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 
26 
27 
28 
30 {
32  virtual bool process(const btBroadphaseProxy* proxy) = 0;
33 };
34 
35 
37 {
40  unsigned int m_signs[3];
42 
44 };
45 
46 #include "LinearMath/btVector3.h"
47 
52 {
53 public:
55 
56  virtual btBroadphaseProxy* createProxy( const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy) =0;
57  virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher)=0;
58  virtual void setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher)=0;
59  virtual void getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const =0;
60 
61  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;
62 
63  virtual void aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback) = 0;
64 
66  virtual void calculateOverlappingPairs(btDispatcher* dispatcher)=0;
67 
69  virtual const btOverlappingPairCache* getOverlappingPairCache() const =0;
70 
73  virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const =0;
74 
76  virtual void resetPool(btDispatcher* dispatcher) { (void) dispatcher; };
77 
78  virtual void printStats() = 0;
79 
80 };
81 
82 #endif //BT_BROADPHASE_INTERFACE_H
virtual void printStats()=0
virtual void getAabb(btBroadphaseProxy *proxy, btVector3 &aabbMin, btVector3 &aabbMax) const =0
The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
virtual btOverlappingPairCache * getOverlappingPairCache()=0
virtual btBroadphaseProxy * createProxy(const btVector3 &aabbMin, const btVector3 &aabbMax, int shapeType, void *userPtr, short int collisionFilterGroup, short int collisionFilterMask, btDispatcher *dispatcher, void *multiSapProxy)=0
virtual void resetPool(btDispatcher *dispatcher)
reset broadphase internal structures, to ensure determinism/reproducability
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs...
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
virtual bool process(const btBroadphaseProxy *proxy)=0
btVector3 m_rayDirectionInverse
added some cached data to accelerate ray-AABB tests
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...
virtual void setAabb(btBroadphaseProxy *proxy, const btVector3 &aabbMin, const btVector3 &aabbMax, btDispatcher *dispatcher)=0
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:69
virtual void destroyProxy(btBroadphaseProxy *proxy, btDispatcher *dispatcher)=0
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
virtual void calculateOverlappingPairs(btDispatcher *dispatcher)=0
calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during th...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
virtual void aabbTest(const btVector3 &aabbMin, const btVector3 &aabbMax, btBroadphaseAabbCallback &callback)=0