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 struct btDispatcherInfo;
20 class btDispatcher;
21 #include "btBroadphaseProxy.h"
22
23 class btOverlappingPairCache;
24
25 struct btBroadphaseAabbCallback
26 {
27 virtual ~btBroadphaseAabbCallback() {}
28 virtual bool process(const btBroadphaseProxy* proxy) = 0;
29 };
30
31 struct btBroadphaseRayCallback : public btBroadphaseAabbCallback
32 {
34 btVector3 m_rayDirectionInverse;
35 unsigned int m_signs[3];
36 btScalar m_lambda_max;
37
38 virtual ~btBroadphaseRayCallback() {}
39
40 protected:
41 btBroadphaseRayCallback() {}
42 };
43
44 #include "LinearMath/btVector3.h"
45
49 class btBroadphaseInterface
50 {
51 public:
52 virtual ~btBroadphaseInterface() {}
53
54 virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax, int shapeType, void* userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher* dispatcher) = 0;
55 virtual void destroyProxy(btBroadphaseProxy* proxy, btDispatcher* dispatcher) = 0;
56 virtual void setAabb(btBroadphaseProxy* proxy, const btVector3& aabbMin, const btVector3& aabbMax, btDispatcher* dispatcher) = 0;
57 virtual void getAabb(btBroadphaseProxy* proxy, btVector3& aabbMin, btVector3& aabbMax) const = 0;
58
59 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;
60
61 virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) = 0;
62
64 virtual void calculateOverlappingPairs(btDispatcher* dispatcher) = 0;
65
66 virtual btOverlappingPairCache* getOverlappingPairCache() = 0;
67 virtual const btOverlappingPairCache* getOverlappingPairCache() const = 0;
68
71 virtual void getBroadphaseAabb(btVector3& aabbMin, btVector3& aabbMax) const = 0;
72
74 virtual void resetPool(btDispatcher* dispatcher) { (void)dispatcher; };
75
76 virtual void printStats() = 0;
77 };
78
79 #endif //BT_BROADPHASE_INTERFACE_H
btBroadphaseInterface::setAabb
virtual void setAabb(btBroadphaseProxy *proxy, const btVector3 &aabbMin, const btVector3 &aabbMax, btDispatcher *dispatcher)=0
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:86
btBroadphaseInterface::createProxy
virtual btBroadphaseProxy * createProxy(const btVector3 &aabbMin, const btVector3 &aabbMax, int shapeType, void *userPtr, int collisionFilterGroup, int collisionFilterMask, btDispatcher *dispatcher)=0
btBroadphaseInterface::getAabb
virtual void getAabb(btBroadphaseProxy *proxy, btVector3 &aabbMin, btVector3 &aabbMax) const =0
btBroadphaseAabbCallback
Definition: btBroadphaseInterface.h:26
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
btBroadphaseInterface::calculateOverlappingPairs
virtual void calculateOverlappingPairs(btDispatcher *dispatcher)=0
calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during th...
btBroadphaseRayCallback::m_lambda_max
btScalar m_lambda_max
Definition: btBroadphaseInterface.h:36
btBroadphaseInterface::getBroadphaseAabb
virtual void getBroadphaseAabb(btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb returns the axis aligned bounding box in the 'global' coordinate frame will add some transfor...
btVector3.h
btBroadphaseInterface::resetPool
virtual void resetPool(btDispatcher *dispatcher)
reset broadphase internal structures, to ensure determinism/reproducability
Definition: btBroadphaseInterface.h:74
btBroadphaseInterface::destroyProxy
virtual void destroyProxy(btBroadphaseProxy *proxy, btDispatcher *dispatcher)=0
btOverlappingPairCache
The btOverlappingPairCache provides an interface for overlapping pair management (add,...
Definition: btOverlappingPairCache.h:51
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
btBroadphaseRayCallback::m_signs
unsigned int m_signs[3]
Definition: btBroadphaseInterface.h:35
btBroadphaseRayCallback::~btBroadphaseRayCallback
virtual ~btBroadphaseRayCallback()
Definition: btBroadphaseInterface.h:38
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btBroadphaseInterface::~btBroadphaseInterface
virtual ~btBroadphaseInterface()
Definition: btBroadphaseInterface.h:52
btDispatcherInfo
Definition: btDispatcher.h:31
btBroadphaseProxy.h
btBroadphaseInterface::printStats
virtual void printStats()=0
btBroadphaseInterface::getOverlappingPairCache
virtual const btOverlappingPairCache * getOverlappingPairCache() const =0
btBroadphaseInterface
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
Definition: btBroadphaseInterface.h:50
btBroadphaseRayCallback::btBroadphaseRayCallback
btBroadphaseRayCallback()
Definition: btBroadphaseInterface.h:41
btBroadphaseAabbCallback::process
virtual bool process(const btBroadphaseProxy *proxy)=0
btBroadphaseInterface::getOverlappingPairCache
virtual btOverlappingPairCache * getOverlappingPairCache()=0
btBroadphaseInterface::aabbTest
virtual void aabbTest(const btVector3 &aabbMin, const btVector3 &aabbMax, btBroadphaseAabbCallback &callback)=0
btBroadphaseAabbCallback::~btBroadphaseAabbCallback
virtual ~btBroadphaseAabbCallback()
Definition: btBroadphaseInterface.h:27
btBroadphaseRayCallback
Definition: btBroadphaseInterface.h:32
btBroadphaseRayCallback::m_rayDirectionInverse
btVector3 m_rayDirectionInverse
added some cached data to accelerate ray-AABB tests
Definition: btBroadphaseInterface.h:34