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 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); 113 114 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: 128 btGhostPairCallback() 129 { 130 } 131 132 virtual ~btGhostPairCallback() 133 { 134 135 } 136 137 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 } 149 150 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 175 176
