16 #ifndef BT_COLLISION_OBJECT_H 17 #define BT_COLLISION_OBJECT_H 23 #define ISLAND_SLEEPING 2 24 #define WANTS_DEACTIVATION 3 25 #define DISABLE_DEACTIVATION 4 26 #define DISABLE_SIMULATION 5 37 #ifdef BT_USE_DOUBLE_PRECISION 38 #define btCollisionObjectData btCollisionObjectDoubleData 39 #define btCollisionObjectDataName "btCollisionObjectDoubleData" 41 #define btCollisionObjectData btCollisionObjectFloatData 42 #define btCollisionObjectDataName "btCollisionObjectFloatData" 128 CF_STATIC_OBJECT = 1,
129 CF_KINEMATIC_OBJECT = 2,
130 CF_NO_CONTACT_RESPONSE = 4,
131 CF_CUSTOM_MATERIAL_CALLBACK = 8,
132 CF_CHARACTER_OBJECT = 16,
133 CF_DISABLE_VISUALIZE_OBJECT = 32,
134 CF_DISABLE_SPU_COLLISION_PROCESSING = 64,
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
143 CO_COLLISION_OBJECT = 1,
151 CO_FEATHERSTONE_LINK = 64
156 CF_ANISOTROPIC_FRICTION_DISABLED = 0,
157 CF_ANISOTROPIC_FRICTION = 1,
158 CF_ANISOTROPIC_ROLLING_FRICTION = 2
164 return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE)) == 0);
169 return m_anisotropicFriction;
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;
179 return (m_hasAnisotropicFriction & frictionMode) != 0;
186 m_contactProcessingThreshold = contactProcessingThreshold;
190 return m_contactProcessingThreshold;
195 return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
200 return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
205 return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0;
210 return (m_collisionFlags & CF_NO_CONTACT_RESPONSE) == 0;
220 m_collisionShape = collisionShape;
221 m_rootCollisionShape = collisionShape;
226 return m_collisionShape;
231 return m_collisionShape;
236 if (ignoreCollisionCheck)
242 m_objectsWithoutCollisionCheck.
push_back(co);
247 m_objectsWithoutCollisionCheck.
remove(co);
249 m_checkCollideWith = m_objectsWithoutCollisionCheck.
size() > 0;
255 if (index < m_objectsWithoutCollisionCheck.
size())
266 return m_extensionPointer;
272 m_extensionPointer = pointer;
277 void setActivationState(
int newState)
const;
281 m_deactivationTime = time;
285 return m_deactivationTime;
288 void forceActivationState(
int newState)
const;
290 void activate(
bool forceActivation =
false)
const;
300 m_restitution = rest;
304 return m_restitution;
319 m_rollingFriction = frict;
323 return m_rollingFriction;
328 m_spinningFriction = frict;
332 return m_spinningFriction;
337 m_contactStiffness = stiffness;
338 m_contactDamping = damping;
340 m_collisionFlags |= CF_HAS_CONTACT_STIFFNESS_DAMPING;
351 return m_contactStiffness;
356 return m_contactDamping;
362 return m_internalType;
367 return m_worldTransform;
372 return m_worldTransform;
378 m_worldTransform = worldTrans;
383 return m_broadphaseHandle;
388 return m_broadphaseHandle;
393 m_broadphaseHandle = handle;
398 return m_interpolationWorldTransform;
403 return m_interpolationWorldTransform;
409 m_interpolationWorldTransform = trans;
415 m_interpolationLinearVelocity = linvel;
421 m_interpolationAngularVelocity = angvel;
426 return m_interpolationLinearVelocity;
431 return m_interpolationAngularVelocity;
446 return m_companionId;
456 return m_worldArrayIndex;
462 m_worldArrayIndex = ix;
467 return m_hitFraction;
472 m_hitFraction = hitFraction;
477 return m_collisionFlags;
482 m_collisionFlags = flags;
488 return m_ccdSweptSphereRadius;
494 m_ccdSweptSphereRadius = radius;
499 return m_ccdMotionThreshold;
504 return m_ccdMotionThreshold * m_ccdMotionThreshold;
510 m_ccdMotionThreshold = ccdMotionThreshold;
516 return m_userObjectPointer;
532 m_userObjectPointer = userPointer;
543 m_userIndex2 = index;
548 return m_updateRevision;
553 m_customDebugColorRGB = colorRGB;
554 m_collisionFlags |= CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
559 m_collisionFlags &= ~CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
564 bool hasCustomColor = (0 != (m_collisionFlags & CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR));
567 colorRGB = m_customDebugColorRGB;
569 return hasCustomColor;
574 if (m_checkCollideWith)
575 return checkCollideWithOverride(co);
580 virtual int calculateSerializeBufferSize()
const;
583 virtual const char* serialize(
void* dataBuffer,
class btSerializer* serializer)
const;
585 virtual void serializeSingleObject(
class btSerializer * serializer)
const;
666 #endif //BT_COLLISION_OBJECT_H
btTransformFloatData m_worldTransform
void setUserIndex2(int index)
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)
double m_contactProcessingThreshold
int getUserIndex2() const
btVector3FloatData m_anisotropicFriction
btScalar getContactDamping() const
bool mergesSimulationIslands() const
btScalar m_ccdMotionThreshold
Don'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::
void removeCustomDebugColor()
btTransformFloatData m_interpolationWorldTransform
float m_ccdMotionThreshold
void setCcdMotionThreshold(btScalar ccdMotionThreshold)
Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold...
btScalar getContactStiffness() const
double m_ccdSweptSphereRadius
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)
double m_contactStiffness
btScalar m_contactDamping
bool isKinematicObject() const
const btTransform & getWorldTransform() const
void setWorldArrayIndex(int ix)
#define SIMD_FORCE_INLINE
int m_hasAnisotropicFriction
int getActivationState() const
int m_hasAnisotropicFriction
#define btCollisionObjectData
btScalar m_spinningFriction
btTransform m_worldTransform
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
btScalar m_deactivationTime
virtual void setCollisionShape(btCollisionShape *collisionShape)
int m_hasAnisotropicFriction
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
btTransform & getWorldTransform()
int m_internalType
m_internalType is reserved to distinguish Bullet'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
int m_collisionFilterGroup
btAlignedObjectArray< class btCollisionObject * > btCollisionObjectArray
float m_ccdSweptSphereRadius
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
void setInterpolationWorldTransform(const btTransform &trans)
int getCollisionFlags() const
int m_collisionFilterMask
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
btScalar getContactProcessingThreshold() const
double m_ccdMotionThreshold
void * internalGetExtensionPointer() const
Avoid using this internal API call, the extension pointer is used by some Bullet extensions.
void setInterpolationAngularVelocity(const btVector3 &angvel)
btScalar m_rollingFriction
btVector3 can be used to represent 3D points and vectors.
#define ATTRIBUTE_ALIGNED16(a)
int size() const
return the number of elements in the array
void setAnisotropicFriction(const btVector3 &anisotropicFriction, int frictionMode=CF_ANISOTROPIC_FRICTION)
void * m_broadphaseHandle
btScalar getCcdMotionThreshold() const
btCollisionShape * getCollisionShape()
void setCollisionFlags(int flags)
void setBroadphaseHandle(btBroadphaseProxy *handle)
btScalar getSpinningFriction() const
btScalar getHitFraction() const
void remove(const T &key)
btTransformDoubleData m_worldTransform
int m_collisionFilterGroup
btTransformDoubleData m_interpolationWorldTransform
btVector3 m_interpolationAngularVelocity
float m_contactProcessingThreshold
void setIslandTag(int tag)
int getInternalType() const
reserved for Bullet internal usage
void setRollingFriction(btScalar frict)
#define BT_DECLARE_ALIGNED_ALLOCATOR()
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
btScalar m_contactStiffness
void * m_userObjectPointer
users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPoin...
void * m_broadphaseHandle
void setInterpolationLinearVelocity(const btVector3 &linvel)
double m_deactivationTime
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...
int m_collisionFilterMask
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...
const btCollisionShape * getCollisionShape() const
void * getUserPointer() const
users can point to their objects, userPointer is not used by Bullet
int getUpdateRevisionInternal() const