Bullet Collision Detection & Physics Library
btGhostObject.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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"
24#include "btCollisionWorld.h"
25
26class btConvexShape;
27
28class btDispatcher;
29
35{
36protected:
37
39
40public:
41
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
56 {
57 return m_overlappingObjects.size();
58 }
59
61 {
62 return m_overlappingObjects[index];
63 }
64
66 {
67 return m_overlappingObjects[index];
68 }
69
71 {
72 return m_overlappingObjects;
73 }
74
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 }
91 {
92 if (colObj->getInternalType()==CO_GHOST_OBJECT)
93 return (btGhostObject*)colObj;
94 return 0;
95 }
96
97};
98
100{
102
103public:
104
106
108
110 virtual void addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0);
111
112 virtual void removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0);
113
115 {
116 return m_hashPairCache;
117 }
118
119};
120
121
122
125{
126
127public:
129 {
130 }
131
133 {
134
135 }
136
138 {
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
151 {
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
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
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
#define btAssert(x)
Definition: btScalar.h:131
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
int size() const
return the number of elements in the array
btCollisionObject can be used to manage collision detection objects.
int getInternalType() const
reserved for Bullet internal usage
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:32
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
The btGhostObject can keep track of all objects that are overlapping By default, this overlap is base...
Definition: btGhostObject.h:35
btAlignedObjectArray< btCollisionObject * > & getOverlappingPairs()
Definition: btGhostObject.h:70
static const btGhostObject * upcast(const btCollisionObject *colObj)
Definition: btGhostObject.h:84
const btAlignedObjectArray< btCollisionObject * > getOverlappingPairs() const
Definition: btGhostObject.h:75
int getNumOverlappingObjects() const
Definition: btGhostObject.h:55
virtual void removeOverlappingObjectInternal(btBroadphaseProxy *otherProxy, btDispatcher *dispatcher, btBroadphaseProxy *thisProxy=0)
this method is mainly for expert/internal use only.
btAlignedObjectArray< btCollisionObject * > m_overlappingObjects
Definition: btGhostObject.h:38
btCollisionObject * getOverlappingObject(int index)
Definition: btGhostObject.h:60
const btCollisionObject * getOverlappingObject(int index) const
Definition: btGhostObject.h:65
virtual void addOverlappingObjectInternal(btBroadphaseProxy *otherProxy, btBroadphaseProxy *thisProxy=0)
this method is mainly for expert/internal use only.
static btGhostObject * upcast(btCollisionObject *colObj)
Definition: btGhostObject.h:90
The btGhostPairCallback interfaces and forwards adding and removal of overlapping pairs from the btBr...
virtual btBroadphasePair * addOverlappingPair(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1)
virtual ~btGhostPairCallback()
virtual void * removeOverlappingPair(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1, btDispatcher *dispatcher)
virtual void removeOverlappingPairsContainingProxy(btBroadphaseProxy *, btDispatcher *)
Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman,...
The btOverlappingPairCallback class is an additional optional broadphase user callback for adding/rem...
virtual void addOverlappingObjectInternal(btBroadphaseProxy *otherProxy, btBroadphaseProxy *thisProxy=0)
this method is mainly for expert/internal use only.
btHashedOverlappingPairCache * getOverlappingPairCache()
btHashedOverlappingPairCache * m_hashPairCache
virtual void removeOverlappingObjectInternal(btBroadphaseProxy *otherProxy, btDispatcher *dispatcher, btBroadphaseProxy *thisProxy=0)
this method is mainly for expert/internal use only.
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
The btBroadphasePair class contains a pair of aabb-overlapping objects.
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
RayResultCallback is used to report new raycast results.
RayResultCallback is used to report new raycast results.