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"
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 
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 
51  virtual void addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0);
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 
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 
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 
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