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 
20 #include "btCollisionObject.h"
24 #include "btCollisionWorld.h"
25 
26 class btConvexShape;
27 
28 class btDispatcher;
29 
35 {
36 protected:
37 
39 
40 public:
41 
42  btGhostObject();
43 
44  virtual ~btGhostObject();
45 
46  void convexSweepTest(const class btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = 0.f) const;
47 
48  void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const;
49 
51  virtual void addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0);
53  virtual void removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0);
54 
56  {
57  return m_overlappingObjects.size();
58  }
59 
60  btCollisionObject* getOverlappingObject(int index)
61  {
62  return m_overlappingObjects[index];
63  }
64 
65  const btCollisionObject* getOverlappingObject(int index) const
66  {
67  return m_overlappingObjects[index];
68  }
69 
71  {
72  return m_overlappingObjects;
73  }
74 
76  {
77  return m_overlappingObjects;
78  }
79 
80  //
81  // internal cast
82  //
83 
84  static const btGhostObject* upcast(const btCollisionObject* colObj)
85  {
86  if (colObj->getInternalType()==CO_GHOST_OBJECT)
87  return (const btGhostObject*)colObj;
88  return 0;
89  }
90  static btGhostObject* upcast(btCollisionObject* colObj)
91  {
92  if (colObj->getInternalType()==CO_GHOST_OBJECT)
93  return (btGhostObject*)colObj;
94  return 0;
95  }
96 
97 };
98 
100 {
102 
103 public:
104 
106 
107  virtual ~btPairCachingGhostObject();
108 
110  virtual void addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0);
111 
112  virtual void removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0);
113 
115  {
116  return m_hashPairCache;
117  }
118 
119 };
120 
121 
122 
125 {
126 
127 public:
129  {
130  }
131 
133  {
134 
135  }
136 
138  {
139  btCollisionObject* colObj0 = (btCollisionObject*) proxy0->m_clientObject;
140  btCollisionObject* colObj1 = (btCollisionObject*) proxy1->m_clientObject;
141  btGhostObject* ghost0 = btGhostObject::upcast(colObj0);
142  btGhostObject* ghost1 = btGhostObject::upcast(colObj1);
143  if (ghost0)
144  ghost0->addOverlappingObjectInternal(proxy1, proxy0);
145  if (ghost1)
146  ghost1->addOverlappingObjectInternal(proxy0, proxy1);
147  return 0;
148  }
149 
150  virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
151  {
152  btCollisionObject* colObj0 = (btCollisionObject*) proxy0->m_clientObject;
153  btCollisionObject* colObj1 = (btCollisionObject*) proxy1->m_clientObject;
154  btGhostObject* ghost0 = btGhostObject::upcast(colObj0);
155  btGhostObject* ghost1 = btGhostObject::upcast(colObj1);
156  if (ghost0)
157  ghost0->removeOverlappingObjectInternal(proxy1,dispatcher,proxy0);
158  if (ghost1)
159  ghost1->removeOverlappingObjectInternal(proxy0,dispatcher,proxy1);
160  return 0;
161  }
162 
163  virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/)
164  {
165  btAssert(0);
166  //need to keep track of all ghost objects and call them here
167  //m_hashPairCache->removeOverlappingPairsContainingProxy(proxy0,dispatcher);
168  }
169 
170 
171 
172 };
173 
174 #endif
175 
virtual btBroadphasePair * addOverlappingPair(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1)
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:60
int getInternalType() const
reserved for Bullet internal usage
#define btAssert(x)
Definition: btScalar.h:131
static btGhostObject * upcast(btCollisionObject *colObj)
Definition: btGhostObject.h:90
RayResultCallback is used to report new raycast results.
static const btGhostObject * upcast(const btCollisionObject *colObj)
Definition: btGhostObject.h:84
int getNumOverlappingObjects() const
Definition: btGhostObject.h:55
virtual ~btGhostPairCallback()
const btCollisionObject * getOverlappingObject(int index) const
Definition: btGhostObject.h:65
const btAlignedObjectArray< btCollisionObject * > getOverlappingPairs() const
Definition: btGhostObject.h:75
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:70
int size() const
return the number of elements in the array
The btGhostPairCallback interfaces and forwards adding and removal of overlapping pairs from the btBr...
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.
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:83
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
virtual void removeOverlappingObjectInternal(btBroadphaseProxy *otherProxy, btDispatcher *dispatcher, btBroadphaseProxy *thisProxy=0)
this method is mainly for expert/internal use only.
btHashedOverlappingPairCache * m_hashPairCache
The btGhostObject can keep track of all objects that are overlapping By default, this overlap is base...
Definition: btGhostObject.h:34
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:38
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
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:292
The btBroadphasePair class contains a pair of aabb-overlapping objects.