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>

Inheritance diagram for btGhostObject:

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Collaboration diagram for btGhostObject:

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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.
virtual void	removeOverlappingObjectInternal (btBroadphaseProxy otherProxy, btDispatcher dispatcher, btBroadphaseProxy *thisProxy=0)
	this method is mainly for expert/internal use only.
int	getNumOverlappingObjects () const
btCollisionObject *	getOverlappingObject (int index)
const btCollisionObject *	getOverlappingObject (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 btVector3 &	getAnisotropicFriction () 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.
btScalar	getContactProcessingThreshold () const
bool	isStaticObject () const
bool	isKinematicObject () const
bool	isStaticOrKinematicObject () const
bool	hasContactResponse () const
	btCollisionObject ()
virtual	~btCollisionObject ()
virtual void	setCollisionShape (btCollisionShape *collisionShape)
const btCollisionShape *	getCollisionShape () const
btCollisionShape *	getCollisionShape ()
void	setIgnoreCollisionCheck (const btCollisionObject *co, bool ignoreCollisionCheck)
int	getNumObjectsWithoutCollision () const
const btCollisionObject *	getObjectWithoutCollision (int index)
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.
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.
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
void	setSpinningFriction (btScalar frict)
btScalar	getSpinningFriction () const
void	setContactStiffnessAndDamping (btScalar stiffness, btScalar damping)
btScalar	getContactStiffness () const
btScalar	getContactDamping () const
int	getInternalType () const
	reserved for Bullet internal usage
btTransform &	getWorldTransform ()
const btTransform &	getWorldTransform () const
void	setWorldTransform (const btTransform &worldTrans)
btBroadphaseProxy *	getBroadphaseHandle ()
const btBroadphaseProxy *	getBroadphaseHandle () const
void	setBroadphaseHandle (btBroadphaseProxy *handle)
const btTransform &	getInterpolationWorldTransform () const
btTransform &	getInterpolationWorldTransform ()
void	setInterpolationWorldTransform (const btTransform &trans)
void	setInterpolationLinearVelocity (const btVector3 &linvel)
void	setInterpolationAngularVelocity (const btVector3 &angvel)
const btVector3 &	getInterpolationLinearVelocity () const
const btVector3 &	getInterpolationAngularVelocity () const
int	getIslandTag () const
void	setIslandTag (int tag)
int	getCompanionId () const
void	setCompanionId (int id)
int	getWorldArrayIndex () const
void	setWorldArrayIndex (int ix)
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::
void	setCcdSweptSphereRadius (btScalar radius)
	Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
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.
void *	getUserPointer () const
	users can point to their objects, userPointer is not used by Bullet
int	getUserIndex () const
int	getUserIndex2 () const
int	getUserIndex3 () const
void	setUserPointer (void *userPointer)
	users can point to their objects, userPointer is not used by Bullet
void	setUserIndex (int index)
	users can point to their objects, userPointer is not used by Bullet
void	setUserIndex2 (int index)
void	setUserIndex3 (int index)
int	getUpdateRevisionInternal () const
void	setCustomDebugColor (const btVector3 &colorRGB)
void	removeCustomDebugColor ()
bool	getCustomDebugColor (btVector3 &colorRGB) 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)
virtual void	serializeSingleObject (class btSerializer *serializer) const

Static Public Member Functions
static const btGhostObject *	upcast (const btCollisionObject *colObj)
static btGhostObject *	upcast (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
btVector3	m_interpolationLinearVelocity
btVector3	m_interpolationAngularVelocity
btVector3	m_anisotropicFriction
int	m_hasAnisotropicFriction
btScalar	m_contactProcessingThreshold
btBroadphaseProxy *	m_broadphaseHandle
btCollisionShape *	m_collisionShape
void *	m_extensionPointer
	m_extensionPointer is used by some internal low-level Bullet extensions.
btCollisionShape *	m_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.
int	m_collisionFlags
int	m_islandTag1
int	m_companionId
int	m_worldArrayIndex
int	m_activationState1
btScalar	m_deactivationTime
btScalar	m_friction
btScalar	m_restitution
btScalar	m_rollingFriction
btScalar	m_spinningFriction
btScalar	m_contactDamping
btScalar	m_contactStiffness
int	m_internalType
	m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
void *	m_userObjectPointer
	users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
int	m_userIndex2
int	m_userIndex
int	m_userIndex3
btScalar	m_hitFraction
	time of impact calculation
btScalar	m_ccdSweptSphereRadius
	Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
btScalar	m_ccdMotionThreshold
	Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold.
int	m_checkCollideWith
	If some object should have elaborate collision filtering by sub-classes.
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.
btVector3	m_customDebugColorRGB

Additional Inherited Members
Public Types inherited from btCollisionObject
enum	CollisionFlags { CF_DYNAMIC_OBJECT = 0 , 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 , CF_HAS_CONTACT_STIFFNESS_DAMPING = 128 , CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256 , CF_HAS_FRICTION_ANCHOR = 512 , CF_HAS_COLLISION_SOUND_TRIGGER = 1024 }
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 33 of file btGhostObject.h.

Constructor & Destructor Documentation

◆ btGhostObject()

btGhostObject::btGhostObject ( )

Definition at line 21 of file btGhostObject.cpp.

◆ ~btGhostObject()

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

◆ addOverlappingObjectInternal()

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 32 of file btGhostObject.cpp.

◆ convexSweepTest()

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 99 of file btGhostObject.cpp.

◆ getNumOverlappingObjects()

int btGhostObject::getNumOverlappingObjects ( ) const

inline

Definition at line 53 of file btGhostObject.h.

◆ getOverlappingObject() [1/2]

btCollisionObject * btGhostObject::getOverlappingObject ( int index )

inline

Definition at line 58 of file btGhostObject.h.

◆ getOverlappingObject() [2/2]

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

inline

Definition at line 63 of file btGhostObject.h.

◆ getOverlappingPairs() [1/2]

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

inline

Definition at line 68 of file btGhostObject.h.

◆ getOverlappingPairs() [2/2]

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

inline

Definition at line 73 of file btGhostObject.h.

◆ rayTest()

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

Definition at line 143 of file btGhostObject.cpp.

◆ removeOverlappingObjectInternal()

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 45 of file btGhostObject.cpp.

◆ upcast() [1/2]

btGhostObject * btGhostObject::upcast ( btCollisionObject * colObj )

inlinestatic

Definition at line 88 of file btGhostObject.h.

◆ upcast() [2/2]

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

inlinestatic

Definition at line 82 of file btGhostObject.h.

Member Data Documentation

◆ m_overlappingObjects

btAlignedObjectArray<btCollisionObject*> btGhostObject::m_overlappingObjects

protected

Definition at line 37 of file btGhostObject.h.

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

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btGhostObject()

◆ ~btGhostObject()

Member Function Documentation

◆ addOverlappingObjectInternal()

◆ convexSweepTest()

◆ getNumOverlappingObjects()

◆ getOverlappingObject() [1/2]

◆ getOverlappingObject() [2/2]

◆ getOverlappingPairs() [1/2]

◆ getOverlappingPairs() [2/2]

◆ rayTest()

◆ removeOverlappingObjectInternal()

◆ upcast() [1/2]

◆ upcast() [2/2]

Member Data Documentation

◆ m_overlappingObjects