#include <btSimpleBroadphase.h>

Inherits btBroadphaseInterface.

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, int collisionFilterGroup, int collisionFilterMask, btDispatcher dispatcher)

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 ()

Public Member Functions inherited from btBroadphaseInterface
virtual	~btBroadphaseInterface ()

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 41 of file btSimpleBroadphase.h.

Constructor & Destructor Documentation

◆ btSimpleBroadphase()

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

Definition at line 38 of file btSimpleBroadphase.cpp.

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

◆ ~btSimpleBroadphase()

btSimpleBroadphase::~btSimpleBroadphase ( )

virtual

Definition at line 68 of file btSimpleBroadphase.cpp.

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

Member Function Documentation

◆ aabbOverlap()

bool btSimpleBroadphase::aabbOverlap	(	btSimpleBroadphaseProxy *	proxy0,
		btSimpleBroadphaseProxy *	proxy1 )

static

Definition at line 177 of file btSimpleBroadphase.cpp.

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

◆ aabbTest()

void btSimpleBroadphase::aabbTest	(	const btVector3 &	aabbMin,
		const btVector3 &	aabbMax,
		btBroadphaseAabbCallback &	callback )

virtual

Implements btBroadphaseInterface.

Definition at line 161 of file btSimpleBroadphase.cpp.

References callback, m_LastHandleIndex, m_pHandles, and TestAabbAgainstAabb2().

◆ allocHandle()

int btSimpleBroadphase::allocHandle ( )

inlineprotected

Definition at line 53 of file btSimpleBroadphase.h.

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

Referenced by createProxy().

◆ calculateOverlappingPairs()

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 194 of file btSimpleBroadphase.cpp.

References aabbOverlap(), btOverlappingPairCallback::addOverlappingPair(), btAssert, btBroadphasePair, btOverlappingPairCache::cleanOverlappingPair(), btOverlappingPairCache::findPair(), btOverlappingPairCache::getOverlappingPairArray(), getSimpleProxyFromProxy(), btOverlappingPairCache::hasDeferredRemoval(), 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().

◆ createProxy()

btBroadphaseProxy * btSimpleBroadphase::createProxy	(	const btVector3 &	aabbMin,
		const btVector3 &	aabbMax,
		int	shapeType,
		void *	userPtr,
		int	collisionFilterGroup,
		int	collisionFilterMask,
		btDispatcher *	dispatcher )

virtual

Implements btBroadphaseInterface.

Definition at line 79 of file btSimpleBroadphase.cpp.

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

◆ destroyProxy()

void btSimpleBroadphase::destroyProxy	(	btBroadphaseProxy *	proxy,
		btDispatcher *	dispatcher )

virtual

Implements btBroadphaseInterface.

Definition at line 124 of file btSimpleBroadphase.cpp.

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

◆ freeHandle()

void btSimpleBroadphase::freeHandle ( btSimpleBroadphaseProxy * proxy )

inlineprotected

Definition at line 66 of file btSimpleBroadphase.h.

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

Referenced by allocHandle(), and destroyProxy().

◆ getAabb()

void btSimpleBroadphase::getAabb	(	btBroadphaseProxy *	proxy,
		btVector3 &	aabbMin,
		btVector3 &	aabbMax ) const

virtual

Implements btBroadphaseInterface.

Definition at line 134 of file btSimpleBroadphase.cpp.

References getSimpleProxyFromProxy().

◆ getBroadphaseAabb()

virtual void btSimpleBroadphase::getBroadphaseAabb	(	btVector3 &	aabbMin,
		btVector3 &	aabbMax ) const

inlinevirtual

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

Implements btBroadphaseInterface.

Definition at line 135 of file btSimpleBroadphase.h.

References BT_LARGE_FLOAT.

◆ getOverlappingPairCache() [1/2]

btOverlappingPairCache * btSimpleBroadphase::getOverlappingPairCache ( )

inlinevirtual

Implements btBroadphaseInterface.

Definition at line 122 of file btSimpleBroadphase.h.

References m_pairCache.

◆ getOverlappingPairCache() [2/2]

const btOverlappingPairCache * btSimpleBroadphase::getOverlappingPairCache ( ) const

inlinevirtual

Implements btBroadphaseInterface.

Definition at line 126 of file btSimpleBroadphase.h.

References m_pairCache.

◆ getSimpleProxyFromProxy() [1/2]

btSimpleBroadphaseProxy * btSimpleBroadphase::getSimpleProxyFromProxy ( btBroadphaseProxy * proxy )

inlineprotected

Definition at line 87 of file btSimpleBroadphase.h.

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

◆ getSimpleProxyFromProxy() [2/2]

const btSimpleBroadphaseProxy * btSimpleBroadphase::getSimpleProxyFromProxy ( btBroadphaseProxy * proxy ) const

inlineprotected

Definition at line 93 of file btSimpleBroadphase.h.

◆ printStats()

virtual void btSimpleBroadphase::printStats ( )

inlinevirtual

Implements btBroadphaseInterface.

Definition at line 141 of file btSimpleBroadphase.h.

◆ rayTest()

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) )