btGhostObject.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#ifndef BT_GHOST_OBJECT_H
#define BT_GHOST_OBJECT_H


#include "btCollisionObject.h"
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h"
#include "LinearMath/btAlignedAllocator.h"
#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
#include "btCollisionWorld.h"

class btConvexShape;

class btDispatcher;

ATTRIBUTE_ALIGNED16(class) btGhostObject : public btCollisionObject
{
protected:

        btAlignedObjectArray<btCollisionObject*> m_overlappingObjects;

public:

        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);
        virtual void    removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0);

        int     getNumOverlappingObjects() const
        {
                return m_overlappingObjects.size();
        }

        btCollisionObject*      getOverlappingObject(int index)
        {
                return m_overlappingObjects[index];
        }

        const btCollisionObject*        getOverlappingObject(int index) const
        {
                return m_overlappingObjects[index];
        }

        btAlignedObjectArray<btCollisionObject*>&       getOverlappingPairs()
        {
                return m_overlappingObjects;
        }

        const btAlignedObjectArray<btCollisionObject*>  getOverlappingPairs() const
        {
                return m_overlappingObjects;
        }

        //
        // internal cast
        //

        static const btGhostObject*     upcast(const btCollisionObject* colObj)
        {
                if (colObj->getInternalType()==CO_GHOST_OBJECT)
                        return (const btGhostObject*)colObj;
                return 0;
        }
        static btGhostObject*                   upcast(btCollisionObject* colObj)
        {
                if (colObj->getInternalType()==CO_GHOST_OBJECT)
                        return (btGhostObject*)colObj;
                return 0;
        }

};

class   btPairCachingGhostObject : public btGhostObject
{
        btHashedOverlappingPairCache*   m_hashPairCache;

public:

        btPairCachingGhostObject();

        virtual ~btPairCachingGhostObject();

        virtual void    addOverlappingObjectInternal(btBroadphaseProxy* otherProxy, btBroadphaseProxy* thisProxy=0);

        virtual void    removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy=0);

        btHashedOverlappingPairCache*   getOverlappingPairCache()
        {
                return m_hashPairCache;
        }

};



class btGhostPairCallback : public btOverlappingPairCallback
{
        
public:
        btGhostPairCallback()
        {
        }

        virtual ~btGhostPairCallback()
        {
                
        }

        virtual btBroadphasePair*       addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
        {
                btCollisionObject* colObj0 = (btCollisionObject*) proxy0->m_clientObject;
                btCollisionObject* colObj1 = (btCollisionObject*) proxy1->m_clientObject;
                btGhostObject* ghost0 =                 btGhostObject::upcast(colObj0);
                btGhostObject* ghost1 =                 btGhostObject::upcast(colObj1);
                if (ghost0)
                        ghost0->addOverlappingObjectInternal(proxy1, proxy0);
                if (ghost1)
                        ghost1->addOverlappingObjectInternal(proxy0, proxy1);
                return 0;
        }

        virtual void*   removeOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
        {
                btCollisionObject* colObj0 = (btCollisionObject*) proxy0->m_clientObject;
                btCollisionObject* colObj1 = (btCollisionObject*) proxy1->m_clientObject;
                btGhostObject* ghost0 =                 btGhostObject::upcast(colObj0);
                btGhostObject* ghost1 =                 btGhostObject::upcast(colObj1);
                if (ghost0)
                        ghost0->removeOverlappingObjectInternal(proxy1,dispatcher,proxy0);
                if (ghost1)
                        ghost1->removeOverlappingObjectInternal(proxy0,dispatcher,proxy1);
                return 0;
        }

        virtual void    removeOverlappingPairsContainingProxy(btBroadphaseProxy* proxy0,btDispatcher* dispatcher)
        {
                btAssert(0);
                //need to keep track of all ghost objects and call them here
                //m_hashPairCache->removeOverlappingPairsContainingProxy(proxy0,dispatcher);
        }

        

};

#endif

---

bullet
Author(s): Erwin Coumans, ROS package maintained by Tully Foote
autogenerated on Fri Jan 11 10:10:12 2013