Fast SIMD based quad tree BroadPhase that is multithreading aware and tries to do a minimal amount of locking. More...

#include <BroadPhaseQuadTree.h>

Inheritance diagram for BroadPhaseQuadTree:

Public Member Functions
virtual JPH_OVERRIDE_NEW_DELETE	~BroadPhaseQuadTree () override
	Destructor. More...

virtual void	Init (BodyManager *inBodyManager, const BroadPhaseLayerInterface &inLayerInterface) override

virtual void	Optimize () override
	Should be called after many objects have been inserted to make the broadphase more efficient, usually done on startup only. More...

virtual void	FrameSync () override
	Must be called just before updating the broadphase when none of the body mutexes are locked. More...

virtual void	LockModifications () override
	Must be called before UpdatePrepare to prevent modifications from being made to the tree. More...

virtual UpdateState	UpdatePrepare () override

virtual void	UpdateFinalize (const UpdateState &inUpdateState) override
	Finalizing the update will quickly apply the changes. More...

virtual void	UnlockModifications () override
	Must be called after UpdateFinalize to allow modifications to the broadphase. More...

virtual AddState	AddBodiesPrepare (BodyID *ioBodies, int inNumber) override

virtual void	AddBodiesFinalize (BodyID *ioBodies, int inNumber, AddState inAddState) override

virtual void	AddBodiesAbort (BodyID *ioBodies, int inNumber, AddState inAddState) override

virtual void	RemoveBodies (BodyID *ioBodies, int inNumber) override

virtual void	NotifyBodiesAABBChanged (BodyID *ioBodies, int inNumber, bool inTakeLock) override

virtual void	NotifyBodiesLayerChanged (BodyID *ioBodies, int inNumber) override
	Call whenever the layer (and optionally the aabb as well) of a body changes (can change order of ioBodies array) More...

virtual void	CastRay (const RayCast &inRay, RayCastBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override
	Cast a ray and add any hits to ioCollector. More...

virtual void	CollideAABox (const AABox &inBox, CollideShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override
	Get bodies intersecting with inBox and any hits to ioCollector. More...

virtual void	CollideSphere (Vec3Arg inCenter, float inRadius, CollideShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override
	Get bodies intersecting with a sphere and any hits to ioCollector. More...

virtual void	CollidePoint (Vec3Arg inPoint, CollideShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override
	Get bodies intersecting with a point and any hits to ioCollector. More...

virtual void	CollideOrientedBox (const OrientedBox &inBox, CollideShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override
	Get bodies intersecting with an oriented box and any hits to ioCollector. More...

virtual void	CastAABoxNoLock (const AABoxCast &inBox, CastShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override
	Same as BroadPhaseQuery::CastAABox but can be implemented in a way to take no broad phase locks. More...

virtual void	CastAABox (const AABoxCast &inBox, CastShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const override
	Cast a box and add any hits to ioCollector. More...

virtual void	FindCollidingPairs (BodyID *ioActiveBodies, int inNumActiveBodies, float inSpeculativeContactDistance, const ObjectVsBroadPhaseLayerFilter &inObjectVsBroadPhaseLayerFilter, const ObjectLayerPairFilter &inObjectLayerPairFilter, BodyPairCollector &ioPairCollector) const override

virtual AABox	GetBounds () const override
	Get the bounding box of all objects in the broadphase. More...

virtual void	Init (BodyManager *inBodyManager, const BroadPhaseLayerInterface &inLayerInterface)

virtual void	Optimize ()
	Should be called after many objects have been inserted to make the broadphase more efficient, usually done on startup only. More...

virtual void	FrameSync ()
	Must be called just before updating the broadphase when none of the body mutexes are locked. More...

virtual void	LockModifications ()
	Must be called before UpdatePrepare to prevent modifications from being made to the tree. More...

virtual UpdateState	UpdatePrepare ()

virtual void	UpdateFinalize (const UpdateState &inUpdateState)
	Finalizing the update will quickly apply the changes. More...

virtual void	UnlockModifications ()
	Must be called after UpdateFinalize to allow modifications to the broadphase. More...

virtual AddState	AddBodiesPrepare (BodyID *ioBodies, int inNumber)

virtual void	AddBodiesFinalize (BodyID *ioBodies, int inNumber, AddState inAddState)=0

virtual void	AddBodiesAbort (BodyID *ioBodies, int inNumber, AddState inAddState)

virtual void	RemoveBodies (BodyID *ioBodies, int inNumber)=0

virtual void	NotifyBodiesAABBChanged (BodyID *ioBodies, int inNumber, bool inTakeLock=true)=0

virtual void	NotifyBodiesLayerChanged (BodyID *ioBodies, int inNumber)=0
	Call whenever the layer (and optionally the aabb as well) of a body changes (can change order of ioBodies array) More...

virtual void	FindCollidingPairs (BodyID *ioActiveBodies, int inNumActiveBodies, float inSpeculativeContactDistance, const ObjectVsBroadPhaseLayerFilter &inObjectVsBroadPhaseLayerFilter, const ObjectLayerPairFilter &inObjectLayerPairFilter, BodyPairCollector &ioPairCollector) const =0

virtual void	CastAABoxNoLock (const AABoxCast &inBox, CastShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter) const =0
	Same as BroadPhaseQuery::CastAABox but can be implemented in a way to take no broad phase locks. More...

virtual AABox	GetBounds () const =0
	Get the bounding box of all objects in the broadphase. More...

Public Member Functions inherited from BroadPhaseQuery
virtual	~BroadPhaseQuery ()=default
	Virtual destructor. More...

virtual void	CastRay (const RayCast &inRay, RayCastBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter={ }, const ObjectLayerFilter &inObjectLayerFilter={ }) const =0
	Cast a ray and add any hits to ioCollector. More...

virtual void	CollideAABox (const AABox &inBox, CollideShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter={ }, const ObjectLayerFilter &inObjectLayerFilter={ }) const =0
	Get bodies intersecting with inBox and any hits to ioCollector. More...

virtual void	CollideSphere (Vec3Arg inCenter, float inRadius, CollideShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter={ }, const ObjectLayerFilter &inObjectLayerFilter={ }) const =0
	Get bodies intersecting with a sphere and any hits to ioCollector. More...

virtual void	CollidePoint (Vec3Arg inPoint, CollideShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter={ }, const ObjectLayerFilter &inObjectLayerFilter={ }) const =0
	Get bodies intersecting with a point and any hits to ioCollector. More...

virtual void	CollideOrientedBox (const OrientedBox &inBox, CollideShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter={ }, const ObjectLayerFilter &inObjectLayerFilter={ }) const =0
	Get bodies intersecting with an oriented box and any hits to ioCollector. More...

virtual void	CastAABox (const AABoxCast &inBox, CastShapeBodyCollector &ioCollector, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter={ }, const ObjectLayerFilter &inObjectLayerFilter={ }) const =0
	Cast a box and add any hits to ioCollector. More...

Public Member Functions inherited from NonCopyable
	NonCopyable ()=default

	NonCopyable (const NonCopyable &)=delete

void	operator= (const NonCopyable &)=delete

Additional Inherited Members
Public Types inherited from BroadPhase
using	AddState = void *
	Handle used during adding bodies to the broadphase. More...

Protected Attributes inherited from BroadPhase
BodyManager *	mBodyManager = nullptr
	Link to the body manager that manages the bodies in this broadphase. More...

Detailed Description

Fast SIMD based quad tree BroadPhase that is multithreading aware and tries to do a minimal amount of locking.

Constructor & Destructor Documentation

◆ ~BroadPhaseQuadTree()

JPH_NAMESPACE_BEGIN BroadPhaseQuadTree::~BroadPhaseQuadTree ( )

overridevirtual

Destructor.

Member Function Documentation

◆ AddBodiesAbort()

void BroadPhaseQuadTree::AddBodiesAbort	(	BodyID *	ioBodies,
		int	inNumber,
		AddState	inAddState
	)

overridevirtual

Abort adding bodies to the broadphase, supply the return value of AddBodiesPrepare in inAddState. This can be done on a background thread without influencing the broadphase. Please ensure that the ioBodies array passed to AddBodiesPrepare is unmodified and passed again to this function.

Reimplemented from BroadPhase.

◆ AddBodiesFinalize()

void BroadPhaseQuadTree::AddBodiesFinalize	(	BodyID *	ioBodies,
		int	inNumber,
		AddState	inAddState
	)

overridevirtual

Finalize adding bodies to the broadphase, supply the return value of AddBodiesPrepare in inAddState. Please ensure that the ioBodies array passed to AddBodiesPrepare is unmodified and passed again to this function.

Implements BroadPhase.

◆ AddBodiesPrepare()

BroadPhase::AddState BroadPhaseQuadTree::AddBodiesPrepare	(	BodyID *	ioBodies,
		int	inNumber
	)

overridevirtual

Prepare adding inNumber bodies at ioBodies to the broadphase, returns a handle that should be used in AddBodiesFinalize/Abort. This can be done on a background thread without influencing the broadphase. ioBodies may be shuffled around by this function and should be kept that way until AddBodiesFinalize/Abort is called.

Reimplemented from BroadPhase.

◆ CastAABox()

void BroadPhaseQuadTree::CastAABox	(	const AABoxCast &	inBox,
		CastShapeBodyCollector &	ioCollector,
		const BroadPhaseLayerFilter &	inBroadPhaseLayerFilter,
		const ObjectLayerFilter &	inObjectLayerFilter
	)		const

overridevirtual

Cast a box and add any hits to ioCollector.

Implements BroadPhaseQuery.

◆ CastAABoxNoLock()

void BroadPhaseQuadTree::CastAABoxNoLock	(	const AABoxCast &	inBox,
		CastShapeBodyCollector &	ioCollector,
		const BroadPhaseLayerFilter &	inBroadPhaseLayerFilter,
		const ObjectLayerFilter &	inObjectLayerFilter
	)		const

overridevirtual

Same as BroadPhaseQuery::CastAABox but can be implemented in a way to take no broad phase locks.

Implements BroadPhase.

◆ CastRay()

void BroadPhaseQuadTree::CastRay	(	const RayCast &	inRay,
		RayCastBodyCollector &	ioCollector,
		const BroadPhaseLayerFilter &	inBroadPhaseLayerFilter,
		const ObjectLayerFilter &	inObjectLayerFilter
	)		const

overridevirtual

Cast a ray and add any hits to ioCollector.

Implements BroadPhaseQuery.

◆ CollideAABox()

void BroadPhaseQuadTree::CollideAABox	(	const AABox &	inBox,
		CollideShapeBodyCollector &	ioCollector,
		const BroadPhaseLayerFilter &	inBroadPhaseLayerFilter,
		const ObjectLayerFilter &	inObjectLayerFilter
	)		const

overridevirtual

Get bodies intersecting with inBox and any hits to ioCollector.

Implements BroadPhaseQuery.

◆ CollideOrientedBox()

void BroadPhaseQuadTree::CollideOrientedBox	(	const OrientedBox &	inBox,
		CollideShapeBodyCollector &	ioCollector,
		const BroadPhaseLayerFilter &	inBroadPhaseLayerFilter,
		const ObjectLayerFilter &	inObjectLayerFilter
	)		const

overridevirtual

Get bodies intersecting with an oriented box and any hits to ioCollector.

Implements BroadPhaseQuery.

◆ CollidePoint()

void BroadPhaseQuadTree::CollidePoint	(	Vec3Arg	inPoint,
		CollideShapeBodyCollector &	ioCollector,
		const BroadPhaseLayerFilter &	inBroadPhaseLayerFilter,
		const ObjectLayerFilter &	inObjectLayerFilter
	)		const

overridevirtual

Get bodies intersecting with a point and any hits to ioCollector.

Implements BroadPhaseQuery.

◆ CollideSphere()

void BroadPhaseQuadTree::CollideSphere	(	Vec3Arg	inCenter,
		float	inRadius,
		CollideShapeBodyCollector &	ioCollector,
		const BroadPhaseLayerFilter &	inBroadPhaseLayerFilter,
		const ObjectLayerFilter &	inObjectLayerFilter
	)		const

overridevirtual

Get bodies intersecting with a sphere and any hits to ioCollector.

Implements BroadPhaseQuery.

◆ FindCollidingPairs()

void BroadPhaseQuadTree::FindCollidingPairs	(	BodyID *	ioActiveBodies,
		int	inNumActiveBodies,
		float	inSpeculativeContactDistance,
		const ObjectVsBroadPhaseLayerFilter &	inObjectVsBroadPhaseLayerFilter,
		const ObjectLayerPairFilter &	inObjectLayerPairFilter,
		BodyPairCollector &	ioPairCollector
	)		const

overridevirtual

Find all colliding pairs between dynamic bodies Note that this function is very specifically tailored for the PhysicsSystem::Update function, hence it is not part of the BroadPhaseQuery interface. One of the assumptions it can make is that no locking is needed during the query as it will only be called during a very particular part of the update.

Parameters

ioActiveBodies	is a list of bodies for which we need to find colliding pairs (this function can change the order of the ioActiveBodies array). This can be a subset of the set of active bodies in the system.
inNumActiveBodies	is the size of the ioActiveBodies array.
inSpeculativeContactDistance	Distance at which speculative contact points will be created.
inObjectVsBroadPhaseLayerFilter	is the filter that determines if an object can collide with a broadphase layer.
inObjectLayerPairFilter	is the filter that determines if two objects can collide.
ioPairCollector	receives callbacks for every body pair found.

Implements BroadPhase.

◆ FrameSync()

void BroadPhaseQuadTree::FrameSync ( )

overridevirtual

Must be called just before updating the broadphase when none of the body mutexes are locked.

Reimplemented from BroadPhase.

◆ GetBounds()

AABox BroadPhaseQuadTree::GetBounds ( ) const

overridevirtual

Get the bounding box of all objects in the broadphase.

Implements BroadPhase.

◆ Init()

void BroadPhaseQuadTree::Init	(	BodyManager *	inBodyManager,
		const BroadPhaseLayerInterface &	inLayerInterface
	)

overridevirtual

Initialize the broadphase.

Parameters

inBodyManager	The body manager singleton
inLayerInterface	Interface that maps object layers to broadphase layers. Note that the broadphase takes a pointer to the data inside inObjectToBroadPhaseLayer so this object should remain static.

Reimplemented from BroadPhase.

◆ LockModifications()

void BroadPhaseQuadTree::LockModifications ( )

overridevirtual

Must be called before UpdatePrepare to prevent modifications from being made to the tree.

Reimplemented from BroadPhase.

◆ NotifyBodiesAABBChanged()

void BroadPhaseQuadTree::NotifyBodiesAABBChanged	(	BodyID *	ioBodies,
		int	inNumber,
		bool	inTakeLock
	)

overridevirtual

Call whenever the aabb of a body changes (can change order of ioBodies array) inTakeLock should be false if we're between LockModifications/UnlockModificiations in which case care needs to be taken to not call this between UpdatePrepare/UpdateFinalize

Implements BroadPhase.

◆ NotifyBodiesLayerChanged()

void BroadPhaseQuadTree::NotifyBodiesLayerChanged	(	BodyID *	ioBodies,
		int	inNumber
	)

overridevirtual

Call whenever the layer (and optionally the aabb as well) of a body changes (can change order of ioBodies array)

Implements BroadPhase.

◆ Optimize()

void BroadPhaseQuadTree::Optimize ( )

overridevirtual

Should be called after many objects have been inserted to make the broadphase more efficient, usually done on startup only.

Reimplemented from BroadPhase.

◆ RemoveBodies()

void BroadPhaseQuadTree::RemoveBodies	(	BodyID *	ioBodies,
		int	inNumber
	)

overridevirtual

Remove inNumber bodies in ioBodies from the broadphase. ioBodies may be shuffled around by this function.

Implements BroadPhase.

◆ UnlockModifications()

void BroadPhaseQuadTree::UnlockModifications ( )

overridevirtual

Must be called after UpdateFinalize to allow modifications to the broadphase.

Reimplemented from BroadPhase.

◆ UpdateFinalize()

void BroadPhaseQuadTree::UpdateFinalize ( const UpdateState & inUpdateState )

overridevirtual

Finalizing the update will quickly apply the changes.

Reimplemented from BroadPhase.

◆ UpdatePrepare()

BroadPhase::UpdateState BroadPhaseQuadTree::UpdatePrepare ( )

overridevirtual

Update the broadphase, needs to be called frequently to update the internal state when bodies have been modified. The UpdatePrepare() function can run in a background thread without influencing the broadphase

Reimplemented from BroadPhase.

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

Jolt/Physics/Collision/BroadPhase/BroadPhaseQuadTree.h
Jolt/Physics/Collision/BroadPhase/BroadPhaseQuadTree.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~BroadPhaseQuadTree()

Member Function Documentation

◆ AddBodiesAbort()

◆ AddBodiesFinalize()

◆ AddBodiesPrepare()

◆ CastAABox()

◆ CastAABoxNoLock()

◆ CastRay()

◆ CollideAABox()

◆ CollideOrientedBox()

◆ CollidePoint()

◆ CollideSphere()

◆ FindCollidingPairs()

◆ FrameSync()

◆ GetBounds()

◆ Init()

◆ LockModifications()

◆ NotifyBodiesAABBChanged()

◆ NotifyBodiesLayerChanged()

◆ Optimize()

◆ RemoveBodies()

◆ UnlockModifications()

◆ UpdateFinalize()

◆ UpdatePrepare()