Blender  V3.3
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btDbvt Struct Reference

#include <btDbvt.h>

Classes

struct  IClone
 
struct  ICollide
 
struct  IWriter
 
struct  sStkCLN
 
struct  sStkNN
 
struct  sStknNN
 
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 selfCollideT (const btDbvntNode *root, DBVT_IPOLICY)
 
DBVT_PREFIX void selfCollideTT (const btDbvtNode *root, 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 collideTVNoStackAlloc (const btDbvtNode *root, const btDbvtVolume &volume, btNodeStack &stack, 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, btAlignedObjectArray< const btDbvtNode * > &stack, DBVT_IPOLICY) const
 

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)
 
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
 

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 228 of file btDbvt.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
Enumerator
SIMPLE_STACKSIZE 
DOUBLE_STACKSIZE 

Definition at line 295 of file btDbvt.h.

Constructor & Destructor Documentation

◆ btDbvt()

btDbvt::btDbvt ( )

Definition at line 461 of file btDbvt.cpp.

References m_free, m_leaves, m_lkhd, m_opath, and m_root.

◆ ~btDbvt()

btDbvt::~btDbvt ( )

Definition at line 471 of file btDbvt.cpp.

References clear().

Referenced by ~btCompoundShape().

Member Function Documentation

◆ allocate()

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

◆ benchmark()

static void btDbvt::benchmark ( )
inlinestatic

Definition at line 333 of file btDbvt.h.

◆ clear()

void btDbvt::clear ( )

◆ clone()

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

◆ collideKDOP()

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

◆ collideOCL()

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

◆ collideTT()

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

◆ collideTTpersistentStack()

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

◆ collideTU()

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

◆ collideTV()

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

◆ collideTVNoStackAlloc()

DBVT_PREFIX void btDbvt::collideTVNoStackAlloc ( const btDbvtNode root,
const btDbvtVolume volume,
btNodeStack stack,
DBVT_IPOLICY   
) const
inline

◆ countLeaves()

int btDbvt::countLeaves ( const btDbvtNode node)
static

Definition at line 684 of file btDbvt.cpp.

References node.

◆ empty()

bool btDbvt::empty ( ) const
inline

◆ enumLeaves()

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

Definition at line 805 of file btDbvt.h.

References btDbvtNode::childs, DBVT_CHECKTYPE, and btDbvtNode::isinternal().

Referenced by collideKDOP().

◆ enumNodes()

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

Definition at line 791 of file btDbvt.h.

References btDbvtNode::childs, DBVT_CHECKTYPE, and btDbvtNode::isinternal().

Referenced by write().

◆ extractLeaves()

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

Definition at line 693 of file btDbvt.cpp.

References node, and btAlignedObjectArray< T >::push_back().

◆ insert()

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

◆ maxdepth()

int btDbvt::maxdepth ( const btDbvtNode node)
static

Definition at line 676 of file btDbvt.cpp.

References getmaxdepth(), and node.

◆ nearest()

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

Definition at line 423 of file btDbvt.h.

References Freestyle::a, l, and v.

Referenced by collideOCL().

◆ optimizeBottomUp()

void btDbvt::optimizeBottomUp ( )

◆ optimizeIncremental()

void btDbvt::optimizeIncremental ( int  passes)

◆ optimizeTopDown()

void btDbvt::optimizeTopDown ( int  bu_treshold = 128)

◆ rayTest()

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 1276 of file btDbvt.h.

References bounds(), BT_LARGE_FLOAT, btAssert, btRayAabb(), btRayAabb2(), btVector3, DBVT_CHECKTYPE, DOUBLE_STACKSIZE, btAlignedObjectArray< T >::initializeFromBuffer(), node, btAlignedObjectArray< T >::resize(), and btAlignedObjectArray< T >::size().

Referenced by btSoftBody::rayFaceTest(), btSoftBody::rayTest(), and btCollisionWorld::rayTestSingleInternal().

◆ rayTestInternal()

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,
btAlignedObjectArray< const btDbvtNode * > &  stack,
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 1223 of file btDbvt.h.

References bounds(), btRayAabb2(), btVector3, DBVT_CHECKTYPE, DOUBLE_STACKSIZE, node, btAlignedObjectArray< T >::resize(), btAlignedObjectArray< T >::size(), and void.

Referenced by btDbvtBroadphase::rayTest().

◆ remove()

void btDbvt::remove ( btDbvtNode leaf)

◆ selfCollideT()

DBVT_PREFIX void btDbvt::selfCollideT ( const btDbvntNode root,
DBVT_IPOLICY   
)
inline

◆ selfCollideTT()

DBVT_PREFIX void btDbvt::selfCollideTT ( const btDbvtNode root,
DBVT_IPOLICY   
)
inline

◆ update() [1/5]

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

Definition at line 563 of file btDbvt.cpp.

References insertleaf(), m_lkhd, m_root, btDbvtNode::parent, removeleaf(), and btDbvtNode::volume.

◆ update() [2/5]

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

◆ update() [3/5]

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

◆ update() [4/5]

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

◆ update() [5/5]

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

◆ write()

void btDbvt::write ( IWriter iwriter) const

Member Data Documentation

◆ m_free

btDbvtNode* btDbvt::m_free

Definition at line 303 of file btDbvt.h.

Referenced by btDbvt(), clear(), createnode(), and deletenode().

◆ m_leaves

int btDbvt::m_leaves

◆ m_lkhd

int btDbvt::m_lkhd

Definition at line 304 of file btDbvt.h.

Referenced by btDbvt(), clear(), and update().

◆ m_opath

unsigned btDbvt::m_opath

Definition at line 306 of file btDbvt.h.

Referenced by btDbvt(), clear(), and optimizeIncremental().

◆ m_root

btDbvtNode* btDbvt::m_root

◆ m_stkStack

btAlignedObjectArray<sStkNN> btDbvt::m_stkStack

Definition at line 308 of file btDbvt.h.

Referenced by clear(), and collideTTpersistentStack().


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