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" 125 CF_KINEMATIC_OBJECT= 2,
126 CF_NO_CONTACT_RESPONSE = 4,
127 CF_CUSTOM_MATERIAL_CALLBACK = 8,
128 CF_CHARACTER_OBJECT = 16,
129 CF_DISABLE_VISUALIZE_OBJECT = 32,
130 CF_DISABLE_SPU_COLLISION_PROCESSING = 64
135 CO_COLLISION_OBJECT =1,
143 CO_FEATHERSTONE_LINK=64
148 CF_ANISOTROPIC_FRICTION_DISABLED=0,
149 CF_ANISOTROPIC_FRICTION = 1,
150 CF_ANISOTROPIC_ROLLING_FRICTION = 2
156 return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0);
161 return m_anisotropicFriction;
165 m_anisotropicFriction = anisotropicFriction;
166 bool isUnity = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
167 m_hasAnisotropicFriction = isUnity?frictionMode : 0;
171 return (m_hasAnisotropicFriction&frictionMode)!=0;
178 m_contactProcessingThreshold = contactProcessingThreshold;
182 return m_contactProcessingThreshold;
186 return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
191 return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
196 return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0 ;
200 return (m_collisionFlags & CF_NO_CONTACT_RESPONSE)==0;
211 m_collisionShape = collisionShape;
212 m_rootCollisionShape = collisionShape;
217 return m_collisionShape;
222 return m_collisionShape;
227 if (ignoreCollisionCheck)
233 m_objectsWithoutCollisionCheck.
push_back(co);
238 m_objectsWithoutCollisionCheck.
remove(co);
240 m_checkCollideWith = m_objectsWithoutCollisionCheck.
size() > 0;
246 if (index < m_objectsWithoutCollisionCheck.
size())
260 return m_extensionPointer;
266 m_extensionPointer = pointer;
271 void setActivationState(
int newState)
const;
275 m_deactivationTime = time;
279 return m_deactivationTime;
282 void forceActivationState(
int newState)
const;
284 void activate(
bool forceActivation =
false)
const;
294 m_restitution = rest;
298 return m_restitution;
313 m_rollingFriction = frict;
317 return m_rollingFriction;
324 return m_internalType;
329 return m_worldTransform;
334 return m_worldTransform;
340 m_worldTransform = worldTrans;
346 return m_broadphaseHandle;
351 return m_broadphaseHandle;
356 m_broadphaseHandle = handle;
362 return m_interpolationWorldTransform;
367 return m_interpolationWorldTransform;
373 m_interpolationWorldTransform = trans;
379 m_interpolationLinearVelocity = linvel;
385 m_interpolationAngularVelocity = angvel;
390 return m_interpolationLinearVelocity;
395 return m_interpolationAngularVelocity;
410 return m_companionId;
420 return m_hitFraction;
425 m_hitFraction = hitFraction;
431 return m_collisionFlags;
436 m_collisionFlags = flags;
442 return m_ccdSweptSphereRadius;
448 m_ccdSweptSphereRadius = radius;
453 return m_ccdMotionThreshold;
458 return m_ccdMotionThreshold*m_ccdMotionThreshold;
466 m_ccdMotionThreshold = ccdMotionThreshold;
472 return m_userObjectPointer;
482 m_userObjectPointer = userPointer;
493 return m_updateRevision;
499 if (m_checkCollideWith)
500 return checkCollideWithOverride(co);
505 virtual int calculateSerializeBufferSize()
const;
508 virtual const char* serialize(
void* dataBuffer,
class btSerializer* serializer)
const;
510 virtual void serializeSingleObject(
class btSerializer* serializer)
const;
589 #endif //BT_COLLISION_OBJECT_H
btTransformFloatData m_worldTransform
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
const btVector3 & getInterpolationAngularVelocity() const
void push_back(const T &_Val)
double m_contactProcessingThreshold
btVector3FloatData m_anisotropicFriction
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::
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...
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)
bool isKinematicObject() const
const btTransform & getWorldTransform() const
#define SIMD_FORCE_INLINE
int m_hasAnisotropicFriction
int getActivationState() const
int m_hasAnisotropicFriction
#define btCollisionObjectData
btTransform m_worldTransform
bool isStaticOrKinematicObject() const
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...
btVector3FloatData m_interpolationLinearVelocity
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.
btScalar m_contactProcessingThreshold
virtual int calculateSerializeBufferSize() const
void setDeactivationTime(btScalar time)
void setWorldTransform(const btTransform &worldTrans)
void setCompanionId(int id)
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
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 getHitFraction() const
void remove(const T &key)
btTransformDoubleData m_worldTransform
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...
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...
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