Bullet Collision Detection & Physics Library
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btDbvt Struct Reference

The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree). More...

#include <btDbvt.h>

Collaboration diagram for btDbvt:
Collaboration graph
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Classes

struct  IClone
 
struct  ICollide
 
struct  IWriter
 
struct  sStkCLN
 
struct  sStkNN
 
struct  sStkNP
 
struct  sStkNPS
 

Public Types

enum  {
  SIMPLE_STACKSIZE = 64,
  DOUBLE_STACKSIZE = SIMPLE_STACKSIZE*2
}
 

Public Member Functions

 btDbvt ()
 
 ~btDbvt ()
 
void clear ()
 
bool empty () const
 
void optimizeBottomUp ()
 
void optimizeTopDown (int bu_treshold=128)
 
void optimizeIncremental (int passes)
 
btDbvtNodeinsert (const btDbvtVolume &box, void *data)
 
void update (btDbvtNode *leaf, int lookahead=-1)
 
void update (btDbvtNode *leaf, btDbvtVolume &volume)
 
bool update (btDbvtNode *leaf, btDbvtVolume &volume, const btVector3 &velocity, btScalar margin)
 
bool update (btDbvtNode *leaf, btDbvtVolume &volume, const btVector3 &velocity)
 
bool update (btDbvtNode *leaf, btDbvtVolume &volume, btScalar margin)
 
void remove (btDbvtNode *leaf)
 
void write (IWriter *iwriter) const
 
void clone (btDbvt &dest, IClone *iclone=0) const
 
DBVT_PREFIX void collideTT (const btDbvtNode *root0, const btDbvtNode *root1, DBVT_IPOLICY)
 
DBVT_PREFIX void collideTTpersistentStack (const btDbvtNode *root0, const btDbvtNode *root1, DBVT_IPOLICY)
 
DBVT_PREFIX void collideTV (const btDbvtNode *root, const btDbvtVolume &volume, DBVT_IPOLICY) const
 
DBVT_PREFIX void rayTestInternal (const btDbvtNode *root, const btVector3 &rayFrom, const btVector3 &rayTo, const btVector3 &rayDirectionInverse, unsigned int signs[3], btScalar lambda_max, const btVector3 &aabbMin, const btVector3 &aabbMax, DBVT_IPOLICY) const
 rayTestInternal is faster than rayTest, because it uses a persistent stack (to reduce dynamic memory allocations to a minimum) and it uses precomputed signs/rayInverseDirections rayTestInternal is used by btDbvtBroadphase to accelerate world ray casts More...
 

Static Public Member Functions

static int maxdepth (const btDbvtNode *node)
 
static int countLeaves (const btDbvtNode *node)
 
static void extractLeaves (const btDbvtNode *node, btAlignedObjectArray< const btDbvtNode * > &leaves)
 
static void benchmark ()
 
static DBVT_PREFIX void enumNodes (const btDbvtNode *root, DBVT_IPOLICY)
 
static DBVT_PREFIX void enumLeaves (const btDbvtNode *root, DBVT_IPOLICY)
 
static DBVT_PREFIX void rayTest (const btDbvtNode *root, const btVector3 &rayFrom, const btVector3 &rayTo, DBVT_IPOLICY)
 rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thread-safe (uses locking etc) rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time More...
 
static DBVT_PREFIX void collideKDOP (const btDbvtNode *root, const btVector3 *normals, const btScalar *offsets, int count, DBVT_IPOLICY)
 
static DBVT_PREFIX void collideOCL (const btDbvtNode *root, const btVector3 *normals, const btScalar *offsets, const btVector3 &sortaxis, int count, DBVT_IPOLICY, bool fullsort=true)
 
static DBVT_PREFIX void collideTU (const btDbvtNode *root, DBVT_IPOLICY)
 
static DBVT_INLINE int nearest (const int *i, const btDbvt::sStkNPS *a, btScalar v, int l, int h)
 
static DBVT_INLINE int allocate (btAlignedObjectArray< int > &ifree, btAlignedObjectArray< sStkNPS > &stock, const sStkNPS &value)
 

Public Attributes

btDbvtNodem_root
 
btDbvtNodem_free
 
int m_lkhd
 
int m_leaves
 
unsigned m_opath
 
btAlignedObjectArray< sStkNNm_stkStack
 
btAlignedObjectArray< const btDbvtNode * > m_rayTestStack
 

Private Member Functions

 btDbvt (const btDbvt &)
 

Detailed Description

The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes (aabb tree).

This btDbvt is used for soft body collision detection and for the btDbvtBroadphase. It has a fast insert, remove and update of nodes. Unlike the btQuantizedBvh, nodes can be dynamically moved around, which allows for change in topology of the underlying data structure.

Definition at line 194 of file btDbvt.h.

Member Enumeration Documentation

anonymous enum
Enumerator
SIMPLE_STACKSIZE 
DOUBLE_STACKSIZE 

Definition at line 252 of file btDbvt.h.

Constructor & Destructor Documentation

btDbvt::btDbvt ( )

Definition at line 411 of file btDbvt.cpp.

btDbvt::~btDbvt ( )

Definition at line 421 of file btDbvt.cpp.

btDbvt::btDbvt ( const btDbvt )
inlineprivate

Definition at line 389 of file btDbvt.h.

Member Function Documentation

static DBVT_INLINE int btDbvt::allocate ( btAlignedObjectArray< int > &  ifree,
btAlignedObjectArray< sStkNPS > &  stock,
const sStkNPS value 
)
inlinestatic

Definition at line 376 of file btDbvt.h.

static void btDbvt::benchmark ( )
inlinestatic

Definition at line 292 of file btDbvt.h.

void btDbvt::clear ( )

Definition at line 427 of file btDbvt.cpp.

void btDbvt::clone ( btDbvt dest,
IClone iclone = 0 
) const

Definition at line 590 of file btDbvt.cpp.

DBVT_PREFIX void btDbvt::collideKDOP ( const btDbvtNode root,
const btVector3 normals,
const btScalar offsets,
int  count,
DBVT_IPOLICY   
)
inlinestatic

Definition at line 1076 of file btDbvt.h.

DBVT_PREFIX void btDbvt::collideOCL ( const btDbvtNode root,
const btVector3 normals,
const btScalar offsets,
const btVector3 sortaxis,
int  count,
DBVT_IPOLICY  ,
bool  fullsort = true 
)
inlinestatic

Definition at line 1131 of file btDbvt.h.

DBVT_PREFIX void btDbvt::collideTT ( const btDbvtNode root0,
const btDbvtNode root1,
DBVT_IPOLICY   
)
inline

Definition at line 724 of file btDbvt.h.

DBVT_PREFIX void btDbvt::collideTTpersistentStack ( const btDbvtNode root0,
const btDbvtNode root1,
DBVT_IPOLICY   
)
inline

Definition at line 789 of file btDbvt.h.

DBVT_PREFIX void btDbvt::collideTU ( const btDbvtNode root,
DBVT_IPOLICY   
)
inlinestatic

Definition at line 1235 of file btDbvt.h.

DBVT_PREFIX void btDbvt::collideTV ( const btDbvtNode root,
const btDbvtVolume volume,
DBVT_IPOLICY   
) const
inline

Definition at line 922 of file btDbvt.h.

int btDbvt::countLeaves ( const btDbvtNode node)
static

Definition at line 629 of file btDbvt.cpp.

bool btDbvt::empty ( ) const
inline

Definition at line 273 of file btDbvt.h.

DBVT_PREFIX void btDbvt::enumLeaves ( const btDbvtNode root,
DBVT_IPOLICY   
)
inlinestatic

Definition at line 707 of file btDbvt.h.

DBVT_PREFIX void btDbvt::enumNodes ( const btDbvtNode root,
DBVT_IPOLICY   
)
inlinestatic

Definition at line 693 of file btDbvt.h.

void btDbvt::extractLeaves ( const btDbvtNode node,
btAlignedObjectArray< const btDbvtNode * > &  leaves 
)
static

Definition at line 638 of file btDbvt.cpp.

btDbvtNode * btDbvt::insert ( const btDbvtVolume box,
void *  data 
)

Definition at line 485 of file btDbvt.cpp.

int btDbvt::maxdepth ( const btDbvtNode node)
static

Definition at line 621 of file btDbvt.cpp.

static DBVT_INLINE int btDbvt::nearest ( const int *  i,
const btDbvt::sStkNPS a,
btScalar  v,
int  l,
int  h 
)
inlinestatic

Definition at line 366 of file btDbvt.h.

void btDbvt::optimizeBottomUp ( )

Definition at line 440 of file btDbvt.cpp.

void btDbvt::optimizeIncremental ( int  passes)

Definition at line 465 of file btDbvt.cpp.

void btDbvt::optimizeTopDown ( int  bu_treshold = 128)

Definition at line 453 of file btDbvt.cpp.

DBVT_PREFIX void btDbvt::rayTest ( const btDbvtNode root,
const btVector3 rayFrom,
const btVector3 rayTo,
DBVT_IPOLICY   
)
inlinestatic

rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thread-safe (uses locking etc) rayTest is slower than rayTestInternal, because it builds a local stack, using memory allocations, and it recomputes signs/rayDirectionInverses each time

what about division by zero? –> just set rayDirection[i] to INF/BT_LARGE_FLOAT

Definition at line 1007 of file btDbvt.h.

DBVT_PREFIX void btDbvt::rayTestInternal ( const btDbvtNode root,
const btVector3 rayFrom,
const btVector3 rayTo,
const btVector3 rayDirectionInverse,
unsigned int  signs[3],
btScalar  lambda_max,
const btVector3 aabbMin,
const btVector3 aabbMax,
DBVT_IPOLICY   
) const
inline

rayTestInternal is faster than rayTest, because it uses a persistent stack (to reduce dynamic memory allocations to a minimum) and it uses precomputed signs/rayInverseDirections rayTestInternal is used by btDbvtBroadphase to accelerate world ray casts

Definition at line 954 of file btDbvt.h.

void btDbvt::remove ( btDbvtNode leaf)

Definition at line 557 of file btDbvt.cpp.

void btDbvt::update ( btDbvtNode leaf,
int  lookahead = -1 
)

Definition at line 494 of file btDbvt.cpp.

void btDbvt::update ( btDbvtNode leaf,
btDbvtVolume volume 
)

Definition at line 511 of file btDbvt.cpp.

bool btDbvt::update ( btDbvtNode leaf,
btDbvtVolume volume,
const btVector3 velocity,
btScalar  margin 
)

Definition at line 529 of file btDbvt.cpp.

bool btDbvt::update ( btDbvtNode leaf,
btDbvtVolume volume,
const btVector3 velocity 
)

Definition at line 539 of file btDbvt.cpp.

bool btDbvt::update ( btDbvtNode leaf,
btDbvtVolume volume,
btScalar  margin 
)

Definition at line 548 of file btDbvt.cpp.

void btDbvt::write ( IWriter iwriter) const

Definition at line 565 of file btDbvt.cpp.

Member Data Documentation

btDbvtNode* btDbvt::m_free

Definition at line 259 of file btDbvt.h.

int btDbvt::m_leaves

Definition at line 261 of file btDbvt.h.

int btDbvt::m_lkhd

Definition at line 260 of file btDbvt.h.

unsigned btDbvt::m_opath

Definition at line 262 of file btDbvt.h.

btAlignedObjectArray<const btDbvtNode*> btDbvt::m_rayTestStack
mutable

Definition at line 266 of file btDbvt.h.

btDbvtNode* btDbvt::m_root

Definition at line 258 of file btDbvt.h.

btAlignedObjectArray<sStkNN> btDbvt::m_stkStack

Definition at line 265 of file btDbvt.h.


The documentation for this struct was generated from the following files: