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Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.cpp | 166 |
1 files changed, 0 insertions, 166 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.cpp deleted file mode 100644 index 00f16fd0a8..0000000000 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btGhostObject.cpp +++ /dev/null @@ -1,166 +0,0 @@ -/* -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 "btGhostObject.h" -#include "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); - } - } -} |