Bullet Collision Detection & Physics Library
btCollisionObject.h
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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 #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 
105 
108 
111 
114 
117 
119 
122 
124 
125 public:
127 
129  {
130  CF_STATIC_OBJECT = 1,
131  CF_KINEMATIC_OBJECT = 2,
132  CF_NO_CONTACT_RESPONSE = 4,
133  CF_CUSTOM_MATERIAL_CALLBACK = 8, //this allows per-triangle material (friction/restitution)
134  CF_CHARACTER_OBJECT = 16,
135  CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing
136  CF_DISABLE_SPU_COLLISION_PROCESSING = 64, //disable parallel/SPU processing
137  CF_HAS_CONTACT_STIFFNESS_DAMPING = 128,
138  CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256,
139  CF_HAS_FRICTION_ANCHOR = 512,
140  CF_HAS_COLLISION_SOUND_TRIGGER = 1024
141  };
142 
144  {
145  CO_COLLISION_OBJECT = 1,
146  CO_RIGID_BODY = 2,
149  CO_GHOST_OBJECT = 4,
150  CO_SOFT_BODY = 8,
151  CO_HF_FLUID = 16,
152  CO_USER_TYPE = 32,
153  CO_FEATHERSTONE_LINK = 64
154  };
155 
157  {
158  CF_ANISOTROPIC_FRICTION_DISABLED = 0,
159  CF_ANISOTROPIC_FRICTION = 1,
160  CF_ANISOTROPIC_ROLLING_FRICTION = 2
161  };
162 
164  {
166  return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE)) == 0);
167  }
168 
170  {
171  return m_anisotropicFriction;
172  }
173  void setAnisotropicFriction(const btVector3& anisotropicFriction, int frictionMode = CF_ANISOTROPIC_FRICTION)
174  {
175  m_anisotropicFriction = anisotropicFriction;
176  bool isUnity = (anisotropicFriction[0] != 1.f) || (anisotropicFriction[1] != 1.f) || (anisotropicFriction[2] != 1.f);
177  m_hasAnisotropicFriction = isUnity ? frictionMode : 0;
178  }
179  bool hasAnisotropicFriction(int frictionMode = CF_ANISOTROPIC_FRICTION) const
180  {
181  return (m_hasAnisotropicFriction & frictionMode) != 0;
182  }
183 
186  void setContactProcessingThreshold(btScalar contactProcessingThreshold)
187  {
188  m_contactProcessingThreshold = contactProcessingThreshold;
189  }
191  {
192  return m_contactProcessingThreshold;
193  }
194 
196  {
197  return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
198  }
199 
201  {
202  return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
203  }
204 
206  {
207  return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0;
208  }
209 
211  {
212  return (m_collisionFlags & CF_NO_CONTACT_RESPONSE) == 0;
213  }
214 
216 
217  virtual ~btCollisionObject();
218 
219  virtual void setCollisionShape(btCollisionShape * collisionShape)
220  {
221  m_updateRevision++;
222  m_collisionShape = collisionShape;
223  m_rootCollisionShape = collisionShape;
224  }
225 
227  {
228  return m_collisionShape;
229  }
230 
232  {
233  return m_collisionShape;
234  }
235 
236  void setIgnoreCollisionCheck(const btCollisionObject* co, bool ignoreCollisionCheck)
237  {
238  if (ignoreCollisionCheck)
239  {
240  //We don't check for duplicates. Is it ok to leave that up to the user of this API?
241  //int index = m_objectsWithoutCollisionCheck.findLinearSearch(co);
242  //if (index == m_objectsWithoutCollisionCheck.size())
243  //{
244  m_objectsWithoutCollisionCheck.push_back(co);
245  //}
246  }
247  else
248  {
249  m_objectsWithoutCollisionCheck.remove(co);
250  }
251  m_checkCollideWith = m_objectsWithoutCollisionCheck.size() > 0;
252  }
253 
254  virtual bool checkCollideWithOverride(const btCollisionObject* co) const
255  {
256  int index = m_objectsWithoutCollisionCheck.findLinearSearch(co);
257  if (index < m_objectsWithoutCollisionCheck.size())
258  {
259  return false;
260  }
261  return true;
262  }
263 
267  {
268  return m_extensionPointer;
269  }
272  void internalSetExtensionPointer(void* pointer)
273  {
274  m_extensionPointer = pointer;
275  }
276 
277  SIMD_FORCE_INLINE int getActivationState() const { return m_activationState1; }
278 
279  void setActivationState(int newState) const;
280 
282  {
283  m_deactivationTime = time;
284  }
286  {
287  return m_deactivationTime;
288  }
289 
290  void forceActivationState(int newState) const;
291 
292  void activate(bool forceActivation = false) const;
293 
295  {
296  return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
297  }
298 
300  {
301  m_updateRevision++;
302  m_restitution = rest;
303  }
305  {
306  return m_restitution;
307  }
308  void setFriction(btScalar frict)
309  {
310  m_updateRevision++;
311  m_friction = frict;
312  }
314  {
315  return m_friction;
316  }
317 
319  {
320  m_updateRevision++;
321  m_rollingFriction = frict;
322  }
324  {
325  return m_rollingFriction;
326  }
328  {
329  m_updateRevision++;
330  m_spinningFriction = frict;
331  }
333  {
334  return m_spinningFriction;
335  }
337  {
338  m_updateRevision++;
339  m_contactStiffness = stiffness;
340  m_contactDamping = damping;
341 
342  m_collisionFlags |= CF_HAS_CONTACT_STIFFNESS_DAMPING;
343 
344  //avoid divisions by zero...
345  if (m_contactStiffness < SIMD_EPSILON)
346  {
347  m_contactStiffness = SIMD_EPSILON;
348  }
349  }
350 
352  {
353  return m_contactStiffness;
354  }
355 
357  {
358  return m_contactDamping;
359  }
360 
362  int getInternalType() const
363  {
364  return m_internalType;
365  }
366 
368  {
369  return m_worldTransform;
370  }
371 
373  {
374  return m_worldTransform;
375  }
376 
377  void setWorldTransform(const btTransform& worldTrans)
378  {
379  m_updateRevision++;
380  m_worldTransform = worldTrans;
381  }
382 
384  {
385  return m_broadphaseHandle;
386  }
387 
389  {
390  return m_broadphaseHandle;
391  }
392 
394  {
395  m_broadphaseHandle = handle;
396  }
397 
399  {
400  return m_interpolationWorldTransform;
401  }
402 
404  {
405  return m_interpolationWorldTransform;
406  }
407 
409  {
410  m_updateRevision++;
411  m_interpolationWorldTransform = trans;
412  }
413 
415  {
416  m_updateRevision++;
417  m_interpolationLinearVelocity = linvel;
418  }
419 
421  {
422  m_updateRevision++;
423  m_interpolationAngularVelocity = angvel;
424  }
425 
427  {
428  return m_interpolationLinearVelocity;
429  }
430 
432  {
433  return m_interpolationAngularVelocity;
434  }
435 
437  {
438  return m_islandTag1;
439  }
440 
441  void setIslandTag(int tag)
442  {
443  m_islandTag1 = tag;
444  }
445 
447  {
448  return m_companionId;
449  }
450 
451  void setCompanionId(int id)
452  {
453  m_companionId = id;
454  }
455 
457  {
458  return m_worldArrayIndex;
459  }
460 
461  // only should be called by CollisionWorld
462  void setWorldArrayIndex(int ix)
463  {
464  m_worldArrayIndex = ix;
465  }
466 
468  {
469  return m_hitFraction;
470  }
471 
472  void setHitFraction(btScalar hitFraction)
473  {
474  m_hitFraction = hitFraction;
475  }
476 
478  {
479  return m_collisionFlags;
480  }
481 
482  void setCollisionFlags(int flags)
483  {
484  m_collisionFlags = flags;
485  }
486 
489  {
490  return m_ccdSweptSphereRadius;
491  }
492 
495  {
496  m_ccdSweptSphereRadius = radius;
497  }
498 
500  {
501  return m_ccdMotionThreshold;
502  }
503 
505  {
506  return m_ccdMotionThreshold * m_ccdMotionThreshold;
507  }
508 
510  void setCcdMotionThreshold(btScalar ccdMotionThreshold)
511  {
512  m_ccdMotionThreshold = ccdMotionThreshold;
513  }
514 
516  void* getUserPointer() const
517  {
518  return m_userObjectPointer;
519  }
520 
521  int getUserIndex() const
522  {
523  return m_userIndex;
524  }
525 
526  int getUserIndex2() const
527  {
528  return m_userIndex2;
529  }
530 
531  int getUserIndex3() const
532  {
533  return m_userIndex3;
534  }
535 
537  void setUserPointer(void* userPointer)
538  {
539  m_userObjectPointer = userPointer;
540  }
541 
543  void setUserIndex(int index)
544  {
545  m_userIndex = index;
546  }
547 
548  void setUserIndex2(int index)
549  {
550  m_userIndex2 = index;
551  }
552 
553  void setUserIndex3(int index)
554  {
555  m_userIndex3 = index;
556  }
557 
559  {
560  return m_updateRevision;
561  }
562 
563  void setCustomDebugColor(const btVector3& colorRGB)
564  {
565  m_customDebugColorRGB = colorRGB;
566  m_collisionFlags |= CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
567  }
568 
570  {
571  m_collisionFlags &= ~CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
572  }
573 
574  bool getCustomDebugColor(btVector3 & colorRGB) const
575  {
576  bool hasCustomColor = (0 != (m_collisionFlags & CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR));
577  if (hasCustomColor)
578  {
579  colorRGB = m_customDebugColorRGB;
580  }
581  return hasCustomColor;
582  }
583 
584  inline bool checkCollideWith(const btCollisionObject* co) const
585  {
586  if (m_checkCollideWith)
587  return checkCollideWithOverride(co);
588 
589  return true;
590  }
591 
592  virtual int calculateSerializeBufferSize() const;
593 
595  virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
596 
597  virtual void serializeSingleObject(class btSerializer * serializer) const;
598 };
599 
600 // clang-format off
601 
604 {
608  char *m_name;
609 
617  double m_friction;
622  double m_hitFraction;
634  int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
635 };
636 
639 {
643  char *m_name;
644 
652  float m_friction;
670 };
671 // clang-format on
672 
674 {
675  return sizeof(btCollisionObjectData);
676 }
677 
678 #endif //BT_COLLISION_OBJECT_H
SIMD_EPSILON
#define SIMD_EPSILON
Definition: btScalar.h:543
btCollisionShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionShape.h:151
btCollisionObject::checkCollideWithOverride
virtual bool checkCollideWithOverride(const btCollisionObject *co) const
Definition: btCollisionObject.h:254
btTransformDoubleData
Definition: btTransform.h:250
btCollisionObject::m_userIndex
int m_userIndex
Definition: btCollisionObject.h:102
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
DISABLE_SIMULATION
#define DISABLE_SIMULATION
Definition: btCollisionObject.h:26
btCollisionObjectDoubleData::m_collisionFilterMask
int m_collisionFilterMask
Definition: btCollisionObject.h:633
btCollisionObject::getContactDamping
btScalar getContactDamping() const
Definition: btCollisionObject.h:356
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:84
btCollisionObject::getUserIndex2
int getUserIndex2() const
Definition: btCollisionObject.h:526
btCollisionObjectDoubleData::m_ccdMotionThreshold
double m_ccdMotionThreshold
Definition: btCollisionObject.h:624
btCollisionObject::getUpdateRevisionInternal
int getUpdateRevisionInternal() const
Definition: btCollisionObject.h:558
btCollisionObjectFloatData::m_collisionFlags
int m_collisionFlags
Definition: btCollisionObject.h:661
btCollisionObject::m_ccdSweptSphereRadius
btScalar m_ccdSweptSphereRadius
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
Definition: btCollisionObject.h:110
btCollisionObjectFloatData::m_checkCollideWith
int m_checkCollideWith
Definition: btCollisionObject.h:666
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
btCollisionObjectDoubleData::m_islandTag1
int m_islandTag1
Definition: btCollisionObject.h:627
btCollisionObject::AnisotropicFrictionFlags
AnisotropicFrictionFlags
Definition: btCollisionObject.h:156
btCollisionObject::setContactStiffnessAndDamping
void setContactStiffnessAndDamping(btScalar stiffness, btScalar damping)
Definition: btCollisionObject.h:336
btCollisionObjectDoubleData::m_uniqueId
int m_uniqueId
Definition: btCollisionObject.h:634
btCollisionObject::getBroadphaseHandle
const btBroadphaseProxy * getBroadphaseHandle() const
Definition: btCollisionObject.h:388
btCollisionObjectFloatData::m_internalType
int m_internalType
Definition: btCollisionObject.h:665
btCollisionObjectFloatData::m_islandTag1
int m_islandTag1
Definition: btCollisionObject.h:662
btCollisionObjectFloatData::m_name
char * m_name
Definition: btCollisionObject.h:643
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btMotionState.h
btCollisionObjectFloatData::m_collisionFilterGroup
int m_collisionFilterGroup
Definition: btCollisionObject.h:667
btCollisionObjectDoubleData::m_rollingFriction
double m_rollingFriction
Definition: btCollisionObject.h:618
btCollisionObjectDoubleData::m_companionId
int m_companionId
Definition: btCollisionObject.h:628
btCollisionObjectDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionObject.h:603
btCollisionObject::setCcdMotionThreshold
void setCcdMotionThreshold(btScalar ccdMotionThreshold)
Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold...
Definition: btCollisionObject.h:510
btCollisionObject::m_objectsWithoutCollisionCheck
btAlignedObjectArray< const btCollisionObject * > m_objectsWithoutCollisionCheck
Definition: btCollisionObject.h:118
btCollisionObject::mergesSimulationIslands
bool mergesSimulationIslands() const
Definition: btCollisionObject.h:163
btCollisionObjectFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionObject.h:638
btCollisionObject::setWorldArrayIndex
void setWorldArrayIndex(int ix)
Definition: btCollisionObject.h:462
btCollisionObjectDoubleData::m_broadphaseHandle
void * m_broadphaseHandle
Definition: btCollisionObject.h:605
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
btAlignedObjectArray::findLinearSearch
int findLinearSearch(const T &key) const
Definition: btAlignedObjectArray.h:438
btCollisionObject::removeCustomDebugColor
void removeCustomDebugColor()
Definition: btCollisionObject.h:569
btCollisionObjectFloatData::m_interpolationWorldTransform
btTransformFloatData m_interpolationWorldTransform
Definition: btCollisionObject.h:646
btCollisionObjectData
#define btCollisionObjectData
Definition: btCollisionObject.h:41
btCollisionObject::getActivationState
int getActivationState() const
Definition: btCollisionObject.h:277
btCollisionObject::m_worldTransform
btTransform m_worldTransform
Definition: btCollisionObject.h:52
btCollisionObjectDoubleData::m_interpolationWorldTransform
btTransformDoubleData m_interpolationWorldTransform
Definition: btCollisionObject.h:611
btCollisionObject::setCustomDebugColor
void setCustomDebugColor(const btVector3 &colorRGB)
Definition: btCollisionObject.h:563
btCollisionObjectDoubleData::m_worldTransform
btTransformDoubleData m_worldTransform
Definition: btCollisionObject.h:610
btCollisionObject::getContactStiffness
btScalar getContactStiffness() const
Definition: btCollisionObject.h:351
btCollisionObjectDoubleData::m_collisionShape
void * m_collisionShape
Definition: btCollisionObject.h:606
btCollisionObject::m_hitFraction
btScalar m_hitFraction
time of impact calculation
Definition: btCollisionObject.h:107
btCollisionObject::getWorldTransform
const btTransform & getWorldTransform() const
Definition: btCollisionObject.h:372
btCollisionObject::setHitFraction
void setHitFraction(btScalar hitFraction)
Definition: btCollisionObject.h:472
btCollisionObjectFloatData::m_rootCollisionShape
btCollisionShapeData * m_rootCollisionShape
Definition: btCollisionObject.h:642
btCollisionObject::isKinematicObject
bool isKinematicObject() const
Definition: btCollisionObject.h:200
btCollisionObject::m_contactDamping
btScalar m_contactDamping
Definition: btCollisionObject.h:89
btCollisionObjectDoubleData::m_interpolationLinearVelocity
btVector3DoubleData m_interpolationLinearVelocity
Definition: btCollisionObject.h:612
btCollisionObject::getInterpolationLinearVelocity
const btVector3 & getInterpolationLinearVelocity() const
Definition: btCollisionObject.h:426
btCollisionObject::m_deactivationTime
btScalar m_deactivationTime
Definition: btCollisionObject.h:83
btCollisionObjectFloatData::m_collisionFilterMask
int m_collisionFilterMask
Definition: btCollisionObject.h:668
btCollisionObjectFloatData::m_ccdMotionThreshold
float m_ccdMotionThreshold
Definition: btCollisionObject.h:659
btVector3FloatData
Definition: btVector3.h:1281
btCollisionObjectDoubleData::m_restitution
double m_restitution
Definition: btCollisionObject.h:621
btCollisionObjectFloatData::m_deactivationTime
float m_deactivationTime
Definition: btCollisionObject.h:651
btCollisionObject::m_spinningFriction
btScalar m_spinningFriction
Definition: btCollisionObject.h:88
btCollisionObjectFloatData::m_restitution
float m_restitution
Definition: btCollisionObject.h:656
btCollisionObjectFloatData::m_uniqueId
int m_uniqueId
Definition: btCollisionObject.h:669
btCollisionObject::isStaticOrKinematicObject
bool isStaticOrKinematicObject() const
Definition: btCollisionObject.h:205
btCollisionObjectDoubleData::m_deactivationTime
double m_deactivationTime
Definition: btCollisionObject.h:616
btCollisionObject::m_internalType
int m_internalType
m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody,...
Definition: btCollisionObject.h:94
btCollisionObjectFloatData::m_broadphaseHandle
void * m_broadphaseHandle
Definition: btCollisionObject.h:640
btCollisionObject::setIgnoreCollisionCheck
void setIgnoreCollisionCheck(const btCollisionObject *co, bool ignoreCollisionCheck)
Definition: btCollisionObject.h:236
btCollisionObject::m_hasAnisotropicFriction
int m_hasAnisotropicFriction
Definition: btCollisionObject.h:63
btCollisionObjectFloatData::m_collisionShape
void * m_collisionShape
Definition: btCollisionObject.h:641
btCollisionObject::getWorldTransform
btTransform & getWorldTransform()
Definition: btCollisionObject.h:367
btCollisionObject::checkCollideWith
bool checkCollideWith(const btCollisionObject *co) const
Definition: btCollisionObject.h:584
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:26
ISLAND_SLEEPING
#define ISLAND_SLEEPING
Definition: btCollisionObject.h:23
btCollisionObjectDoubleData::m_contactDamping
double m_contactDamping
Definition: btCollisionObject.h:619
btCollisionObject::setRestitution
void setRestitution(btScalar rest)
Definition: btCollisionObject.h:299
btCollisionObject::m_collisionShape
btCollisionShape * m_collisionShape
Definition: btCollisionObject.h:67
btCollisionObject::setUserIndex3
void setUserIndex3(int index)
Definition: btCollisionObject.h:553
btCollisionObject::m_worldArrayIndex
int m_worldArrayIndex
Definition: btCollisionObject.h:80
btVector3DoubleData
Definition: btVector3.h:1286
btCollisionObject::getCcdSquareMotionThreshold
btScalar getCcdSquareMotionThreshold() const
Definition: btCollisionObject.h:504
btCollisionObject::setCcdSweptSphereRadius
void setCcdSweptSphereRadius(btScalar radius)
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
Definition: btCollisionObject.h:494
btCollisionObject::setCollisionShape
virtual void setCollisionShape(btCollisionShape *collisionShape)
Definition: btCollisionObject.h:219
btCollisionObject::m_anisotropicFriction
btVector3 m_anisotropicFriction
Definition: btCollisionObject.h:62
btCollisionObject::m_rootCollisionShape
btCollisionShape * m_rootCollisionShape
m_rootCollisionShape is temporarily used to store the original collision shape The m_collisionShape m...
Definition: btCollisionObject.h:74
btCollisionObjectFloatData::m_rollingFriction
float m_rollingFriction
Definition: btCollisionObject.h:653
btCollisionObject::setSpinningFriction
void setSpinningFriction(btScalar frict)
Definition: btCollisionObject.h:327
btCollisionObject::setUserIndex
void setUserIndex(int index)
users can point to their objects, userPointer is not used by Bullet
Definition: btCollisionObject.h:543
btCollisionObject::getDeactivationTime
btScalar getDeactivationTime() const
Definition: btCollisionObject.h:285
btCollisionObjectFloatData::m_activationState1
int m_activationState1
Definition: btCollisionObject.h:664
btAlignedAllocator.h
btCollisionObjectFloatData::m_worldTransform
btTransformFloatData m_worldTransform
Definition: btCollisionObject.h:645
btCollisionObject::getAnisotropicFriction
const btVector3 & getAnisotropicFriction() const
Definition: btCollisionObject.h:169
btCollisionObject::m_customDebugColorRGB
btVector3 m_customDebugColorRGB
Definition: btCollisionObject.h:123
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Definition: btCollisionObject.h:308
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Definition: btCollisionObject.h:398
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Definition: btCollisionObject.h:420
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Definition: btCollisionObject.h:304
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Definition: btCollisionObject.h:403
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Definition: btVector3.h:80
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Definition: btCollisionObject.h:190
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Definition: btCollisionObject.h:87
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Definition: btCollisionObject.h:173
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Definition: btCollisionObject.h:210
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Definition: btCollisionObject.h:69
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Definition: btCollisionObject.h:537
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Definition: btCollisionObject.h:30
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Definition: btCollisionObject.h:64
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Definition: btCollisionObject.h:456
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Definition: btCollisionObject.h:436
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Definition: btScalar.h:99
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Definition: btCollisionObject.h:121
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Definition: btTransform.h:244
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Definition: btAlignedObjectArray.h:45
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Definition: btCollisionObject.h:266
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Definition: btCollisionObject.h:650
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Definition: btCollisionObject.h:128
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Definition: btCollisionObject.h:623
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Definition: btCollisionObject.h:620
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Definition: btCollisionObject.h:318
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Definition: btScalar.h:98
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Definition: btCollisionObject.h:231
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Definition: btCollisionObject.h:272
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Definition: btSerializer.h:65
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Definition: btCollisionObject.h:143
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Definition: btCollisionObject.h:393
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Definition: btCollisionObject.h:660
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Definition: btCollisionObject.h:86
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Definition: btCollisionObject.h:482
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Definition: btCollisionObject.h:414
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Definition: btCollisionObject.h:467
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Definition: btCollisionObject.h:332
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Definition: btCollisionObject.h:626
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reserved for Bullet internal usage
Definition: btCollisionObject.h:362
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Definition: btCollisionObject.h:66
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Definition: btCollisionObject.h:441
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Definition: btCollisionObject.h:294
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Definition: btCollisionObject.h:608
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Definition: btCollisionObject.h:652
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Definition: btCollisionObject.h:613
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If some object should have elaborate collision filtering by sub-classes.
Definition: btCollisionObject.h:116
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Definition: btCollisionObject.h:625
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Definition: btCollisionObject.h:574
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Definition: btCollisionObject.h:654
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Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
Definition: btCollisionObject.h:488
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void setContactProcessingThreshold(btScalar contactProcessingThreshold)
the constraint solver can discard solving contacts, if the distance is above this threshold.
Definition: btCollisionObject.h:186
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Definition: btCollisionObject.h:90
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Definition: btCollisionObject.h:179
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Definition: btCollisionObject.h:655
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Definition: btCollisionObject.h:98
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Definition: btCollisionObject.h:657
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Definition: btCollisionObject.h:614
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Definition: btCollisionObject.h:78
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Definition: btAlignedObjectArray.h:257
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Definition: btCollisionObject.h:622
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Definition: btCollisionObject.h:607
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Definition: btAlignedObjectArray.h:480
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Definition: btCollisionObject.h:647
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Definition: btCollisionObject.h:313
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Definition: btCollisionObject.h:658
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Definition: btCollisionObject.h:59
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Definition: btCollisionObject.h:516
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Definition: btCollisionObject.h:632
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Definition: btCollisionObject.h:630
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Definition: btCollisionObject.h:548
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Definition: btCollisionObject.h:617
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Definition: btCollisionObject.h:79
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Definition: btCollisionObject.h:85
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Definition: btCollisionObject.h:100
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return the number of elements in the array
Definition: btAlignedObjectArray.h:142
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Definition: btCollisionObject.h:431
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Definition: btCollisionObject.h:226
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Definition: btCollisionObject.h:631
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Definition: btCollisionObject.h:446