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source: code/trunk/src/external/bullet/BulletCollision/CollisionDispatch/btGhostObject.cpp @ 10184

Last change on this file since 10184 was 5781, checked in by rgrieder, 15 years ago

Reverted trunk again. We might want to find a way to delete these revisions again (x3n's changes are still available as diff in the commit mails).

  • Property svn:eol-style set to native
File size: 6.6 KB
RevLine 
[2430]1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btGhostObject.h"
17#include "btCollisionWorld.h"
18#include "BulletCollision/CollisionShapes/btConvexShape.h"
19#include "LinearMath/btAabbUtil2.h"
20
21btGhostObject::btGhostObject()
22{
23        m_internalType = CO_GHOST_OBJECT;
24}
25
26btGhostObject::~btGhostObject()
27{
28        ///btGhostObject should have been removed from the world, so no overlapping objects
29        btAssert(!m_overlappingObjects.size());
30}
31
32
33void btGhostObject::addOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btBroadphaseProxy* thisProxy)
34{
35        btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject;
36        btAssert(otherObject);
37        ///if this linearSearch becomes too slow (too many overlapping objects) we should add a more appropriate data structure
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
46void btGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy)
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        {
53                m_overlappingObjects[index] = m_overlappingObjects[m_overlappingObjects.size()-1];
54                m_overlappingObjects.pop_back();
55        }
56}
57
58
59btPairCachingGhostObject::btPairCachingGhostObject()
60{
61        m_hashPairCache = new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache();
62}
63
64btPairCachingGhostObject::~btPairCachingGhostObject()
65{
[2882]66        m_hashPairCache->~btHashedOverlappingPairCache();
[2430]67        btAlignedFree( m_hashPairCache );
68}
69
70void btPairCachingGhostObject::addOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btBroadphaseProxy* thisProxy)
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
85void btPairCachingGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy1)
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        {
95                m_overlappingObjects[index] = m_overlappingObjects[m_overlappingObjects.size()-1];
96                m_overlappingObjects.pop_back();
97                m_hashPairCache->removeOverlappingPair(actualThisProxy,otherProxy,dispatcher);
98        }
99}
100
101
102void    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
118        /// go over all objects, and if the ray intersects their aabb + cast shape aabb,
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
146void    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
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