Bullet Collision Detection & Physics Library
btGhostObject.cpp
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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 #include "btGhostObject.h"
17 #include "btCollisionWorld.h"
19 #include "LinearMath/btAabbUtil2.h"
20 
22 {
24 }
25 
27 {
30 }
31 
32 
34 {
35  btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
36  btAssert(otherObject);
38  int index = m_overlappingObjects.findLinearSearch(otherObject);
39  if (index==m_overlappingObjects.size())
40  {
41  //not found
42  m_overlappingObjects.push_back(otherObject);
43  }
44 }
45 
47 {
48  btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
49  btAssert(otherObject);
50  int index = m_overlappingObjects.findLinearSearch(otherObject);
51  if (index<m_overlappingObjects.size())
52  {
55  }
56 }
57 
58 
60 {
61  m_hashPairCache = new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
62 }
63 
65 {
66  m_hashPairCache->~btHashedOverlappingPairCache();
67  btAlignedFree( m_hashPairCache );
68 }
69 
71 {
72  btBroadphaseProxy*actualThisProxy = thisProxy ? thisProxy : getBroadphaseHandle();
73  btAssert(actualThisProxy);
74 
75  btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
76  btAssert(otherObject);
77  int index = m_overlappingObjects.findLinearSearch(otherObject);
78  if (index==m_overlappingObjects.size())
79  {
80  m_overlappingObjects.push_back(otherObject);
81  m_hashPairCache->addOverlappingPair(actualThisProxy,otherProxy);
82  }
83 }
84 
86 {
87  btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
88  btBroadphaseProxy* actualThisProxy = thisProxy1 ? thisProxy1 : getBroadphaseHandle();
89  btAssert(actualThisProxy);
90 
91  btAssert(otherObject);
92  int index = m_overlappingObjects.findLinearSearch(otherObject);
93  if (index<m_overlappingObjects.size())
94  {
97  m_hashPairCache->removeOverlappingPair(actualThisProxy,otherProxy,dispatcher);
98  }
99 }
100 
101 
102 void btGhostObject::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const
103 {
104  btTransform convexFromTrans,convexToTrans;
105  convexFromTrans = convexFromWorld;
106  convexToTrans = convexToWorld;
107  btVector3 castShapeAabbMin, castShapeAabbMax;
108  /* Compute AABB that encompasses angular movement */
109  {
110  btVector3 linVel, angVel;
111  btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel);
112  btTransform R;
113  R.setIdentity ();
114  R.setRotation (convexFromTrans.getRotation());
115  castShape->calculateTemporalAabb (R, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
116  }
117 
119  // do a ray-shape query using convexCaster (CCD)
120  int i;
121  for (i=0;i<m_overlappingObjects.size();i++)
122  {
123  btCollisionObject* collisionObject= m_overlappingObjects[i];
124  //only perform raycast if filterMask matches
125  if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) {
126  //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject();
127  btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
128  collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax);
129  AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
130  btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing
131  btVector3 hitNormal;
132  if (btRayAabb(convexFromWorld.getOrigin(),convexToWorld.getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
133  {
134  btCollisionWorld::objectQuerySingle(castShape, convexFromTrans,convexToTrans,
135  collisionObject,
136  collisionObject->getCollisionShape(),
137  collisionObject->getWorldTransform(),
138  resultCallback,
139  allowedCcdPenetration);
140  }
141  }
142  }
143 
144 }
145 
146 void btGhostObject::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const
147 {
148  btTransform rayFromTrans;
149  rayFromTrans.setIdentity();
150  rayFromTrans.setOrigin(rayFromWorld);
151  btTransform rayToTrans;
152  rayToTrans.setIdentity();
153  rayToTrans.setOrigin(rayToWorld);
154 
155 
156  int i;
157  for (i=0;i<m_overlappingObjects.size();i++)
158  {
159  btCollisionObject* collisionObject= m_overlappingObjects[i];
160  //only perform raycast if filterMask matches
161  if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
162  {
163  btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans,
164  collisionObject,
165  collisionObject->getCollisionShape(),
166  collisionObject->getWorldTransform(),
167  resultCallback);
168  }
169  }
170 }
171 
void setOrigin(const btVector3 &origin)
Set the translational element.
Definition: btTransform.h:150
void push_back(const T &_Val)
btQuaternion getRotation() const
Return a quaternion representing the rotation.
Definition: btTransform.h:122
virtual void removeOverlappingObjectInternal(btBroadphaseProxy *otherProxy, btDispatcher *dispatcher, btBroadphaseProxy *thisProxy=0)
this method is mainly for expert/internal use only.
void rayTest(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, btCollisionWorld::RayResultCallback &resultCallback) const
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:172
#define btAssert(x)
Definition: btScalar.h:131
RayResultCallback is used to report new raycast results.
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t...
virtual ~btGhostObject()
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
void AabbExpand(btVector3 &aabbMin, btVector3 &aabbMax, const btVector3 &expansionMin, const btVector3 &expansionMax)
Definition: btAabbUtil2.h:26
btTransform & getWorldTransform()
int m_internalType
m_internalType is reserved to distinguish Bullet&#39;s btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
int size() const
return the number of elements in the array
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:117
btBroadphaseProxy * getBroadphaseHandle()
void calculateTemporalAabb(const btTransform &curTrans, const btVector3 &linvel, const btVector3 &angvel, btScalar timeStep, btVector3 &temporalAabbMin, btVector3 &temporalAabbMax) const
calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0...
#define btAlignedFree(ptr)
btCollisionObject can be used to manage collision detection objects.
void setRotation(const btQuaternion &q)
Set the rotational element by btQuaternion.
Definition: btTransform.h:165
static void rayTestSingle(const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback)
rayTestSingle performs a raycast call and calls the resultCallback.
virtual void addOverlappingObjectInternal(btBroadphaseProxy *otherProxy, btBroadphaseProxy *thisProxy=0)
this method is mainly for expert/internal use only.
virtual bool needsCollision(btBroadphaseProxy *proxy0) const
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
virtual bool needsCollision(btBroadphaseProxy *proxy0) const
static void objectQuerySingle(const btConvexShape *castShape, const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, ConvexResultCallback &resultCallback, btScalar allowedPenetration)
objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
virtual void removeOverlappingObjectInternal(btBroadphaseProxy *otherProxy, btDispatcher *dispatcher, btBroadphaseProxy *thisProxy=0)
this method is mainly for expert/internal use only.
CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter It...
int findLinearSearch(const T &key) const
void convexSweepTest(const class btConvexShape *castShape, const btTransform &convexFromWorld, const btTransform &convexToWorld, btCollisionWorld::ConvexResultCallback &resultCallback, btScalar allowedCcdPenetration=0.f) const
#define btAlignedAlloc(size, alignment)
RayResultCallback is used to report new raycast results.
virtual void addOverlappingObjectInternal(btBroadphaseProxy *otherProxy, btBroadphaseProxy *thisProxy=0)
this method is mainly for expert/internal use only.
btAlignedObjectArray< btCollisionObject * > m_overlappingObjects
Definition: btGhostObject.h:38
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
const btCollisionShape * getCollisionShape() const
static void calculateVelocity(const btTransform &transform0, const btTransform &transform1, btScalar timeStep, btVector3 &linVel, btVector3 &angVel)
bool btRayAabb(const btVector3 &rayFrom, const btVector3 &rayTo, const btVector3 &aabbMin, const btVector3 &aabbMax, btScalar &param, btVector3 &normal)
Definition: btAabbUtil2.h:125
Hash-space based Pair Cache, thanks to Erin Catto, Box2D, http://www.box2d.org, and Pierre Terdiman...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292