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"
20 #include "BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h"
21 #include "LinearMath/btAlignedAllocator.h"
22 #include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
23 #include "btCollisionWorld.h"
24
25 class btConvexShape;
26
27 class btDispatcher;
28
29 ///The btGhostObject can keep track of all objects that are overlapping
30 ///By default, this overlap is based on the AABB
31 ///This is useful for creating a character controller, collision sensors/triggers, explosions etc.
32 ///We plan on adding rayTest and other queries for the btGhostObject
ATTRIBUTE_ALIGNED16(class)33 ATTRIBUTE_ALIGNED16(class)
34 btGhostObject : public btCollisionObject
35 {
36 protected:
37 btAlignedObjectArray<btCollisionObject*> m_overlappingObjects;
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
48 ///this method is mainly for expert/internal use only.
49 virtual void addOverlappingObjectInternal(btBroadphaseProxy * otherProxy, btBroadphaseProxy* thisProxy = 0);
50 ///this method is mainly for expert/internal use only.
51 virtual void removeOverlappingObjectInternal(btBroadphaseProxy * otherProxy, btDispatcher * dispatcher, btBroadphaseProxy* thisProxy = 0);
52
53 int getNumOverlappingObjects() const
54 {
55 return m_overlappingObjects.size();
56 }
57
58 btCollisionObject* getOverlappingObject(int index)
59 {
60 return m_overlappingObjects[index];
61 }
62
63 const btCollisionObject* getOverlappingObject(int index) const
64 {
65 return m_overlappingObjects[index];
66 }
67
68 btAlignedObjectArray<btCollisionObject*>& getOverlappingPairs()
69 {
70 return m_overlappingObjects;
71 }
72
73 const btAlignedObjectArray<btCollisionObject*> getOverlappingPairs() const
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 }
88 static btGhostObject* upcast(btCollisionObject * colObj)
89 {
90 if (colObj->getInternalType() == CO_GHOST_OBJECT)
91 return (btGhostObject*)colObj;
92 return 0;
93 }
94 };
95
96 class btPairCachingGhostObject : public btGhostObject
97 {
98 btHashedOverlappingPairCache* m_hashPairCache;
99
100 public:
101 btPairCachingGhostObject();
102
103 virtual ~btPairCachingGhostObject();
104
105 ///this method is mainly for expert/internal use only.
106 virtual void addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy = 0);
107
108 virtual void removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btDispatcher* dispatcher, btBroadphaseProxy* thisProxy = 0);
109
getOverlappingPairCache()110 btHashedOverlappingPairCache* getOverlappingPairCache()
111 {
112 return m_hashPairCache;
113 }
114 };
115
116 ///The btGhostPairCallback interfaces and forwards adding and removal of overlapping pairs from the btBroadphaseInterface to btGhostObject.
117 class btGhostPairCallback : public btOverlappingPairCallback
118 {
119 public:
btGhostPairCallback()120 btGhostPairCallback()
121 {
122 }
123
~btGhostPairCallback()124 virtual ~btGhostPairCallback()
125 {
126 }
127
addOverlappingPair(btBroadphaseProxy * proxy0,btBroadphaseProxy * proxy1)128 virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
129 {
130 btCollisionObject* colObj0 = (btCollisionObject*)proxy0->m_clientObject;
131 btCollisionObject* colObj1 = (btCollisionObject*)proxy1->m_clientObject;
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
removeOverlappingPair(btBroadphaseProxy * proxy0,btBroadphaseProxy * proxy1,btDispatcher * dispatcher)141 virtual void* removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1, btDispatcher* dispatcher)
142 {
143 btCollisionObject* colObj0 = (btCollisionObject*)proxy0->m_clientObject;
144 btCollisionObject* colObj1 = (btCollisionObject*)proxy1->m_clientObject;
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
removeOverlappingPairsContainingProxy(btBroadphaseProxy *,btDispatcher *)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
163