Bullet Collision Detection & Physics Library
Public Member Functions | Static Public Member Functions | Protected Attributes | List of all members
btGhostObject Class Reference

The btGhostObject can keep track of all objects that are overlapping By default, this overlap is based on the AABB This is useful for creating a character controller, collision sensors/triggers, explosions etc. More...

#include <btGhostObject.h>

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Public Member Functions

 btGhostObject ()
 
virtual ~btGhostObject ()
 
void convexSweepTest (const class btConvexShape *castShape, const btTransform &convexFromWorld, const btTransform &convexToWorld, btCollisionWorld::ConvexResultCallback &resultCallback, btScalar allowedCcdPenetration=0.f) const
 
void rayTest (const btVector3 &rayFromWorld, const btVector3 &rayToWorld, btCollisionWorld::RayResultCallback &resultCallback) const
 
virtual void addOverlappingObjectInternal (btBroadphaseProxy *otherProxy, btBroadphaseProxy *thisProxy=0)
 this method is mainly for expert/internal use only. More...
 
virtual void removeOverlappingObjectInternal (btBroadphaseProxy *otherProxy, btDispatcher *dispatcher, btBroadphaseProxy *thisProxy=0)
 this method is mainly for expert/internal use only. More...
 
int getNumOverlappingObjects () const
 
btCollisionObjectgetOverlappingObject (int index)
 
const btCollisionObjectgetOverlappingObject (int index) const
 
btAlignedObjectArray< btCollisionObject * > & getOverlappingPairs ()
 
const btAlignedObjectArray< btCollisionObject * > getOverlappingPairs () const
 
- Public Member Functions inherited from btCollisionObject
 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
bool mergesSimulationIslands () const
 
const btVector3getAnisotropicFriction () const
 
void setAnisotropicFriction (const btVector3 &anisotropicFriction, int frictionMode=CF_ANISOTROPIC_FRICTION)
 
bool hasAnisotropicFriction (int frictionMode=CF_ANISOTROPIC_FRICTION) const
 
void setContactProcessingThreshold (btScalar contactProcessingThreshold)
 the constraint solver can discard solving contacts, if the distance is above this threshold. More...
 
btScalar getContactProcessingThreshold () const
 
bool isStaticObject () const
 
bool isKinematicObject () const
 
bool isStaticOrKinematicObject () const
 
bool hasContactResponse () const
 
 btCollisionObject ()
 
virtual ~btCollisionObject ()
 
virtual void setCollisionShape (btCollisionShape *collisionShape)
 
const btCollisionShapegetCollisionShape () const
 
btCollisionShapegetCollisionShape ()
 
void setIgnoreCollisionCheck (const btCollisionObject *co, bool ignoreCollisionCheck)
 
virtual bool checkCollideWithOverride (const btCollisionObject *co) const
 
void * internalGetExtensionPointer () const
 Avoid using this internal API call, the extension pointer is used by some Bullet extensions. More...
 
void internalSetExtensionPointer (void *pointer)
 Avoid using this internal API call, the extension pointer is used by some Bullet extensions If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead. More...
 
int getActivationState () const
 
void setActivationState (int newState) const
 
void setDeactivationTime (btScalar time)
 
btScalar getDeactivationTime () const
 
void forceActivationState (int newState) const
 
void activate (bool forceActivation=false) const
 
bool isActive () const
 
void setRestitution (btScalar rest)
 
btScalar getRestitution () const
 
void setFriction (btScalar frict)
 
btScalar getFriction () const
 
void setRollingFriction (btScalar frict)
 
btScalar getRollingFriction () const
 
int getInternalType () const
 reserved for Bullet internal usage More...
 
btTransformgetWorldTransform ()
 
const btTransformgetWorldTransform () const
 
void setWorldTransform (const btTransform &worldTrans)
 
btBroadphaseProxygetBroadphaseHandle ()
 
const btBroadphaseProxygetBroadphaseHandle () const
 
void setBroadphaseHandle (btBroadphaseProxy *handle)
 
const btTransformgetInterpolationWorldTransform () const
 
btTransformgetInterpolationWorldTransform ()
 
void setInterpolationWorldTransform (const btTransform &trans)
 
void setInterpolationLinearVelocity (const btVector3 &linvel)
 
void setInterpolationAngularVelocity (const btVector3 &angvel)
 
const btVector3getInterpolationLinearVelocity () const
 
const btVector3getInterpolationAngularVelocity () const
 
int getIslandTag () const
 
void setIslandTag (int tag)
 
int getCompanionId () const
 
void setCompanionId (int id)
 
btScalar getHitFraction () const
 
void setHitFraction (btScalar hitFraction)
 
int getCollisionFlags () const
 
void setCollisionFlags (int flags)
 
btScalar getCcdSweptSphereRadius () const
 Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm:: More...
 
void setCcdSweptSphereRadius (btScalar radius)
 Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm:: More...
 
btScalar getCcdMotionThreshold () const
 
btScalar getCcdSquareMotionThreshold () const
 
void setCcdMotionThreshold (btScalar ccdMotionThreshold)
 Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold. More...
 
void * getUserPointer () const
 users can point to their objects, userPointer is not used by Bullet More...
 
int getUserIndex () const
 
void setUserPointer (void *userPointer)
 users can point to their objects, userPointer is not used by Bullet More...
 
void setUserIndex (int index)
 users can point to their objects, userPointer is not used by Bullet More...
 
int getUpdateRevisionInternal () const
 
bool checkCollideWith (const btCollisionObject *co) const
 
virtual int calculateSerializeBufferSize () const
 
virtual const char * serialize (void *dataBuffer, class btSerializer *serializer) const
 fills the dataBuffer and returns the struct name (and 0 on failure) More...
 
virtual void serializeSingleObject (class btSerializer *serializer) const
 

Static Public Member Functions

static const btGhostObjectupcast (const btCollisionObject *colObj)
 
static btGhostObjectupcast (btCollisionObject *colObj)
 

Protected Attributes

btAlignedObjectArray< btCollisionObject * > m_overlappingObjects
 
- Protected Attributes inherited from btCollisionObject
btTransform m_worldTransform
 
btTransform m_interpolationWorldTransform
 m_interpolationWorldTransform is used for CCD and interpolation it can be either previous or future (predicted) transform More...
 
btVector3 m_interpolationLinearVelocity
 
btVector3 m_interpolationAngularVelocity
 
btVector3 m_anisotropicFriction
 
int m_hasAnisotropicFriction
 
btScalar m_contactProcessingThreshold
 
btBroadphaseProxym_broadphaseHandle
 
btCollisionShapem_collisionShape
 
void * m_extensionPointer
 m_extensionPointer is used by some internal low-level Bullet extensions. More...
 
btCollisionShapem_rootCollisionShape
 m_rootCollisionShape is temporarily used to store the original collision shape The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes If it is NULL, the m_collisionShape is not temporarily replaced. More...
 
int m_collisionFlags
 
int m_islandTag1
 
int m_companionId
 
int m_activationState1
 
btScalar m_deactivationTime
 
btScalar m_friction
 
btScalar m_restitution
 
btScalar m_rollingFriction
 
int m_internalType
 m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc. More...
 
void * m_userObjectPointer
 users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer More...
 
int m_userIndex
 
btScalar m_hitFraction
 time of impact calculation More...
 
btScalar m_ccdSweptSphereRadius
 Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm:: More...
 
btScalar m_ccdMotionThreshold
 Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold. More...
 
int m_checkCollideWith
 If some object should have elaborate collision filtering by sub-classes. More...
 
btAlignedObjectArray< const btCollisionObject * > m_objectsWithoutCollisionCheck
 
int m_updateRevision
 internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation. More...
 

Additional Inherited Members

- Public Types inherited from btCollisionObject
enum  CollisionFlags {
  CF_STATIC_OBJECT = 1,
  CF_KINEMATIC_OBJECT = 2,
  CF_NO_CONTACT_RESPONSE = 4,
  CF_CUSTOM_MATERIAL_CALLBACK = 8,
  CF_CHARACTER_OBJECT = 16,
  CF_DISABLE_VISUALIZE_OBJECT = 32,
  CF_DISABLE_SPU_COLLISION_PROCESSING = 64
}
 
enum  CollisionObjectTypes {
  CO_COLLISION_OBJECT =1,
  CO_RIGID_BODY =2,
  CO_GHOST_OBJECT =4,
  CO_SOFT_BODY =8,
  CO_HF_FLUID =16,
  CO_USER_TYPE =32,
  CO_FEATHERSTONE_LINK =64
}
 
enum  AnisotropicFrictionFlags {
  CF_ANISOTROPIC_FRICTION_DISABLED =0,
  CF_ANISOTROPIC_FRICTION = 1,
  CF_ANISOTROPIC_ROLLING_FRICTION = 2
}
 

Detailed Description

The btGhostObject can keep track of all objects that are overlapping By default, this overlap is based on the AABB This is useful for creating a character controller, collision sensors/triggers, explosions etc.

We plan on adding rayTest and other queries for the btGhostObject

Definition at line 34 of file btGhostObject.h.

Constructor & Destructor Documentation

btGhostObject::btGhostObject ( )

Definition at line 21 of file btGhostObject.cpp.

btGhostObject::~btGhostObject ( )
virtual

btGhostObject should have been removed from the world, so no overlapping objects

Definition at line 26 of file btGhostObject.cpp.

Member Function Documentation

void btGhostObject::addOverlappingObjectInternal ( btBroadphaseProxy otherProxy,
btBroadphaseProxy thisProxy = 0 
)
virtual

this method is mainly for expert/internal use only.

if this linearSearch becomes too slow (too many overlapping objects) we should add a more appropriate data structure

Reimplemented in btPairCachingGhostObject.

Definition at line 33 of file btGhostObject.cpp.

void btGhostObject::convexSweepTest ( const class btConvexShape castShape,
const btTransform convexFromWorld,
const btTransform convexToWorld,
btCollisionWorld::ConvexResultCallback resultCallback,
btScalar  allowedCcdPenetration = 0.f 
) const

go over all objects, and if the ray intersects their aabb + cast shape aabb,

Definition at line 102 of file btGhostObject.cpp.

int btGhostObject::getNumOverlappingObjects ( ) const
inline

Definition at line 55 of file btGhostObject.h.

btCollisionObject* btGhostObject::getOverlappingObject ( int  index)
inline

Definition at line 60 of file btGhostObject.h.

const btCollisionObject* btGhostObject::getOverlappingObject ( int  index) const
inline

Definition at line 65 of file btGhostObject.h.

btAlignedObjectArray<btCollisionObject*>& btGhostObject::getOverlappingPairs ( )
inline

Definition at line 70 of file btGhostObject.h.

const btAlignedObjectArray<btCollisionObject*> btGhostObject::getOverlappingPairs ( ) const
inline

Definition at line 75 of file btGhostObject.h.

void btGhostObject::rayTest ( const btVector3 rayFromWorld,
const btVector3 rayToWorld,
btCollisionWorld::RayResultCallback resultCallback 
) const

Definition at line 146 of file btGhostObject.cpp.

void btGhostObject::removeOverlappingObjectInternal ( btBroadphaseProxy otherProxy,
btDispatcher dispatcher,
btBroadphaseProxy thisProxy = 0 
)
virtual

this method is mainly for expert/internal use only.

Reimplemented in btPairCachingGhostObject.

Definition at line 46 of file btGhostObject.cpp.

static const btGhostObject* btGhostObject::upcast ( const btCollisionObject colObj)
inlinestatic

Definition at line 84 of file btGhostObject.h.

static btGhostObject* btGhostObject::upcast ( btCollisionObject colObj)
inlinestatic

Definition at line 90 of file btGhostObject.h.

Member Data Documentation

btAlignedObjectArray<btCollisionObject*> btGhostObject::m_overlappingObjects
protected

Definition at line 38 of file btGhostObject.h.


The documentation for this class was generated from the following files: