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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"
21 #include "BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h"
22 #include "LinearMath/btAlignedAllocator.h"
23 #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
24 #include "btCollisionWorld.h"
25 
26 class btConvexShape;
27 
28 class btDispatcher;
29 
30 ///The btGhostObject can keep track of all objects that are overlapping
31 ///By default, this overlap is based on the AABB
32 ///This is useful for creating a character controller, collision sensors/triggers, explosions etc.
33 ///We plan on adding rayTest and other queries for the btGhostObject
ATTRIBUTE_ALIGNED16(class)34 ATTRIBUTE_ALIGNED16(class) btGhostObject : public btCollisionObject
35 {
36 protected:
37 
38 	btAlignedObjectArray<btCollisionObject*> m_overlappingObjects;
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 
50 	///this method is mainly for expert/internal use only.
51 	virtual void	addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0);
52 	///this method is mainly for expert/internal use only.
53 	virtual void	removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0);
54 
55 	int	getNumOverlappingObjects() const
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 
70 	btAlignedObjectArray<btCollisionObject*>&	getOverlappingPairs()
71 	{
72 		return m_overlappingObjects;
73 	}
74 
75 	const btAlignedObjectArray<btCollisionObject*>	getOverlappingPairs() const
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 
99 class	btPairCachingGhostObject : public btGhostObject
100 {
101 	btHashedOverlappingPairCache*	m_hashPairCache;
102 
103 public:
104 
105 	btPairCachingGhostObject();
106 
107 	virtual ~btPairCachingGhostObject();
108 
109 	///this method is mainly for expert/internal use only.
110 	virtual void	addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0);
111 
112 	virtual void	removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0);
113 
getOverlappingPairCache()114 	btHashedOverlappingPairCache*	getOverlappingPairCache()
115 	{
116 		return m_hashPairCache;
117 	}
118 
119 };
120 
121 
122 
123 ///The btGhostPairCallback interfaces and forwards adding and removal of overlapping pairs from the btBroadphaseInterface to btGhostObject.
124 class btGhostPairCallback : public btOverlappingPairCallback
125 {
126 
127 public:
btGhostPairCallback()128 	btGhostPairCallback()
129 	{
130 	}
131 
~btGhostPairCallback()132 	virtual ~btGhostPairCallback()
133 	{
134 
135 	}
136 
addOverlappingPair(btBroadphaseProxy * proxy0,btBroadphaseProxy * proxy1)137 	virtual btBroadphasePair*	addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
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 
removeOverlappingPair(btBroadphaseProxy * proxy0,btBroadphaseProxy * proxy1,btDispatcher * dispatcher)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 
removeOverlappingPairsContainingProxy(btBroadphaseProxy *,btDispatcher *)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 
176