Bullet Collision Detection & Physics Library
btCollisionObject.h
Go to the documentation of this file.
1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_COLLISION_OBJECT_H
17 #define BT_COLLISION_OBJECT_H
18 
19 #include "LinearMath/btTransform.h"
20 
21 //island management, m_activationState1
22 #define ACTIVE_TAG 1
23 #define ISLAND_SLEEPING 2
24 #define WANTS_DEACTIVATION 3
25 #define DISABLE_DEACTIVATION 4
26 #define DISABLE_SIMULATION 5
27 
28 struct btBroadphaseProxy;
29 class btCollisionShape;
34 
36 
37 #ifdef BT_USE_DOUBLE_PRECISION
38 #define btCollisionObjectData btCollisionObjectDoubleData
39 #define btCollisionObjectDataName "btCollisionObjectDoubleData"
40 #else
41 #define btCollisionObjectData btCollisionObjectFloatData
42 #define btCollisionObjectDataName "btCollisionObjectFloatData"
43 #endif
44 
50 {
51 protected:
53 
57  //those two are experimental: just added for bullet time effect, so you can still apply impulses (directly modifying velocities)
58  //without destroying the continuous interpolated motion (which uses this interpolation velocities)
61 
65 
70 
75 
77 
80  int m_worldArrayIndex; // index of object in world's collisionObjects array
81 
82  mutable int m_activationState1;
84 
87  btScalar m_rollingFriction; //torsional friction orthogonal to contact normal (useful to stop spheres rolling forever)
88  btScalar m_spinningFriction; // torsional friction around the contact normal (useful for grasping)
91 
95 
97 
99 
101 
103 
106 
109 
112 
115 
117 
120 
122 
123 public:
125 
127  {
128  CF_STATIC_OBJECT = 1,
129  CF_KINEMATIC_OBJECT = 2,
130  CF_NO_CONTACT_RESPONSE = 4,
131  CF_CUSTOM_MATERIAL_CALLBACK = 8, //this allows per-triangle material (friction/restitution)
132  CF_CHARACTER_OBJECT = 16,
133  CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing
134  CF_DISABLE_SPU_COLLISION_PROCESSING = 64, //disable parallel/SPU processing
135  CF_HAS_CONTACT_STIFFNESS_DAMPING = 128,
136  CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256,
137  CF_HAS_FRICTION_ANCHOR = 512,
138  CF_HAS_COLLISION_SOUND_TRIGGER = 1024
139  };
140 
142  {
143  CO_COLLISION_OBJECT = 1,
144  CO_RIGID_BODY = 2,
147  CO_GHOST_OBJECT = 4,
148  CO_SOFT_BODY = 8,
149  CO_HF_FLUID = 16,
150  CO_USER_TYPE = 32,
151  CO_FEATHERSTONE_LINK = 64
152  };
153 
155  {
156  CF_ANISOTROPIC_FRICTION_DISABLED = 0,
157  CF_ANISOTROPIC_FRICTION = 1,
158  CF_ANISOTROPIC_ROLLING_FRICTION = 2
159  };
160 
162  {
164  return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE)) == 0);
165  }
166 
168  {
169  return m_anisotropicFriction;
170  }
171  void setAnisotropicFriction(const btVector3& anisotropicFriction, int frictionMode = CF_ANISOTROPIC_FRICTION)
172  {
173  m_anisotropicFriction = anisotropicFriction;
174  bool isUnity = (anisotropicFriction[0] != 1.f) || (anisotropicFriction[1] != 1.f) || (anisotropicFriction[2] != 1.f);
175  m_hasAnisotropicFriction = isUnity ? frictionMode : 0;
176  }
177  bool hasAnisotropicFriction(int frictionMode = CF_ANISOTROPIC_FRICTION) const
178  {
179  return (m_hasAnisotropicFriction & frictionMode) != 0;
180  }
181 
184  void setContactProcessingThreshold(btScalar contactProcessingThreshold)
185  {
186  m_contactProcessingThreshold = contactProcessingThreshold;
187  }
189  {
190  return m_contactProcessingThreshold;
191  }
192 
194  {
195  return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
196  }
197 
199  {
200  return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
201  }
202 
204  {
205  return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0;
206  }
207 
209  {
210  return (m_collisionFlags & CF_NO_CONTACT_RESPONSE) == 0;
211  }
212 
214 
215  virtual ~btCollisionObject();
216 
217  virtual void setCollisionShape(btCollisionShape * collisionShape)
218  {
219  m_updateRevision++;
220  m_collisionShape = collisionShape;
221  m_rootCollisionShape = collisionShape;
222  }
223 
225  {
226  return m_collisionShape;
227  }
228 
230  {
231  return m_collisionShape;
232  }
233 
234  void setIgnoreCollisionCheck(const btCollisionObject* co, bool ignoreCollisionCheck)
235  {
236  if (ignoreCollisionCheck)
237  {
238  //We don't check for duplicates. Is it ok to leave that up to the user of this API?
239  //int index = m_objectsWithoutCollisionCheck.findLinearSearch(co);
240  //if (index == m_objectsWithoutCollisionCheck.size())
241  //{
242  m_objectsWithoutCollisionCheck.push_back(co);
243  //}
244  }
245  else
246  {
247  m_objectsWithoutCollisionCheck.remove(co);
248  }
249  m_checkCollideWith = m_objectsWithoutCollisionCheck.size() > 0;
250  }
251 
252  virtual bool checkCollideWithOverride(const btCollisionObject* co) const
253  {
254  int index = m_objectsWithoutCollisionCheck.findLinearSearch(co);
255  if (index < m_objectsWithoutCollisionCheck.size())
256  {
257  return false;
258  }
259  return true;
260  }
261 
265  {
266  return m_extensionPointer;
267  }
270  void internalSetExtensionPointer(void* pointer)
271  {
272  m_extensionPointer = pointer;
273  }
274 
275  SIMD_FORCE_INLINE int getActivationState() const { return m_activationState1; }
276 
277  void setActivationState(int newState) const;
278 
280  {
281  m_deactivationTime = time;
282  }
284  {
285  return m_deactivationTime;
286  }
287 
288  void forceActivationState(int newState) const;
289 
290  void activate(bool forceActivation = false) const;
291 
293  {
294  return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
295  }
296 
298  {
299  m_updateRevision++;
300  m_restitution = rest;
301  }
303  {
304  return m_restitution;
305  }
306  void setFriction(btScalar frict)
307  {
308  m_updateRevision++;
309  m_friction = frict;
310  }
312  {
313  return m_friction;
314  }
315 
317  {
318  m_updateRevision++;
319  m_rollingFriction = frict;
320  }
322  {
323  return m_rollingFriction;
324  }
326  {
327  m_updateRevision++;
328  m_spinningFriction = frict;
329  }
331  {
332  return m_spinningFriction;
333  }
335  {
336  m_updateRevision++;
337  m_contactStiffness = stiffness;
338  m_contactDamping = damping;
339 
340  m_collisionFlags |= CF_HAS_CONTACT_STIFFNESS_DAMPING;
341 
342  //avoid divisions by zero...
343  if (m_contactStiffness < SIMD_EPSILON)
344  {
345  m_contactStiffness = SIMD_EPSILON;
346  }
347  }
348 
350  {
351  return m_contactStiffness;
352  }
353 
355  {
356  return m_contactDamping;
357  }
358 
360  int getInternalType() const
361  {
362  return m_internalType;
363  }
364 
366  {
367  return m_worldTransform;
368  }
369 
371  {
372  return m_worldTransform;
373  }
374 
375  void setWorldTransform(const btTransform& worldTrans)
376  {
377  m_updateRevision++;
378  m_worldTransform = worldTrans;
379  }
380 
382  {
383  return m_broadphaseHandle;
384  }
385 
387  {
388  return m_broadphaseHandle;
389  }
390 
392  {
393  m_broadphaseHandle = handle;
394  }
395 
397  {
398  return m_interpolationWorldTransform;
399  }
400 
402  {
403  return m_interpolationWorldTransform;
404  }
405 
407  {
408  m_updateRevision++;
409  m_interpolationWorldTransform = trans;
410  }
411 
413  {
414  m_updateRevision++;
415  m_interpolationLinearVelocity = linvel;
416  }
417 
419  {
420  m_updateRevision++;
421  m_interpolationAngularVelocity = angvel;
422  }
423 
425  {
426  return m_interpolationLinearVelocity;
427  }
428 
430  {
431  return m_interpolationAngularVelocity;
432  }
433 
435  {
436  return m_islandTag1;
437  }
438 
439  void setIslandTag(int tag)
440  {
441  m_islandTag1 = tag;
442  }
443 
445  {
446  return m_companionId;
447  }
448 
449  void setCompanionId(int id)
450  {
451  m_companionId = id;
452  }
453 
455  {
456  return m_worldArrayIndex;
457  }
458 
459  // only should be called by CollisionWorld
460  void setWorldArrayIndex(int ix)
461  {
462  m_worldArrayIndex = ix;
463  }
464 
466  {
467  return m_hitFraction;
468  }
469 
470  void setHitFraction(btScalar hitFraction)
471  {
472  m_hitFraction = hitFraction;
473  }
474 
476  {
477  return m_collisionFlags;
478  }
479 
480  void setCollisionFlags(int flags)
481  {
482  m_collisionFlags = flags;
483  }
484 
487  {
488  return m_ccdSweptSphereRadius;
489  }
490 
493  {
494  m_ccdSweptSphereRadius = radius;
495  }
496 
498  {
499  return m_ccdMotionThreshold;
500  }
501 
503  {
504  return m_ccdMotionThreshold * m_ccdMotionThreshold;
505  }
506 
508  void setCcdMotionThreshold(btScalar ccdMotionThreshold)
509  {
510  m_ccdMotionThreshold = ccdMotionThreshold;
511  }
512 
514  void* getUserPointer() const
515  {
516  return m_userObjectPointer;
517  }
518 
519  int getUserIndex() const
520  {
521  return m_userIndex;
522  }
523 
524  int getUserIndex2() const
525  {
526  return m_userIndex2;
527  }
528 
530  void setUserPointer(void* userPointer)
531  {
532  m_userObjectPointer = userPointer;
533  }
534 
536  void setUserIndex(int index)
537  {
538  m_userIndex = index;
539  }
540 
541  void setUserIndex2(int index)
542  {
543  m_userIndex2 = index;
544  }
545 
547  {
548  return m_updateRevision;
549  }
550 
551  void setCustomDebugColor(const btVector3& colorRGB)
552  {
553  m_customDebugColorRGB = colorRGB;
554  m_collisionFlags |= CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
555  }
556 
558  {
559  m_collisionFlags &= ~CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
560  }
561 
562  bool getCustomDebugColor(btVector3 & colorRGB) const
563  {
564  bool hasCustomColor = (0 != (m_collisionFlags & CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR));
565  if (hasCustomColor)
566  {
567  colorRGB = m_customDebugColorRGB;
568  }
569  return hasCustomColor;
570  }
571 
572  inline bool checkCollideWith(const btCollisionObject* co) const
573  {
574  if (m_checkCollideWith)
575  return checkCollideWithOverride(co);
576 
577  return true;
578  }
579 
580  virtual int calculateSerializeBufferSize() const;
581 
583  virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
584 
585  virtual void serializeSingleObject(class btSerializer * serializer) const;
586 };
587 
588 // clang-format off
589 
592 {
596  char *m_name;
597 
605  double m_friction;
610  double m_hitFraction;
622  int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
623 };
624 
627 {
631  char *m_name;
632 
640  float m_friction;
658 };
659 // clang-format on
660 
662 {
663  return sizeof(btCollisionObjectData);
664 }
665 
666 #endif //BT_COLLISION_OBJECT_H
btTransformFloatData m_worldTransform
void setUserIndex2(int index)
#define SIMD_EPSILON
Definition: btScalar.h:523
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
const btVector3 & getInterpolationAngularVelocity() const
void setContactStiffnessAndDamping(btScalar stiffness, btScalar damping)
void push_back(const T &_Val)
int getUserIndex2() const
btVector3FloatData m_anisotropicFriction
btScalar getContactDamping() const
bool mergesSimulationIslands() const
btScalar m_ccdMotionThreshold
Don&#39;t do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold...
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
int findLinearSearch(const T &key) const
const btBroadphaseProxy * getBroadphaseHandle() const
btTransform m_interpolationWorldTransform
m_interpolationWorldTransform is used for CCD and interpolation it can be either previous or future (...
btScalar m_ccdSweptSphereRadius
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
btTransformFloatData m_interpolationWorldTransform
void setCcdMotionThreshold(btScalar ccdMotionThreshold)
Don&#39;t do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold...
btScalar getContactStiffness() const
btAlignedObjectArray< const btCollisionObject * > m_objectsWithoutCollisionCheck
btScalar m_hitFraction
time of impact calculation
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
void setHitFraction(btScalar hitFraction)
bool isKinematicObject() const
const btTransform & getWorldTransform() const
void setWorldArrayIndex(int ix)
#define SIMD_FORCE_INLINE
Definition: btScalar.h:83
int getActivationState() const
#define btCollisionObjectData
btTransform m_worldTransform
#define ISLAND_SLEEPING
bool isStaticOrKinematicObject() const
void setCustomDebugColor(const btVector3 &colorRGB)
btVector3DoubleData m_anisotropicFriction
btCollisionShape * m_collisionShape
btCollisionShapeData * m_rootCollisionShape
void setIgnoreCollisionCheck(const btCollisionObject *co, bool ignoreCollisionCheck)
void setRestitution(btScalar rest)
bool checkCollideWith(const btCollisionObject *co) const
btVector3DoubleData m_interpolationAngularVelocity
btCollisionShapeData * m_rootCollisionShape
const btVector3 & getInterpolationLinearVelocity() const
btVector3 m_anisotropicFriction
virtual void setCollisionShape(btCollisionShape *collisionShape)
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
btTransform & getWorldTransform()
int m_internalType
m_internalType is reserved to distinguish Bullet&#39;s btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
btBroadphaseProxy * getBroadphaseHandle()
const btVector3 & getAnisotropicFriction() const
void setFriction(btScalar frict)
btScalar getCcdSquareMotionThreshold() const
bool isStaticObject() const
void setCcdSweptSphereRadius(btScalar radius)
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
btCollisionShape * m_rootCollisionShape
m_rootCollisionShape is temporarily used to store the original collision shape The m_collisionShape m...
void setSpinningFriction(btScalar frict)
btVector3FloatData m_interpolationLinearVelocity
btAlignedObjectArray< class btCollisionObject * > btCollisionObjectArray
btScalar getRestitution() const
btTransform & getInterpolationWorldTransform()
btScalar getDeactivationTime() const
btCollisionObject can be used to manage collision detection objects.
void setUserPointer(void *userPointer)
users can point to their objects, userPointer is not used by Bullet
#define DISABLE_SIMULATION
bool hasContactResponse() const
const btTransform & getInterpolationWorldTransform() const
void setUserIndex(int index)
users can point to their objects, userPointer is not used by Bullet
void * m_extensionPointer
m_extensionPointer is used by some internal low-level Bullet extensions.
btVector3 m_customDebugColorRGB
btScalar m_contactProcessingThreshold
virtual int calculateSerializeBufferSize() const
void setDeactivationTime(btScalar time)
void setWorldTransform(const btTransform &worldTrans)
void setCompanionId(int id)
int getWorldArrayIndex() const
int m_updateRevision
internal update revision number. It will be increased when the object changes. This allows some subsy...
btScalar getRollingFriction() const
int getUserIndex() const
void setInterpolationWorldTransform(const btTransform &trans)
int getCollisionFlags() const
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
btScalar getContactProcessingThreshold() const
void * internalGetExtensionPointer() const
Avoid using this internal API call, the extension pointer is used by some Bullet extensions.
void setInterpolationAngularVelocity(const btVector3 &angvel)
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
int size() const
return the number of elements in the array
void setAnisotropicFriction(const btVector3 &anisotropicFriction, int frictionMode=CF_ANISOTROPIC_FRICTION)
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btScalar getCcdMotionThreshold() const
btCollisionShape * getCollisionShape()
int getIslandTag() const
void setCollisionFlags(int flags)
void setBroadphaseHandle(btBroadphaseProxy *handle)
btScalar getSpinningFriction() const
btScalar getHitFraction() const
void remove(const T &key)
btTransformDoubleData m_worldTransform
btTransformDoubleData m_interpolationWorldTransform
btVector3 m_interpolationAngularVelocity
for serialization
Definition: btTransform.h:244
void setIslandTag(int tag)
int getInternalType() const
reserved for Bullet internal usage
void setRollingFriction(btScalar frict)
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:405
btVector3DoubleData m_interpolationLinearVelocity
int m_checkCollideWith
If some object should have elaborate collision filtering by sub-classes.
void internalSetExtensionPointer(void *pointer)
Avoid using this internal API call, the extension pointer is used by some Bullet extensions If you ne...
bool getCustomDebugColor(btVector3 &colorRGB) const
void * m_userObjectPointer
users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPoin...
void setInterpolationLinearVelocity(const btVector3 &linvel)
bool hasAnisotropicFriction(int frictionMode=CF_ANISOTROPIC_FRICTION) const
btBroadphaseProxy * m_broadphaseHandle
btScalar getCcdSweptSphereRadius() const
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
btVector3 m_interpolationLinearVelocity
void setContactProcessingThreshold(btScalar contactProcessingThreshold)
the constraint solver can discard solving contacts, if the distance is above this threshold...
btScalar getFriction() const
btVector3FloatData m_interpolationAngularVelocity
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
int getCompanionId() const
virtual bool checkCollideWithOverride(const btCollisionObject *co) const
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
const btCollisionShape * getCollisionShape() const
void * getUserPointer() const
users can point to their objects, userPointer is not used by Bullet
int getUpdateRevisionInternal() const