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