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
  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