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" 134 CF_KINEMATIC_OBJECT= 2,
135 CF_NO_CONTACT_RESPONSE = 4,
136 CF_CUSTOM_MATERIAL_CALLBACK = 8,
137 CF_CHARACTER_OBJECT = 16,
138 CF_DISABLE_VISUALIZE_OBJECT = 32,
139 CF_DISABLE_SPU_COLLISION_PROCESSING = 64,
140 CF_HAS_CONTACT_STIFFNESS_DAMPING = 128,
141 CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256,
142 CF_HAS_FRICTION_ANCHOR = 512,
143 CF_HAS_COLLISION_SOUND_TRIGGER = 1024
148 CO_COLLISION_OBJECT =1,
156 CO_FEATHERSTONE_LINK=64
161 CF_ANISOTROPIC_FRICTION_DISABLED=0,
162 CF_ANISOTROPIC_FRICTION = 1,
163 CF_ANISOTROPIC_ROLLING_FRICTION = 2
169 return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0);
174 return m_anisotropicFriction;
178 m_anisotropicFriction = anisotropicFriction;
179 bool isUnity = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
180 m_hasAnisotropicFriction = isUnity?frictionMode : 0;
184 return (m_hasAnisotropicFriction&frictionMode)!=0;
191 m_contactProcessingThreshold = contactProcessingThreshold;
195 return m_contactProcessingThreshold;
199 return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
204 return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
209 return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0 ;
213 return (m_collisionFlags & CF_NO_CONTACT_RESPONSE)==0;
224 m_collisionShape = collisionShape;
225 m_rootCollisionShape = collisionShape;
230 return m_collisionShape;
235 return m_collisionShape;
240 if (ignoreCollisionCheck)
246 m_objectsWithoutCollisionCheck.
push_back(co);
251 m_objectsWithoutCollisionCheck.
remove(co);
253 m_checkCollideWith = m_objectsWithoutCollisionCheck.
size() > 0;
259 if (index < m_objectsWithoutCollisionCheck.
size())
273 return m_extensionPointer;
279 m_extensionPointer = pointer;
284 void setActivationState(
int newState)
const;
288 m_deactivationTime = time;
292 return m_deactivationTime;
295 void forceActivationState(
int newState)
const;
297 void activate(
bool forceActivation =
false)
const;
307 m_restitution = rest;
311 return m_restitution;
326 m_rollingFriction = frict;
330 return m_rollingFriction;
335 m_spinningFriction = frict;
339 return m_spinningFriction;
344 m_contactStiffness = stiffness;
345 m_contactDamping = damping;
347 m_collisionFlags |=CF_HAS_CONTACT_STIFFNESS_DAMPING;
358 return m_contactStiffness;
363 return m_contactDamping;
369 return m_internalType;
374 return m_worldTransform;
379 return m_worldTransform;
385 m_worldTransform = worldTrans;
391 return m_broadphaseHandle;
396 return m_broadphaseHandle;
401 m_broadphaseHandle = handle;
407 return m_interpolationWorldTransform;
412 return m_interpolationWorldTransform;
418 m_interpolationWorldTransform = trans;
424 m_interpolationLinearVelocity = linvel;
430 m_interpolationAngularVelocity = angvel;
435 return m_interpolationLinearVelocity;
440 return m_interpolationAngularVelocity;
455 return m_companionId;
465 return m_worldArrayIndex;
471 m_worldArrayIndex = ix;
476 return m_hitFraction;
481 m_hitFraction = hitFraction;
487 return m_collisionFlags;
492 m_collisionFlags = flags;
498 return m_ccdSweptSphereRadius;
504 m_ccdSweptSphereRadius = radius;
509 return m_ccdMotionThreshold;
514 return m_ccdMotionThreshold*m_ccdMotionThreshold;
522 m_ccdMotionThreshold = ccdMotionThreshold;
528 return m_userObjectPointer;
544 m_userObjectPointer = userPointer;
555 m_userIndex2 = index;
560 return m_updateRevision;
565 m_customDebugColorRGB = colorRGB;
566 m_collisionFlags |= CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
571 m_collisionFlags &= ~CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
576 bool hasCustomColor = (0!=(m_collisionFlags&CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR));
579 colorRGB = m_customDebugColorRGB;
581 return hasCustomColor;
586 if (m_checkCollideWith)
587 return checkCollideWithOverride(co);
592 virtual int calculateSerializeBufferSize()
const;
595 virtual const char* serialize(
void* dataBuffer,
class btSerializer* serializer)
const;
597 virtual void serializeSingleObject(
class btSerializer* serializer)
const;
680 #endif //BT_COLLISION_OBJECT_H
btTransformFloatData m_worldTransform
int getUpdateRevisionInternal() const
btScalar getDeactivationTime() const
void setUserIndex2(int index)
btScalar getCcdMotionThreshold() const
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
void setContactStiffnessAndDamping(btScalar stiffness, btScalar damping)
void push_back(const T &_Val)
btScalar getCcdSweptSphereRadius() const
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
double m_contactProcessingThreshold
btVector3FloatData m_anisotropicFriction
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...
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::
int getInternalType() const
reserved for Bullet internal usage
const btVector3 & getInterpolationAngularVelocity() const
virtual int calculateSerializeBufferSize() const
void removeCustomDebugColor()
btTransformFloatData m_interpolationWorldTransform
float m_ccdMotionThreshold
bool mergesSimulationIslands() const
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)
double m_contactStiffness
btScalar m_contactDamping
void setWorldArrayIndex(int ix)
#define SIMD_FORCE_INLINE
int m_hasAnisotropicFriction
btScalar getContactProcessingThreshold() const
int getCollisionFlags() const
int m_hasAnisotropicFriction
#define btCollisionObjectData
btScalar m_spinningFriction
btTransform m_worldTransform
void setCustomDebugColor(const btVector3 &colorRGB)
btVector3DoubleData m_anisotropicFriction
const btVector3 & getInterpolationLinearVelocity() const
btCollisionShape * m_collisionShape
btCollisionShapeData * m_rootCollisionShape
bool hasContactResponse() const
void setIgnoreCollisionCheck(const btCollisionObject *co, bool ignoreCollisionCheck)
void setRestitution(btScalar rest)
btScalar getSpinningFriction() const
const btVector3 & getAnisotropicFriction() const
btVector3DoubleData m_interpolationAngularVelocity
btCollisionShapeData * m_rootCollisionShape
btScalar getCcdSquareMotionThreshold() const
const btTransform & getInterpolationWorldTransform() 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 ...
int getWorldArrayIndex() const
btTransform & getWorldTransform()
int m_internalType
m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
int size() const
return the number of elements in the array
btBroadphaseProxy * getBroadphaseHandle()
void * getUserPointer() const
users can point to their objects, userPointer is not used by Bullet
void setFriction(btScalar frict)
bool isKinematicObject() 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
btTransform & getInterpolationWorldTransform()
bool isStaticOrKinematicObject() const
btScalar getContactDamping() const
bool checkCollideWith(const btCollisionObject *co) 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
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
btScalar getRestitution() 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...
void setInterpolationWorldTransform(const btTransform &trans)
int m_collisionFilterMask
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
int getUserIndex2() const
btScalar getHitFraction() const
double m_ccdMotionThreshold
void setInterpolationAngularVelocity(const btVector3 &angvel)
btScalar m_rollingFriction
btVector3 can be used to represent 3D points and vectors.
#define ATTRIBUTE_ALIGNED16(a)
const btBroadphaseProxy * getBroadphaseHandle() const
int getCompanionId() const
void setAnisotropicFriction(const btVector3 &anisotropicFriction, int frictionMode=CF_ANISOTROPIC_FRICTION)
void * m_broadphaseHandle
btCollisionShape * getCollisionShape()
virtual bool checkCollideWithOverride(const btCollisionObject *co) const
void setCollisionFlags(int flags)
void setBroadphaseHandle(btBroadphaseProxy *handle)
void remove(const T &key)
bool hasAnisotropicFriction(int frictionMode=CF_ANISOTROPIC_FRICTION) const
btTransformDoubleData m_worldTransform
int m_collisionFilterGroup
btTransformDoubleData m_interpolationWorldTransform
btVector3 m_interpolationAngularVelocity
float m_contactProcessingThreshold
btScalar getRollingFriction() const
int findLinearSearch(const T &key) const
void setIslandTag(int tag)
void setRollingFriction(btScalar frict)
btScalar getFriction() const
const btTransform & getWorldTransform() const
#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...
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 * internalGetExtensionPointer() const
Avoid using this internal API call, the extension pointer is used by some Bullet extensions.
void setInterpolationLinearVelocity(const btVector3 &linvel)
double m_deactivationTime
btBroadphaseProxy * m_broadphaseHandle
btVector3 m_interpolationLinearVelocity
void setContactProcessingThreshold(btScalar contactProcessingThreshold)
the constraint solver can discard solving contacts, if the distance is above this threshold...
int m_collisionFilterMask
const btCollisionShape * getCollisionShape() const
bool getCustomDebugColor(btVector3 &colorRGB) const
int getActivationState() const
btVector3FloatData m_interpolationAngularVelocity
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar getContactStiffness() const