Bullet Collision Detection & Physics Library
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16 #ifndef BT_MANIFOLD_RESULT_H
17 #define BT_MANIFOLD_RESULT_H
62 #ifdef DEBUG_PART_INDEX
163 #endif //BT_MANIFOLD_RESULT_H
virtual void setShapeIdentifiersB(int partId1, int index1)
btCollisionObject can be used to manage collision detection objects.
static btScalar calculateCombinedFriction(const btCollisionObject *body0, const btCollisionObject *body1)
User can override this material combiner by implementing gContactAddedCallback and setting body0->m_c...
void refreshContactPoints(const btTransform &trA, const btTransform &trB)
calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
const btCollisionObject * getBody0Internal() const
void setBody1Wrap(const btCollisionObjectWrapper *obj1Wrap)
const btCollisionObject * getBody0() const
int getNumContacts() const
static btScalar calculateCombinedSpinningFriction(const btCollisionObject *body0, const btCollisionObject *body1)
static btScalar calculateCombinedRestitution(const btCollisionObject *body0, const btCollisionObject *body1)
in the future we can let the user override the methods to combine restitution and friction
const btCollisionObjectWrapper * m_body0Wrap
const btCollisionObjectWrapper * getBody1Wrap() const
btTransform & getWorldTransform()
void setBody0Wrap(const btCollisionObjectWrapper *obj0Wrap)
ManifoldContactPoint collects and maintains persistent contactpoints.
CalculateCombinedCallback gCalculateCombinedContactDampingCallback
btManifoldResult is a helper class to manage contact results.
const btPersistentManifold * getPersistentManifold() const
btScalar(* CalculateCombinedCallback)(const btCollisionObject *body0, const btCollisionObject *body1)
These callbacks are used to customize the algorith that combine restitution, friction,...
ContactAddedCallback gContactAddedCallback
This is to allow MaterialCombiner/Custom Friction/Restitution values.
bool(* ContactAddedCallback)(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1)
const btCollisionObject * getCollisionObject() const
CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback
const btCollisionObjectWrapper * getBody0Wrap() const
btVector3 can be used to represent 3D points and vectors.
CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
btPersistentManifold * m_manifoldPtr
virtual ~btManifoldResult()
const btCollisionObject * getBody1Internal() const
btPersistentManifold * getPersistentManifold()
void setPersistentManifold(btPersistentManifold *manifoldPtr)
static btScalar calculateCombinedContactDamping(const btCollisionObject *body0, const btCollisionObject *body1)
#define SIMD_FORCE_INLINE
static btScalar calculateCombinedContactStiffness(const btCollisionObject *body0, const btCollisionObject *body1)
static btScalar calculateCombinedRollingFriction(const btCollisionObject *body0, const btCollisionObject *body1)
void refreshContactPoints()
const btCollisionObjectWrapper * m_body1Wrap
CalculateCombinedCallback gCalculateCombinedFrictionCallback
CalculateCombinedCallback gCalculateCombinedRestitutionCallback
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
virtual void setShapeIdentifiersA(int partId0, int index0)
setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material comb...
CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback
btScalar m_closestPointDistanceThreshold