Bullet Collision Detection & Physics Library
btGhostObject.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_GHOST_OBJECT_H
17 #define BT_GHOST_OBJECT_H
18 
19 #include "btCollisionObject.h"
23 #include "btCollisionWorld.h"
24 
25 class btConvexShape;
26 
27 class btDispatcher;
28 
35 {
36 protected:
38 
39 public:
40  btGhostObject();
41 
42  virtual ~btGhostObject();
43 
44  void convexSweepTest(const class btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = 0.f) const;
45 
46  void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const;
47 
49  virtual void addOverlappingObjectInternal(btBroadphaseProxy * otherProxy, btBroadphaseProxy* thisProxy = 0);
51  virtual void removeOverlappingObjectInternal(btBroadphaseProxy * otherProxy, btDispatcher * dispatcher, btBroadphaseProxy* thisProxy = 0);
52 
54  {
55  return m_overlappingObjects.size();
56  }
57 
59  {
60  return m_overlappingObjects[index];
61  }
62 
63  const btCollisionObject* getOverlappingObject(int index) const
64  {
65  return m_overlappingObjects[index];
66  }
67 
69  {
70  return m_overlappingObjects;
71  }
72 
74  {
75  return m_overlappingObjects;
76  }
77 
78  //
79  // internal cast
80  //
81 
82  static const btGhostObject* upcast(const btCollisionObject* colObj)
83  {
84  if (colObj->getInternalType() == CO_GHOST_OBJECT)
85  return (const btGhostObject*)colObj;
86  return 0;
87  }
89  {
90  if (colObj->getInternalType() == CO_GHOST_OBJECT)
91  return (btGhostObject*)colObj;
92  return 0;
93  }
94 };
95 
97 {
99 
100 public:
102 
103  virtual ~btPairCachingGhostObject();
104 
106  virtual void addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy = 0);
107 
108  virtual void removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btDispatcher* dispatcher, btBroadphaseProxy* thisProxy = 0);
109 
111  {
112  return m_hashPairCache;
113  }
114 };
115 
118 {
119 public:
121  {
122  }
123 
125  {
126  }
127 
129  {
132  btGhostObject* ghost0 = btGhostObject::upcast(colObj0);
133  btGhostObject* ghost1 = btGhostObject::upcast(colObj1);
134  if (ghost0)
135  ghost0->addOverlappingObjectInternal(proxy1, proxy0);
136  if (ghost1)
137  ghost1->addOverlappingObjectInternal(proxy0, proxy1);
138  return 0;
139  }
140 
141  virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, btDispatcher* dispatcher)
142  {
145  btGhostObject* ghost0 = btGhostObject::upcast(colObj0);
146  btGhostObject* ghost1 = btGhostObject::upcast(colObj1);
147  if (ghost0)
148  ghost0->removeOverlappingObjectInternal(proxy1, dispatcher, proxy0);
149  if (ghost1)
150  ghost1->removeOverlappingObjectInternal(proxy0, dispatcher, proxy1);
151  return 0;
152  }
153 
154  virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/, btDispatcher* /*dispatcher*/)
155  {
156  btAssert(0);
157  //need to keep track of all ghost objects and call them here
158  //m_hashPairCache->removeOverlappingPairsContainingProxy(proxy0,dispatcher);
159  }
160 };
161 
162 #endif
virtual btBroadphasePair * addOverlappingPair(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1)
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
virtual void removeOverlappingObjectInternal(btBroadphaseProxy *otherProxy, btDispatcher *dispatcher, btBroadphaseProxy *thisProxy=0)
this method is mainly for expert/internal use only.
btCollisionObject * getOverlappingObject(int index)
Definition: btGhostObject.h:58
const btCollisionObject * getOverlappingObject(int index) const
Definition: btGhostObject.h:63
#define btAssert(x)
Definition: btScalar.h:133
static btGhostObject * upcast(btCollisionObject *colObj)
Definition: btGhostObject.h:88
RayResultCallback is used to report new raycast results.
static const btGhostObject * upcast(const btCollisionObject *colObj)
Definition: btGhostObject.h:82
virtual ~btGhostPairCallback()
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
btHashedOverlappingPairCache * getOverlappingPairCache()
virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy *, btDispatcher *)
btAlignedObjectArray< btCollisionObject * > & getOverlappingPairs()
Definition: btGhostObject.h:68
The btGhostPairCallback interfaces and forwards adding and removal of overlapping pairs from the btBr...
int getNumOverlappingObjects() const
Definition: btGhostObject.h:53
btCollisionObject can be used to manage collision detection objects.
virtual void addOverlappingObjectInternal(btBroadphaseProxy *otherProxy, btBroadphaseProxy *thisProxy=0)
this method is mainly for expert/internal use only.
const btAlignedObjectArray< btCollisionObject * > getOverlappingPairs() const
Definition: btGhostObject.h:73
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
int size() const
return the number of elements in the array
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
virtual void removeOverlappingObjectInternal(btBroadphaseProxy *otherProxy, btDispatcher *dispatcher, btBroadphaseProxy *thisProxy=0)
this method is mainly for expert/internal use only.
btHashedOverlappingPairCache * m_hashPairCache
Definition: btGhostObject.h:98
int getInternalType() const
reserved for Bullet internal usage
The btGhostObject can keep track of all objects that are overlapping By default, this overlap is base...
Definition: btGhostObject.h:33
virtual void * removeOverlappingPair(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1, btDispatcher *dispatcher)
RayResultCallback is used to report new raycast results.
virtual void addOverlappingObjectInternal(btBroadphaseProxy *otherProxy, btBroadphaseProxy *thisProxy=0)
this method is mainly for expert/internal use only.
btAlignedObjectArray< btCollisionObject * > m_overlappingObjects
Definition: btGhostObject.h:37
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman...
The btOverlappingPairCallback class is an additional optional broadphase user callback for adding/rem...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
The btBroadphasePair class contains a pair of aabb-overlapping objects.