Bullet Collision Detection & Physics Library
btCollisionObject.cpp
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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 #include "btCollisionObject.h"
19 
21  : m_interpolationLinearVelocity(0.f, 0.f, 0.f),
22  m_interpolationAngularVelocity(0.f, 0.f, 0.f),
23  m_anisotropicFriction(1.f, 1.f, 1.f),
24  m_hasAnisotropicFriction(false),
25  m_contactProcessingThreshold(BT_LARGE_FLOAT),
26  m_broadphaseHandle(0),
27  m_collisionShape(0),
28  m_extensionPointer(0),
29  m_rootCollisionShape(0),
30  m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
31  m_islandTag1(-1),
32  m_companionId(-1),
33  m_worldArrayIndex(-1),
34  m_activationState1(1),
35  m_deactivationTime(btScalar(0.)),
36  m_friction(btScalar(0.5)),
37  m_restitution(btScalar(0.)),
38  m_rollingFriction(0.0f),
39  m_spinningFriction(0.f),
40  m_contactDamping(.1),
41  m_contactStiffness(BT_LARGE_FLOAT),
42  m_internalType(CO_COLLISION_OBJECT),
43  m_userObjectPointer(0),
44  m_userIndex2(-1),
45  m_userIndex(-1),
46  m_userIndex3(-1),
47  m_hitFraction(btScalar(1.)),
48  m_ccdSweptSphereRadius(btScalar(0.)),
49  m_ccdMotionThreshold(btScalar(0.)),
50  m_checkCollideWith(false),
51  m_updateRevision(0)
52 {
55 }
56 
58 {
59 }
60 
61 void btCollisionObject::setActivationState(int newState) const
62 {
64  m_activationState1 = newState;
65 }
66 
68 {
69  m_activationState1 = newState;
70 }
71 
72 void btCollisionObject::activate(bool forceActivation) const
73 {
74  if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT)))
75  {
78  }
79 }
80 
81 const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* serializer) const
82 {
83  btCollisionObjectData* dataOut = (btCollisionObjectData*)dataBuffer;
84 
85  m_worldTransform.serialize(dataOut->m_worldTransform);
86  m_interpolationWorldTransform.serialize(dataOut->m_interpolationWorldTransform);
87  m_interpolationLinearVelocity.serialize(dataOut->m_interpolationLinearVelocity);
88  m_interpolationAngularVelocity.serialize(dataOut->m_interpolationAngularVelocity);
89  m_anisotropicFriction.serialize(dataOut->m_anisotropicFriction);
90  dataOut->m_hasAnisotropicFriction = m_hasAnisotropicFriction;
91  dataOut->m_contactProcessingThreshold = m_contactProcessingThreshold;
92  dataOut->m_broadphaseHandle = 0;
93  dataOut->m_collisionShape = serializer->getUniquePointer(m_collisionShape);
94  dataOut->m_rootCollisionShape = 0; //@todo
95  dataOut->m_collisionFlags = m_collisionFlags;
96  dataOut->m_islandTag1 = m_islandTag1;
97  dataOut->m_companionId = m_companionId;
98  dataOut->m_activationState1 = m_activationState1;
99  dataOut->m_deactivationTime = m_deactivationTime;
100  dataOut->m_friction = m_friction;
101  dataOut->m_rollingFriction = m_rollingFriction;
102  dataOut->m_contactDamping = m_contactDamping;
103  dataOut->m_contactStiffness = m_contactStiffness;
104  dataOut->m_restitution = m_restitution;
105  dataOut->m_internalType = m_internalType;
106 
107  char* name = (char*)serializer->findNameForPointer(this);
108  dataOut->m_name = (char*)serializer->getUniquePointer(name);
109  if (dataOut->m_name)
110  {
111  serializer->serializeName(name);
112  }
113  dataOut->m_hitFraction = m_hitFraction;
114  dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
115  dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
116  dataOut->m_checkCollideWith = m_checkCollideWith;
117  if (m_broadphaseHandle)
118  {
119  dataOut->m_collisionFilterGroup = m_broadphaseHandle->m_collisionFilterGroup;
120  dataOut->m_collisionFilterMask = m_broadphaseHandle->m_collisionFilterMask;
121  dataOut->m_uniqueId = m_broadphaseHandle->m_uniqueId;
122  }
123  else
124  {
125  dataOut->m_collisionFilterGroup = 0;
126  dataOut->m_collisionFilterMask = 0;
127  dataOut->m_uniqueId = -1;
128  }
130 }
131 
133 {
134  int len = calculateSerializeBufferSize();
135  btChunk* chunk = serializer->allocate(len, 1);
136  const char* structType = serialize(chunk->m_oldPtr, serializer);
137  serializer->finalizeChunk(chunk, structType, BT_COLLISIONOBJECT_CODE, (void*)this);
138 }
btBroadphaseProxy::m_collisionFilterMask
int m_collisionFilterMask
Definition: btBroadphaseProxy.h:104
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
DISABLE_SIMULATION
#define DISABLE_SIMULATION
Definition: btCollisionObject.h:26
btVector3::serialize
void serialize(struct btVector3Data &dataOut) const
Definition: btVector3.h:1317
DISABLE_DEACTIVATION
#define DISABLE_DEACTIVATION
Definition: btCollisionObject.h:25
btCollisionObject::m_ccdSweptSphereRadius
btScalar m_ccdSweptSphereRadius
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
Definition: btCollisionObject.h:110
btCollisionObject::m_interpolationWorldTransform
btTransform m_interpolationWorldTransform
m_interpolationWorldTransform is used for CCD and interpolation it can be either previous or future (...
Definition: btCollisionObject.h:56
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btCollisionObject::serialize
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btCollisionObject.cpp:81
ACTIVE_TAG
#define ACTIVE_TAG
Definition: btCollisionObject.h:22
btSerializer::getUniquePointer
virtual void * getUniquePointer(void *oldPtr)=0
btChunk
Definition: btSerializer.h:47
btCollisionObject::m_ccdMotionThreshold
btScalar m_ccdMotionThreshold
Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold...
Definition: btCollisionObject.h:113
btCollisionObjectData
#define btCollisionObjectData
Definition: btCollisionObject.h:41
btCollisionObject::m_worldTransform
btTransform m_worldTransform
Definition: btCollisionObject.h:52
btBroadphaseProxy::m_uniqueId
int m_uniqueId
Definition: btBroadphaseProxy.h:106
btCollisionObject::m_hitFraction
btScalar m_hitFraction
time of impact calculation
Definition: btCollisionObject.h:107
btSerializer::findNameForPointer
virtual const char * findNameForPointer(const void *ptr) const =0
btBroadphaseProxy::m_collisionFilterGroup
int m_collisionFilterGroup
Definition: btBroadphaseProxy.h:103
btCollisionObject::m_contactDamping
btScalar m_contactDamping
Definition: btCollisionObject.h:89
btCollisionObject::~btCollisionObject
virtual ~btCollisionObject()
Definition: btCollisionObject.cpp:57
btCollisionObject::m_deactivationTime
btScalar m_deactivationTime
Definition: btCollisionObject.h:83
BT_COLLISIONOBJECT_CODE
#define BT_COLLISIONOBJECT_CODE
Definition: btSerializer.h:111
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:166
btCollisionObject::m_internalType
int m_internalType
m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody,...
Definition: btCollisionObject.h:94
btCollisionObject::m_hasAnisotropicFriction
int m_hasAnisotropicFriction
Definition: btCollisionObject.h:63
btCollisionObject::m_collisionShape
btCollisionShape * m_collisionShape
Definition: btCollisionObject.h:67
BT_LARGE_FLOAT
#define BT_LARGE_FLOAT
Definition: btScalar.h:316
btCollisionObject::m_anisotropicFriction
btVector3 m_anisotropicFriction
Definition: btCollisionObject.h:62
btCollisionObject::activate
void activate(bool forceActivation=false) const
Definition: btCollisionObject.cpp:72
btTransform::serialize
void serialize(struct btTransformData &dataOut) const
Definition: btTransform.h:256
btSerializer.h
btCollisionObject::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btCollisionObject.h:673
btCollisionObject::m_activationState1
int m_activationState1
Definition: btCollisionObject.h:82
btSerializer::finalizeChunk
virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
btCollisionObject::m_rollingFriction
btScalar m_rollingFriction
Definition: btCollisionObject.h:87
btSerializer::serializeName
virtual void serializeName(const char *ptr)=0
btChunk::m_oldPtr
void * m_oldPtr
Definition: btSerializer.h:52
btCollisionObject::CF_STATIC_OBJECT
Definition: btCollisionObject.h:130
btCollisionObject::m_contactProcessingThreshold
btScalar m_contactProcessingThreshold
Definition: btCollisionObject.h:64
btCollisionObject::m_collisionFlags
int m_collisionFlags
Definition: btCollisionObject.h:76
btCollisionObject::m_interpolationAngularVelocity
btVector3 m_interpolationAngularVelocity
Definition: btCollisionObject.h:60
btBroadphaseProxy.h
btSerializer
Definition: btSerializer.h:65
btCollisionObject::CF_KINEMATIC_OBJECT
Definition: btCollisionObject.h:131
btCollisionObjectDataName
#define btCollisionObjectDataName
Definition: btCollisionObject.h:42
btCollisionObject::m_restitution
btScalar m_restitution
Definition: btCollisionObject.h:86
btCollisionObject::m_broadphaseHandle
btBroadphaseProxy * m_broadphaseHandle
Definition: btCollisionObject.h:66
btCollisionObject.h
btCollisionObject::m_checkCollideWith
int m_checkCollideWith
If some object should have elaborate collision filtering by sub-classes.
Definition: btCollisionObject.h:116
btCollisionObject::serializeSingleObject
virtual void serializeSingleObject(class btSerializer *serializer) const
Definition: btCollisionObject.cpp:132
btCollisionObject::m_contactStiffness
btScalar m_contactStiffness
Definition: btCollisionObject.h:90
btCollisionObject::forceActivationState
void forceActivationState(int newState) const
Definition: btCollisionObject.cpp:67
btCollisionObject::m_islandTag1
int m_islandTag1
Definition: btCollisionObject.h:78
btCollisionObject::m_interpolationLinearVelocity
btVector3 m_interpolationLinearVelocity
Definition: btCollisionObject.h:59
btCollisionObject::btCollisionObject
btCollisionObject()
Definition: btCollisionObject.cpp:20
btSerializer::allocate
virtual btChunk * allocate(size_t size, int numElements)=0
btCollisionObject::m_companionId
int m_companionId
Definition: btCollisionObject.h:79
btCollisionObject::m_friction
btScalar m_friction
Definition: btCollisionObject.h:85
btCollisionObject::setActivationState
void setActivationState(int newState) const
Definition: btCollisionObject.cpp:61