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Viewing changes to tests/bullet/src/BulletCollision/CollisionDispatch/btGhostObject.h

  • Committer: Package Import Robot
  • Author(s): Sylvestre Ledru
  • Date: 2013-05-02 13:11:51 UTC
  • Revision ID: package-import@ubuntu.com-20130502131151-q8dvteqr1ef2x7xz
Tags: upstream-1.4.1~20130504~adb56cb
Import upstream version 1.4.1~20130504~adb56cb

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tests/bullet/src/BulletCollision/CollisionDispatch/btGhostObject.h
 
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/*
 
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Bullet Continuous Collision Detection and Physics Library
 
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Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
 
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This software is provided 'as-is', without any express or implied warranty.
 
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In no event will the authors be held liable for any damages arising from the use of this software.
 
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Permission is granted to anyone to use this software for any purpose, 
 
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including commercial applications, and to alter it and redistribute it freely, 
 
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subject to the following restrictions:
 
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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.
 
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 
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3. This notice may not be removed or altered from any source distribution.
 
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*/
 
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#ifndef BT_GHOST_OBJECT_H
 
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#define BT_GHOST_OBJECT_H
 
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#include "btCollisionObject.h"
 
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#include "BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h"
 
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#include "LinearMath/btAlignedAllocator.h"
 
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#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
 
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#include "btCollisionWorld.h"
 
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class btConvexShape;
 
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class btDispatcher;
 
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///The btGhostObject can keep track of all objects that are overlapping
 
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///By default, this overlap is based on the AABB
 
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///This is useful for creating a character controller, collision sensors/triggers, explosions etc.
 
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///We plan on adding rayTest and other queries for the btGhostObject
 
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ATTRIBUTE_ALIGNED16(class) btGhostObject : public btCollisionObject
 
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{
 
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protected:
 
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        btAlignedObjectArray<btCollisionObject*> m_overlappingObjects;
 
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public:
 
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        btGhostObject();
 
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        virtual ~btGhostObject();
 
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        void    convexSweepTest(const class btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = 0.f) const;
 
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        void    rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const; 
 
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        ///this method is mainly for expert/internal use only.
 
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        virtual void    addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0);
 
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        ///this method is mainly for expert/internal use only.
 
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        virtual void    removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0);
 
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        int     getNumOverlappingObjects() const
 
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        {
 
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                return m_overlappingObjects.size();
 
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        }
 
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        btCollisionObject*      getOverlappingObject(int index)
 
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        {
 
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                return m_overlappingObjects[index];
 
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        }
 
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        const btCollisionObject*        getOverlappingObject(int index) const
 
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        {
 
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                return m_overlappingObjects[index];
 
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        }
 
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        btAlignedObjectArray<btCollisionObject*>&       getOverlappingPairs()
 
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        {
 
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                return m_overlappingObjects;
 
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        }
 
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        const btAlignedObjectArray<btCollisionObject*>  getOverlappingPairs() const
 
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        {
 
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                return m_overlappingObjects;
 
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        }
 
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        //
 
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        // internal cast
 
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        //
 
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        static const btGhostObject*     upcast(const btCollisionObject* colObj)
 
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        {
 
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                if (colObj->getInternalType()==CO_GHOST_OBJECT)
 
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                        return (const btGhostObject*)colObj;
 
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                return 0;
 
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        }
 
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        static btGhostObject*                   upcast(btCollisionObject* colObj)
 
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        {
 
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                if (colObj->getInternalType()==CO_GHOST_OBJECT)
 
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                        return (btGhostObject*)colObj;
 
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                return 0;
 
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        }
 
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};
 
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class   btPairCachingGhostObject : public btGhostObject
 
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{
 
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        btHashedOverlappingPairCache*   m_hashPairCache;
 
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public:
 
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        btPairCachingGhostObject();
 
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        virtual ~btPairCachingGhostObject();
 
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        ///this method is mainly for expert/internal use only.
 
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        virtual void    addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0);
 
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        virtual void    removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0);
 
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        btHashedOverlappingPairCache*   getOverlappingPairCache()
 
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        {
 
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                return m_hashPairCache;
 
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        }
 
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};
 
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///The btGhostPairCallback interfaces and forwards adding and removal of overlapping pairs from the btBroadphaseInterface to btGhostObject.
 
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class btGhostPairCallback : public btOverlappingPairCallback
 
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{
 
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public:
 
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        btGhostPairCallback()
 
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        {
 
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        }
 
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        virtual ~btGhostPairCallback()
 
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        {
 
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        }
 
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        virtual btBroadphasePair*       addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
 
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        {
 
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                btCollisionObject* colObj0 = (btCollisionObject*) proxy0->m_clientObject;
 
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                btCollisionObject* colObj1 = (btCollisionObject*) proxy1->m_clientObject;
 
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                btGhostObject* ghost0 =                 btGhostObject::upcast(colObj0);
 
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                btGhostObject* ghost1 =                 btGhostObject::upcast(colObj1);
 
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                if (ghost0)
 
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                        ghost0->addOverlappingObjectInternal(proxy1, proxy0);
 
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                if (ghost1)
 
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                        ghost1->addOverlappingObjectInternal(proxy0, proxy1);
 
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                return 0;
 
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        }
 
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        virtual void*   removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
 
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        {
 
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                btCollisionObject* colObj0 = (btCollisionObject*) proxy0->m_clientObject;
 
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                btCollisionObject* colObj1 = (btCollisionObject*) proxy1->m_clientObject;
 
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                btGhostObject* ghost0 =                 btGhostObject::upcast(colObj0);
 
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                btGhostObject* ghost1 =                 btGhostObject::upcast(colObj1);
 
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                if (ghost0)
 
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                        ghost0->removeOverlappingObjectInternal(proxy1,dispatcher,proxy0);
 
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                if (ghost1)
 
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                        ghost1->removeOverlappingObjectInternal(proxy0,dispatcher,proxy1);
 
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                return 0;
 
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        }
 
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        virtual void    removeOverlappingPairsContainingProxy(btBroadphaseProxy* /*proxy0*/,btDispatcher* /*dispatcher*/)
 
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        {
 
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                btAssert(0);
 
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                //need to keep track of all ghost objects and call them here
 
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                //m_hashPairCache->removeOverlappingPairsContainingProxy(proxy0,dispatcher);
 
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        }
 
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};
 
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#endif
 
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