Bullet Collision Detection & Physics Library
btManifoldResult.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_MANIFOLD_RESULT_H
17 #define BT_MANIFOLD_RESULT_H
18 
19 class btCollisionObject;
21 
23 class btManifoldPoint;
24 
26 
27 #include "LinearMath/btTransform.h"
30 
31 typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1);
33 
34 //#define DEBUG_PART_INDEX 1
35 
38 
45 
48 {
49 protected:
51 
54  int m_partId0;
55  int m_partId1;
56  int m_index0;
57  int m_index1;
58 
59 public:
61  :
62 #ifdef DEBUG_PART_INDEX
63 
64  m_partId0(-1),
65  m_partId1(-1),
66  m_index0(-1),
67  m_index1(-1)
68 #endif //DEBUG_PART_INDEX
70  {
71  }
72 
73  btManifoldResult(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
74 
75  virtual ~btManifoldResult(){};
76 
78  {
79  m_manifoldPtr = manifoldPtr;
80  }
81 
83  {
84  return m_manifoldPtr;
85  }
87  {
88  return m_manifoldPtr;
89  }
90 
91  virtual void setShapeIdentifiersA(int partId0, int index0)
92  {
93  m_partId0 = partId0;
94  m_index0 = index0;
95  }
96 
97  virtual void setShapeIdentifiersB(int partId1, int index1)
98  {
99  m_partId1 = partId1;
100  m_index1 = index1;
101  }
102 
103  virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth);
104 
106  {
109  return;
110 
111  bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
112 
113  if (isSwapped)
114  {
116  }
117  else
118  {
120  }
121  }
122 
124  {
125  return m_body0Wrap;
126  }
128  {
129  return m_body1Wrap;
130  }
131 
133  {
134  m_body0Wrap = obj0Wrap;
135  }
136 
138  {
139  m_body1Wrap = obj1Wrap;
140  }
141 
143  {
145  }
146 
148  {
150  }
151 
153 
156  static btScalar calculateCombinedFriction(const btCollisionObject* body0, const btCollisionObject* body1);
161 };
162 
163 #endif //BT_MANIFOLD_RESULT_H
btManifoldResult::setShapeIdentifiersB
virtual void setShapeIdentifiersB(int partId1, int index1)
Definition: btManifoldResult.h:97
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btManifoldResult::calculateCombinedFriction
static btScalar calculateCombinedFriction(const btCollisionObject *body0, const btCollisionObject *body1)
User can override this material combiner by implementing gContactAddedCallback and setting body0->m_c...
Definition: btManifoldResult.cpp:56
btPersistentManifold::refreshContactPoints
void refreshContactPoints(const btTransform &trA, const btTransform &trB)
calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
Definition: btPersistentManifold.cpp:247
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btCollisionObjectWrapper.h
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btDiscreteCollisionDetectorInterface::Result
Definition: btDiscreteCollisionDetectorInterface.h:29
btManifoldResult::getBody0Internal
const btCollisionObject * getBody0Internal() const
Definition: btManifoldResult.h:142
btManifoldResult::setBody1Wrap
void setBody1Wrap(const btCollisionObjectWrapper *obj1Wrap)
Definition: btManifoldResult.h:137
btPersistentManifold::getBody0
const btCollisionObject * getBody0() const
Definition: btPersistentManifold.h:105
btManifoldResult::m_index0
int m_index0
Definition: btManifoldResult.h:56
btPersistentManifold::getNumContacts
int getNumContacts() const
Definition: btPersistentManifold.h:120
btManifoldResult::m_index1
int m_index1
Definition: btManifoldResult.h:57
btManifoldResult::calculateCombinedSpinningFriction
static btScalar calculateCombinedSpinningFriction(const btCollisionObject *body0, const btCollisionObject *body1)
Definition: btManifoldResult.cpp:43
btManifoldResult::m_partId0
int m_partId0
Definition: btManifoldResult.h:54
btManifoldResult::calculateCombinedRestitution
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
Definition: btManifoldResult.cpp:68
btManifoldResult::m_body0Wrap
const btCollisionObjectWrapper * m_body0Wrap
Definition: btManifoldResult.h:52
btManifoldResult::getBody1Wrap
const btCollisionObjectWrapper * getBody1Wrap() const
Definition: btManifoldResult.h:127
btCollisionObject::getWorldTransform
btTransform & getWorldTransform()
Definition: btCollisionObject.h:367
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btManifoldResult::setBody0Wrap
void setBody0Wrap(const btCollisionObjectWrapper *obj0Wrap)
Definition: btManifoldResult.h:132
btManifoldResult::m_partId1
int m_partId1
Definition: btManifoldResult.h:55
btManifoldPoint
ManifoldContactPoint collects and maintains persistent contactpoints.
Definition: btManifoldPoint.h:51
gCalculateCombinedContactDampingCallback
CalculateCombinedCallback gCalculateCombinedContactDampingCallback
Definition: btManifoldResult.cpp:28
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:47
btDiscreteCollisionDetectorInterface.h
btManifoldResult::getPersistentManifold
const btPersistentManifold * getPersistentManifold() const
Definition: btManifoldResult.h:82
CalculateCombinedCallback
btScalar(* CalculateCombinedCallback)(const btCollisionObject *body0, const btCollisionObject *body1)
These callbacks are used to customize the algorith that combine restitution, friction,...
Definition: btManifoldResult.h:37
gContactAddedCallback
ContactAddedCallback gContactAddedCallback
This is to allow MaterialCombiner/Custom Friction/Restitution values.
Definition: btManifoldResult.cpp:22
btTransform.h
ContactAddedCallback
bool(* ContactAddedCallback)(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1)
Definition: btManifoldResult.h:31
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition: btCollisionObjectWrapper.h:45
gCalculateCombinedRollingFrictionCallback
CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback
Definition: btManifoldResult.cpp:26
btManifoldResult::getBody0Wrap
const btCollisionObjectWrapper * getBody0Wrap() const
Definition: btManifoldResult.h:123
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
gCalculateCombinedSpinningFrictionCallback
CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback
Definition: btManifoldResult.cpp:27
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:63
btManifoldResult::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btManifoldResult.h:50
btManifoldResult::~btManifoldResult
virtual ~btManifoldResult()
Definition: btManifoldResult.h:75
btManifoldResult::getBody1Internal
const btCollisionObject * getBody1Internal() const
Definition: btManifoldResult.h:147
btManifoldResult::getPersistentManifold
btPersistentManifold * getPersistentManifold()
Definition: btManifoldResult.h:86
btManifoldResult::setPersistentManifold
void setPersistentManifold(btPersistentManifold *manifoldPtr)
Definition: btManifoldResult.h:77
btManifoldResult::calculateCombinedContactDamping
static btScalar calculateCombinedContactDamping(const btCollisionObject *body0, const btCollisionObject *body1)
Definition: btManifoldResult.cpp:73
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btPersistentManifold.h
btManifoldResult::calculateCombinedContactStiffness
static btScalar calculateCombinedContactStiffness(const btCollisionObject *body0, const btCollisionObject *body1)
Definition: btManifoldResult.cpp:78
btManifoldResult::calculateCombinedRollingFriction
static btScalar calculateCombinedRollingFriction(const btCollisionObject *body0, const btCollisionObject *body1)
Definition: btManifoldResult.cpp:31
btManifoldResult::refreshContactPoints
void refreshContactPoints()
Definition: btManifoldResult.h:105
btManifoldResult::m_body1Wrap
const btCollisionObjectWrapper * m_body1Wrap
Definition: btManifoldResult.h:53
gCalculateCombinedFrictionCallback
CalculateCombinedCallback gCalculateCombinedFrictionCallback
Definition: btManifoldResult.cpp:25
gCalculateCombinedRestitutionCallback
CalculateCombinedCallback gCalculateCombinedRestitutionCallback
Definition: btManifoldResult.cpp:24
btCollisionObject.h
btManifoldResult::addContactPoint
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
Definition: btManifoldResult.cpp:105
btManifoldResult::setShapeIdentifiersA
virtual void setShapeIdentifiersA(int partId0, int index0)
setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material comb...
Definition: btManifoldResult.h:91
gCalculateCombinedContactStiffnessCallback
CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback
Definition: btManifoldResult.cpp:29
btManifoldResult::m_closestPointDistanceThreshold
btScalar m_closestPointDistanceThreshold
Definition: btManifoldResult.h:152
btManifoldResult::btManifoldResult
btManifoldResult()
Definition: btManifoldResult.h:60