Package jsim.collision

Class BroadPhase

java.lang.Object

jsim.collision.BroadPhase

public final class BroadPhase
extends Object

O(n²) AABB sweep broadphase.

FRC simulations rarely exceed ~50 bodies, so the quadratic cost is irrelevant. Bodies with RigidBodyFlags.NO_COLLISION are skipped. Two static bodies never collide with each other.

Method Summary

Modifier and Type	Method	Description
static void	findPairs(List<RigidBody> bodies, List<CollisionPair> out)	Return all body pairs whose cached AABBs overlap.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

findPairs

public static void findPairs(List<RigidBody> bodies,
 List<CollisionPair> out)

Return all body pairs whose cached AABBs overlap. The supplied list is cleared and repopulated each call.

Parameters:

bodies - all bodies in the world

out - cleared and populated with overlapping pairs