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Add void btCollisionWorld::contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);

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The user should derive its own class from ContactResultCallback and implement the following callback (similar to the gContactAddedCallback):

virtual	btScalar	addSingleResult(btManifoldPoint& cp,	const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1) = 0;
This commit is contained in:
erwin.coumans
2010-02-11 08:45:41 +00:00
parent 70c70bf681
commit 5907f81774
3 changed files with 145 additions and 3 deletions
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35
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -358,6 +358,34 @@ public:
}
};
///ContactResultCallback is used to report contact points
struct ContactResultCallback
{
short int m_collisionFilterGroup;
short int m_collisionFilterMask;
ContactResultCallback()
:m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
m_collisionFilterMask(btBroadphaseProxy::AllFilter)
{
}
virtual ~ContactResultCallback()
{
}
virtual bool needsCollision(btBroadphaseProxy* proxy0) const
{
bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0;
collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;
}
virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1) = 0;
};
int getNumCollisionObjects() const
{
return int(m_collisionObjects.size());
@@ -367,10 +395,13 @@ public:
/// This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
virtual void rayTest(const btVector3& rayFromWorld, const btVector3& rayToWorld, RayResultCallback& resultCallback) const;
// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
/// convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback
/// This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
void convexSweepTest (const btConvexShape* castShape, const btTransform& from, const btTransform& to, ConvexResultCallback& resultCallback, btScalar allowedCcdPenetration = btScalar(0.)) const;
///contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback.
///it reports one or more contact points for every overlapping object (including the one with deepest penetration)
void contactTest(btCollisionObject* colObj, ContactResultCallback& resultCallback);
/// rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest.
/// In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape.