diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h | 37 |
1 files changed, 25 insertions, 12 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h index 0a92d2d6e15..9412242e8a3 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h @@ -144,6 +144,11 @@ public: void updateSingleAabb(btCollisionObject* colObj); virtual void updateAabbs(); + + ///the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation) + ///it can be useful to use if you perform ray tests without collision detection/simulation + virtual void computeOverlappingPairs(); + virtual void setDebugDrawer(btIDebugDraw* debugDrawer) { @@ -173,7 +178,7 @@ public: struct LocalRayResult { - LocalRayResult(btCollisionObject* collisionObject, + LocalRayResult(const btCollisionObject* collisionObject, LocalShapeInfo* localShapeInfo, const btVector3& hitNormalLocal, btScalar hitFraction) @@ -184,7 +189,7 @@ public: { } - btCollisionObject* m_collisionObject; + const btCollisionObject* m_collisionObject; LocalShapeInfo* m_localShapeInfo; btVector3 m_hitNormalLocal; btScalar m_hitFraction; @@ -195,11 +200,11 @@ public: struct RayResultCallback { btScalar m_closestHitFraction; - btCollisionObject* m_collisionObject; + const btCollisionObject* m_collisionObject; short int m_collisionFilterGroup; short int m_collisionFilterMask; - //@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback - unsigned int m_flags; + //@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback.h. Apply any of the EFlags defined there on m_flags here to invoke. + unsigned int m_flags; virtual ~RayResultCallback() { @@ -214,8 +219,8 @@ public: m_collisionObject(0), m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), m_collisionFilterMask(btBroadphaseProxy::AllFilter), - //@BP Mod - m_flags(0) + //@BP Mod + m_flags(0) { } @@ -272,7 +277,7 @@ public: { } - btAlignedObjectArray<btCollisionObject*> m_collisionObjects; + btAlignedObjectArray<const btCollisionObject*> m_collisionObjects; btVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction btVector3 m_rayToWorld; @@ -306,7 +311,7 @@ public: struct LocalConvexResult { - LocalConvexResult(btCollisionObject* hitCollisionObject, + LocalConvexResult(const btCollisionObject* hitCollisionObject, LocalShapeInfo* localShapeInfo, const btVector3& hitNormalLocal, const btVector3& hitPointLocal, @@ -320,7 +325,7 @@ public: { } - btCollisionObject* m_hitCollisionObject; + const btCollisionObject* m_hitCollisionObject; LocalShapeInfo* m_localShapeInfo; btVector3 m_hitNormalLocal; btVector3 m_hitPointLocal; @@ -376,7 +381,7 @@ public: btVector3 m_hitNormalWorld; btVector3 m_hitPointWorld; - btCollisionObject* m_hitCollisionObject; + const btCollisionObject* m_hitCollisionObject; virtual btScalar addSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace) { @@ -421,7 +426,7 @@ public: return collides; } - virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1) = 0; + virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1) = 0; }; @@ -457,6 +462,10 @@ public: const btTransform& colObjWorldTransform, RayResultCallback& resultCallback); + static void rayTestSingleInternal(const btTransform& rayFromTrans,const btTransform& rayToTrans, + const btCollisionObjectWrapper* collisionObjectWrap, + RayResultCallback& resultCallback); + /// objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest. static void objectQuerySingle(const btConvexShape* castShape, const btTransform& rayFromTrans,const btTransform& rayToTrans, btCollisionObject* collisionObject, @@ -464,6 +473,10 @@ public: const btTransform& colObjWorldTransform, ConvexResultCallback& resultCallback, btScalar allowedPenetration); + static void objectQuerySingleInternal(const btConvexShape* castShape,const btTransform& convexFromTrans,const btTransform& convexToTrans, + const btCollisionObjectWrapper* colObjWrap, + ConvexResultCallback& resultCallback, btScalar allowedPenetration); + virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter); btCollisionObjectArray& getCollisionObjectArray() |