Bullet Collision Detection & Physics Library: btBroadphaseInterface.h Source File

Bullet Collision Detection & Physics Library

btBroadphaseInterface.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 1. 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #ifndef BT_BROADPHASE_INTERFACE_H
17 #define BT_BROADPHASE_INTERFACE_H
18
19
20
21 struct btDispatcherInfo;
22 class btDispatcher;
23 #include "btBroadphaseProxy.h"
24
25 class btOverlappingPairCache;
26
27
28
29 struct btBroadphaseAabbCallback
30 {
31 virtual ~btBroadphaseAabbCallback() {}
32 virtual bool process(const btBroadphaseProxy* proxy) = 0;
33 };
34
35
36 struct btBroadphaseRayCallback : public btBroadphaseAabbCallback
37 {
39 btVector3 m_rayDirectionInverse;
40 unsigned int m_signs[3];
41 btScalar m_lambda_max;
42
43 virtual ~btBroadphaseRayCallback() {}
44
45 protected:
46
47 btBroadphaseRayCallback() {}
48 };
49
50 #include "LinearMath/btVector3.h"
51
55 class btBroadphaseInterface
56 {
57 public:
58 virtual ~btBroadphaseInterface() {}
59
60 virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher) =0;
61 virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0;
62 virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0;
63 virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const =0;
64
65 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)) = 0;
66
67 virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) = 0;
68
70 virtual void calculateOverlappingPairs(btDispatcher* dispatcher)=0;
71
72 virtual btOverlappingPairCache* getOverlappingPairCache()=0;
73 virtual const btOverlappingPairCache* getOverlappingPairCache() const =0;
74
77 virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0;
78
80 virtual void resetPool(btDispatcher* dispatcher) { (void) dispatcher; };
81
82 virtual void printStats() = 0;
83
84 };
85
86 #endif //BT_BROADPHASE_INTERFACE_H
btBroadphaseInterface::printStats
virtual void printStats()=0
btBroadphaseRayCallback::m_lambda_max
btScalar m_lambda_max
Definition: btBroadphaseInterface.h:41
btBroadphaseInterface::getAabb
virtual void getAabb(btBroadphaseProxy *proxy, btVector3 &aabbMin, btVector3 &aabbMax) const =0
btVector3.h
btBroadphaseAabbCallback::~btBroadphaseAabbCallback
virtual ~btBroadphaseAabbCallback()
Definition: btBroadphaseInterface.h:31
btOverlappingPairCache
The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
Definition: btOverlappingPairCache.h:60
btBroadphaseInterface::getOverlappingPairCache
virtual btOverlappingPairCache * getOverlappingPairCache()=0
btBroadphaseRayCallback::btBroadphaseRayCallback
btBroadphaseRayCallback()
Definition: btBroadphaseInterface.h:47
btBroadphaseRayCallback
Definition: btBroadphaseInterface.h:36
btBroadphaseInterface::createProxy
virtual btBroadphaseProxy * createProxy(const btVector3 &aabbMin, const btVector3 &aabbMax, int shapeType, void *userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher *dispatcher)=0
btBroadphaseInterface::resetPool
virtual void resetPool(btDispatcher *dispatcher)
reset broadphase internal structures, to ensure determinism/reproducability
Definition: btBroadphaseInterface.h:80
btBroadphaseProxy.h
btBroadphaseRayCallback::~btBroadphaseRayCallback
virtual ~btBroadphaseRayCallback()
Definition: btBroadphaseInterface.h:43
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs...
Definition: btBroadphaseInterface.h:55
btBroadphaseInterface::~btBroadphaseInterface
virtual ~btBroadphaseInterface()
Definition: btBroadphaseInterface.h:58
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:85
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btBroadphaseAabbCallback::process
virtual bool process(const btBroadphaseProxy *proxy)=0
btBroadphaseRayCallback::m_signs
unsigned int m_signs[3]
Definition: btBroadphaseInterface.h:40
btBroadphaseRayCallback::m_rayDirectionInverse
btVector3 m_rayDirectionInverse
added some cached data to accelerate ray-AABB tests
Definition: btBroadphaseInterface.h:39
btBroadphaseInterface::getBroadphaseAabb
virtual void getBroadphaseAabb(btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb returns the axis aligned bounding box in the &#39;global&#39; coordinate frame will add some transfor...
btBroadphaseInterface::setAabb
virtual void setAabb(btBroadphaseProxy *proxy, const btVector3 &aabbMin, const btVector3 &aabbMax, btDispatcher *dispatcher)=0
btDispatcherInfo
Definition: btDispatcher.h:30
btBroadphaseAabbCallback
Definition: btBroadphaseInterface.h:29
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:75
btBroadphaseInterface::destroyProxy
virtual void destroyProxy(btBroadphaseProxy *proxy, btDispatcher *dispatcher)=0
btBroadphaseInterface::rayTest
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))=0
btBroadphaseInterface::calculateOverlappingPairs
virtual void calculateOverlappingPairs(btDispatcher *dispatcher)=0
calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during th...
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
btBroadphaseInterface::aabbTest
virtual void aabbTest(const btVector3 &aabbMin, const btVector3 &aabbMax, btBroadphaseAabbCallback &callback)=0