This class represents the broad-phase collision detection. More...

#include <include/reactphysics3d/systems/BroadPhaseSystem.h>

Public Member Functions
	BroadPhaseSystem (CollisionDetectionSystem &collisionDetection, ColliderComponents &collidersComponents, TransformComponents &transformComponents, RigidBodyComponents &rigidBodyComponents)
	Constructor.

	~BroadPhaseSystem ()=default
	Destructor.

	BroadPhaseSystem (const BroadPhaseSystem &algorithm)=delete
	Deleted copy-constructor.

BroadPhaseSystem &	operator= (const BroadPhaseSystem &algorithm)=delete
	Deleted assignment operator.

void	addCollider (Collider *collider, const AABB &aabb)
	Add a collider into the broad-phase collision detection.

void	removeCollider (Collider *collider)
	Remove a collider from the broad-phase collision detection.

void	updateCollider (Entity colliderEntity)
	Update the broad-phase state of a single collider.

void	updateColliders ()
	Update the broad-phase state of all the enabled colliders.

void	addMovedCollider (int broadPhaseID, Collider *collider)
	Add a collider in the array of colliders that have moved in the last simulation step and that need to be tested again for broad-phase overlapping.

void	removeMovedCollider (int broadPhaseID)
	Remove a collider from the array of colliders that have moved in the last simulation step and that need to be tested again for broad-phase overlapping.

void	computeOverlappingPairs (MemoryManager &memoryManager, Array< Pair< int32, int32 >> &overlappingNodes)
	Compute all the overlapping pairs of collision shapes.

Collider *	getColliderForBroadPhaseId (int broadPhaseId) const
	Return the collider corresponding to the broad-phase node id in parameter.

bool	testOverlappingShapes (int32 shape1BroadPhaseId, int32 shape2BroadPhaseId) const
	Return true if the two broad-phase collision shapes are overlapping.

const AABB &	getFatAABB (int broadPhaseId) const
	Return the fat AABB of a given broad-phase shape.

void	raycast (const Ray &ray, RaycastTest &raycastTest, unsigned short raycastWithCategoryMaskBits) const
	Ray casting method.

Detailed Description

This class represents the broad-phase collision detection.

The goal of the broad-phase collision detection is to compute the pairs of colliders that have their AABBs overlapping. Only those pairs of bodies will be tested later for collision during the narrow-phase collision detection. A dynamic AABB tree data structure is used for fast broad-phase collision detection.

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

include/reactphysics3d/systems/BroadPhaseSystem.h
src/systems/BroadPhaseSystem.cpp

Public Member Functions

Detailed Description