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
btPairCachingGhostObject
Definition: btGhostObject.h:96
btGhostObject::removeOverlappingObjectInternal
virtual void removeOverlappingObjectInternal(btBroadphaseProxy *otherProxy, btDispatcher *dispatcher, btBroadphaseProxy *thisProxy=0)
this method is mainly for expert/internal use only.
Definition: btGhostObject.cpp:45
btOverlappingPairCallback
The btOverlappingPairCallback class is an additional optional broadphase user callback for adding/rem...
Definition: btOverlappingPairCallback.h:24
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:84
btGhostObject::addOverlappingObjectInternal
virtual void addOverlappingObjectInternal(btBroadphaseProxy *otherProxy, btBroadphaseProxy *thisProxy=0)
this method is mainly for expert/internal use only.
Definition: btGhostObject.cpp:32
btHashedOverlappingPairCache
Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman,...
Definition: btOverlappingPairCache.h:86
btPairCachingGhostObject::~btPairCachingGhostObject
virtual ~btPairCachingGhostObject()
Definition: btGhostObject.cpp:62
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
btGhostPairCallback::~btGhostPairCallback
virtual ~btGhostPairCallback()
Definition: btGhostObject.h:124
btGhostObject::getOverlappingPairs
const btAlignedObjectArray< btCollisionObject * > getOverlappingPairs() const
Definition: btGhostObject.h:73
btGhostObject::getNumOverlappingObjects
int getNumOverlappingObjects() const
Definition: btGhostObject.h:53
btGhostPairCallback::removeOverlappingPairsContainingProxy
virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy *, btDispatcher *)
Definition: btGhostObject.h:154
btGhostObject
The btGhostObject can keep track of all objects that are overlapping By default, this overlap is base...
Definition: btGhostObject.h:33
btPairCachingGhostObject::getOverlappingPairCache
btHashedOverlappingPairCache * getOverlappingPairCache()
Definition: btGhostObject.h:110
btCollisionWorld.h
btAssert
#define btAssert(x)
Definition: btScalar.h:133
btOverlappingPairCache.h
btGhostObject::upcast
static btGhostObject * upcast(btCollisionObject *colObj)
Definition: btGhostObject.h:88
btOverlappingPairCallback.h
btBroadphaseProxy::m_clientObject
void * m_clientObject
Definition: btBroadphaseProxy.h:102
btGhostObject::getOverlappingObject
btCollisionObject * getOverlappingObject(int index)
Definition: btGhostObject.h:58
btGhostObject::m_overlappingObjects
btAlignedObjectArray< btCollisionObject * > m_overlappingObjects
Definition: btGhostObject.h:37
btAlignedAllocator.h
btPairCachingGhostObject::addOverlappingObjectInternal
virtual void addOverlappingObjectInternal(btBroadphaseProxy *otherProxy, btBroadphaseProxy *thisProxy=0)
this method is mainly for expert/internal use only.
Definition: btGhostObject.cpp:68
btPairCachingGhostObject::removeOverlappingObjectInternal
virtual void removeOverlappingObjectInternal(btBroadphaseProxy *otherProxy, btDispatcher *dispatcher, btBroadphaseProxy *thisProxy=0)
this method is mainly for expert/internal use only.
Definition: btGhostObject.cpp:83
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btGhostObject::upcast
static const btGhostObject * upcast(const btCollisionObject *colObj)
Definition: btGhostObject.h:82
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
btAlignedObjectArray< btCollisionObject * >
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
btGhostPairCallback::addOverlappingPair
virtual btBroadphasePair * addOverlappingPair(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1)
Definition: btGhostObject.h:128
btGhostPairCallback::removeOverlappingPair
virtual void * removeOverlappingPair(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1, btDispatcher *dispatcher)
Definition: btGhostObject.h:141
btPairCachingGhostObject::m_hashPairCache
btHashedOverlappingPairCache * m_hashPairCache
Definition: btGhostObject.h:98
btCollisionObject::getInternalType
int getInternalType() const
reserved for Bullet internal usage
Definition: btCollisionObject.h:360
btGhostPairCallback
The btGhostPairCallback interfaces and forwards adding and removal of overlapping pairs from the btBr...
Definition: btGhostObject.h:117
btGhostObject::getOverlappingPairs
btAlignedObjectArray< btCollisionObject * > & getOverlappingPairs()
Definition: btGhostObject.h:68
btCollisionObject.h
btGhostPairCallback::btGhostPairCallback
btGhostPairCallback()
Definition: btGhostObject.h:120
btCollisionWorld::RayResultCallback
RayResultCallback is used to report new raycast results.
Definition: btCollisionWorld.h:195
btCollisionWorld::ConvexResultCallback
RayResultCallback is used to report new raycast results.
Definition: btCollisionWorld.h:330
btBroadphasePair
The btBroadphasePair class contains a pair of aabb-overlapping objects.
Definition: btBroadphaseProxy.h:177
btPairCachingGhostObject::btPairCachingGhostObject
btPairCachingGhostObject()
Definition: btGhostObject.cpp:57
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:149
btGhostObject::getOverlappingObject
const btCollisionObject * getOverlappingObject(int index) const
Definition: btGhostObject.h:63