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See:
Description
Interface Summary | |
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PairCallback | |
SupportsGenericDistance | A shape that implements this interface can be used in distance calculations for continuous collision detection. |
Class Summary | |
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AABB | An axis-aligned bounding box. |
Bound | Used in BroadPhase |
BroadPhase | This broad phase uses the Sweep and Prune algorithm as described in:
Collision Detection in Interactive 3D Environments by Gino van den Bergen
Also, some ideas, such as using integral values for fast compares comes from
Bullet (http:/www.bulletphysics.com). Notes: - we use bound arrays instead of linked lists for cache coherence. - we use quantized integral values for fast compares. - we use short indices rather than pointers to save memory. - we use a stabbing count for fast overlap queries (less than order N). - we also use a time stamp on each proxy to speed up the registration of overlap query results. - where possible, we compare bound indices instead of values to reduce cache misses (TODO_ERIN). - no broadphase is perfect and neither is this one: it is not great for huge worlds (use a multi-SAP instead), it is not great for large objects. |
BufferedPair | Used in pair manager. |
Collision | A few static final variables that don't fit anywhere else (globals in C++ code). |
ContactID | Contact ids to facilitate warm starting. |
Distance | Implements the GJK algorithm for computing distance between shapes. |
FilterData | This holds contact filtering data. |
Manifold | A manifold for two touching convex shapes. |
ManifoldPoint | A manifold point is a contact point belonging to a contact manifold. |
MassData | This holds the mass data computed for a shape. |
OBB | An oriented bounding box. |
Pair | |
PairManager | |
Proxy | |
Segment | |
TOI | Handles conservative advancement to compute time of impact between shapes. |
This package contains the broad and narrow phase collision algorithms. Externally useful classes are:
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