPHASE_H
171
#define BT_LARGE_FLOAT
Definition: btScalar.h:294
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
#define btAssert(x)
Definition: btScalar.h:131
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
The btOverlappingPairCache provides an interface for overlapping pair management (add,...
The SimpleBroadphase is just a unit-test for btAxisSweep3, bt32BitAxisSweep3, or btDbvtBroadphase,...
virtual void aabbTest(const btVector3 &aabbMin, const btVector3 &aabbMax, btBroadphaseAabbCallback &callback)
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))
const btOverlappingPairCache * getOverlappingPairCache() const
bool testAabbOverlap(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1)
void freeHandle(btSimpleBroadphaseProxy *proxy)
btOverlappingPairCache * m_pairCache
virtual void getBroadphaseAabb(btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb returns the axis aligned bounding box in the 'global' coordinate frame will add some transfor...
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)
const btSimpleBroadphaseProxy * getSimpleProxyFromProxy(btBroadphaseProxy *proxy) const
virtual btBroadphaseProxy * createProxy(const btVector3 &aabbMin, const btVector3 &aabbMax, int shapeType, void *userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher *dispatcher)
virtual void printStats()
btSimpleBroadphaseProxy * m_pHandles
btSimpleBroadphase(int maxProxies=16384, btOverlappingPairCache *overlappingPairCache=0)
virtual void getAabb(btBroadphaseProxy *proxy, btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void destroyProxy(btBroadphaseProxy *proxy, btDispatcher *dispatcher)
virtual void calculateOverlappingPairs(btDispatcher *dispatcher)
calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during th...
btSimpleBroadphaseProxy * getSimpleProxyFromProxy(btBroadphaseProxy *proxy)
static bool aabbOverlap(btSimpleBroadphaseProxy *proxy0, btSimpleBroadphaseProxy *proxy1)
btOverlappingPairCache * getOverlappingPairCache()
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:652
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
btSimpleBroadphaseProxy(const btVector3 &minpt, const btVector3 &maxpt, int shapeType, void *userPtr, int collisionFilterGroup, int collisionFilterMask)