dali-physics/third-party/bullet3/src/BulletCollision/CollisionDispatch/btGhostObject.h

   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
  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
 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:
 120         btGhostPairCallback()
 121         {
 122         }
 123
 124         virtual ~btGhostPairCallback()
 125         {
 126         }
 127
 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
 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
 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