| /* |
| 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. |
| */ |
| |
| #include "BulletCollision/CollisionDispatch/btGhostObject.h" |
| #include "BulletCollision/CollisionDispatch/btCollisionWorld.h" |
| #include "BulletCollision/CollisionShapes/btConvexShape.h" |
| #include "LinearMath/btAabbUtil2.h" |
| |
| btGhostObject::btGhostObject() |
| { |
| m_internalType = CO_GHOST_OBJECT; |
| } |
| |
| btGhostObject::~btGhostObject() |
| { |
| ///btGhostObject should have been removed from the world, so no overlapping objects |
| btAssert(!m_overlappingObjects.size()); |
| } |
| |
| |
| void btGhostObject::addOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btBroadphaseProxy* thisProxy) |
| { |
| btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject; |
| btAssert(otherObject); |
| ///if this linearSearch becomes too slow (too many overlapping objects) we should add a more appropriate data structure |
| int index = m_overlappingObjects.findLinearSearch(otherObject); |
| if (index==m_overlappingObjects.size()) |
| { |
| //not found |
| m_overlappingObjects.push_back(otherObject); |
| } |
| } |
| |
| void btGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy) |
| { |
| btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject; |
| btAssert(otherObject); |
| int index = m_overlappingObjects.findLinearSearch(otherObject); |
| if (index<m_overlappingObjects.size()) |
| { |
| m_overlappingObjects[index] = m_overlappingObjects[m_overlappingObjects.size()-1]; |
| m_overlappingObjects.pop_back(); |
| } |
| } |
| |
| |
| btPairCachingGhostObject::btPairCachingGhostObject() |
| { |
| m_hashPairCache = new (btAlignedAlloc(sizeof(btHashedOverlappingPairCache),16)) btHashedOverlappingPairCache(); |
| } |
| |
| btPairCachingGhostObject::~btPairCachingGhostObject() |
| { |
| m_hashPairCache->~btHashedOverlappingPairCache(); |
| btAlignedFree( m_hashPairCache ); |
| } |
| |
| void btPairCachingGhostObject::addOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btBroadphaseProxy* thisProxy) |
| { |
| btBroadphaseProxy*actualThisProxy = thisProxy ? thisProxy : getBroadphaseHandle(); |
| btAssert(actualThisProxy); |
| |
| btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject; |
| btAssert(otherObject); |
| int index = m_overlappingObjects.findLinearSearch(otherObject); |
| if (index==m_overlappingObjects.size()) |
| { |
| m_overlappingObjects.push_back(otherObject); |
| m_hashPairCache->addOverlappingPair(actualThisProxy,otherProxy); |
| } |
| } |
| |
| void btPairCachingGhostObject::removeOverlappingObjectInternal(btBroadphaseProxy* otherProxy,btDispatcher* dispatcher,btBroadphaseProxy* thisProxy1) |
| { |
| btCollisionObject* otherObject = (btCollisionObject*)otherProxy->m_clientObject; |
| btBroadphaseProxy* actualThisProxy = thisProxy1 ? thisProxy1 : getBroadphaseHandle(); |
| btAssert(actualThisProxy); |
| |
| btAssert(otherObject); |
| int index = m_overlappingObjects.findLinearSearch(otherObject); |
| if (index<m_overlappingObjects.size()) |
| { |
| m_overlappingObjects[index] = m_overlappingObjects[m_overlappingObjects.size()-1]; |
| m_overlappingObjects.pop_back(); |
| m_hashPairCache->removeOverlappingPair(actualThisProxy,otherProxy,dispatcher); |
| } |
| } |
| |
| |
| void btGhostObject::convexSweepTest(const btConvexShape* castShape, const btTransform& convexFromWorld, const btTransform& convexToWorld, btCollisionWorld::ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration) const |
| { |
| btTransform convexFromTrans,convexToTrans; |
| convexFromTrans = convexFromWorld; |
| convexToTrans = convexToWorld; |
| btVector3 castShapeAabbMin, castShapeAabbMax; |
| /* Compute AABB that encompasses angular movement */ |
| { |
| btVector3 linVel, angVel; |
| btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel); |
| btTransform R; |
| R.setIdentity (); |
| R.setRotation (convexFromTrans.getRotation()); |
| castShape->calculateTemporalAabb (R, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax); |
| } |
| |
| /// go over all objects, and if the ray intersects their aabb + cast shape aabb, |
| // do a ray-shape query using convexCaster (CCD) |
| int i; |
| for (i=0;i<m_overlappingObjects.size();i++) |
| { |
| btCollisionObject* collisionObject= m_overlappingObjects[i]; |
| //only perform raycast if filterMask matches |
| if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) { |
| //RigidcollisionObject* collisionObject = ctrl->GetRigidcollisionObject(); |
| btVector3 collisionObjectAabbMin,collisionObjectAabbMax; |
| collisionObject->getCollisionShape()->getAabb(collisionObject->getWorldTransform(),collisionObjectAabbMin,collisionObjectAabbMax); |
| AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax); |
| btScalar hitLambda = btScalar(1.); //could use resultCallback.m_closestHitFraction, but needs testing |
| btVector3 hitNormal; |
| if (btRayAabb(convexFromWorld.getOrigin(),convexToWorld.getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal)) |
| { |
| btCollisionWorld::objectQuerySingle(castShape, convexFromTrans,convexToTrans, |
| collisionObject, |
| collisionObject->getCollisionShape(), |
| collisionObject->getWorldTransform(), |
| resultCallback, |
| allowedCcdPenetration); |
| } |
| } |
| } |
| |
| } |
| |
| void btGhostObject::rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, btCollisionWorld::RayResultCallback& resultCallback) const |
| { |
| btTransform rayFromTrans; |
| rayFromTrans.setIdentity(); |
| rayFromTrans.setOrigin(rayFromWorld); |
| btTransform rayToTrans; |
| rayToTrans.setIdentity(); |
| rayToTrans.setOrigin(rayToWorld); |
| |
| |
| int i; |
| for (i=0;i<m_overlappingObjects.size();i++) |
| { |
| btCollisionObject* collisionObject= m_overlappingObjects[i]; |
| //only perform raycast if filterMask matches |
| if(resultCallback.needsCollision(collisionObject->getBroadphaseHandle())) |
| { |
| btCollisionWorld::rayTestSingle(rayFromTrans,rayToTrans, |
| collisionObject, |
| collisionObject->getCollisionShape(), |
| collisionObject->getWorldTransform(), |
| resultCallback); |
| } |
| } |
| } |
| |