Bullet Collision Detection & Physics Library
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btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase. More...
#include <btPersistentManifold.h>
Public Member Functions | |
BT_DECLARE_ALIGNED_ALLOCATOR () | |
btPersistentManifold () | |
btPersistentManifold (const btCollisionObject *body0, const btCollisionObject *body1, int, btScalar contactBreakingThreshold, btScalar contactProcessingThreshold) | |
const btCollisionObject * | getBody0 () const |
const btCollisionObject * | getBody1 () const |
void | setBodies (const btCollisionObject *body0, const btCollisionObject *body1) |
void | clearUserCache (btManifoldPoint &pt) |
int | getNumContacts () const |
void | setNumContacts (int cachedPoints) |
the setNumContacts API is usually not used, except when you gather/fill all contacts manually More... | |
const btManifoldPoint & | getContactPoint (int index) const |
btManifoldPoint & | getContactPoint (int index) |
btScalar | getContactBreakingThreshold () const |
btScalar | getContactProcessingThreshold () const |
void | setContactBreakingThreshold (btScalar contactBreakingThreshold) |
void | setContactProcessingThreshold (btScalar contactProcessingThreshold) |
int | getCacheEntry (const btManifoldPoint &newPoint) const |
int | addManifoldPoint (const btManifoldPoint &newPoint, bool isPredictive=false) |
void | removeContactPoint (int index) |
void | replaceContactPoint (const btManifoldPoint &newPoint, int insertIndex) |
bool | validContactDistance (const btManifoldPoint &pt) const |
void | refreshContactPoints (const btTransform &trA, const btTransform &trB) |
calculated new worldspace coordinates and depth, and reject points that exceed the collision margin More... | |
void | clearManifold () |
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btTypedObject (int objectType) | |
int | getObjectType () const |
Public Attributes | |
int | m_companionIdA |
int | m_companionIdB |
int | m_index1a |
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int | m_objectType |
Private Member Functions | |
int | sortCachedPoints (const btManifoldPoint &pt) |
sort cached points so most isolated points come first More... | |
int | findContactPoint (const btManifoldPoint *unUsed, int numUnused, const btManifoldPoint &pt) |
Private Attributes | |
btManifoldPoint | m_pointCache [MANIFOLD_CACHE_SIZE] |
const btCollisionObject * | m_body0 |
this two body pointers can point to the physics rigidbody class. More... | |
const btCollisionObject * | m_body1 |
int | m_cachedPoints |
btScalar | m_contactBreakingThreshold |
btScalar | m_contactProcessingThreshold |
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase.
Those contact points are created by the collision narrow phase. The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time. updates/refreshes old contact points, and throw them away if necessary (distance becomes too large) reduces the cache to 4 points, when more then 4 points are added, using following rules: the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points note that some pairs of objects might have more then one contact manifold.
Definition at line 63 of file btPersistentManifold.h.
btPersistentManifold::btPersistentManifold | ( | ) |
Definition at line 31 of file btPersistentManifold.cpp.
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Definition at line 94 of file btPersistentManifold.h.
int btPersistentManifold::addManifoldPoint | ( | const btManifoldPoint & | newPoint, |
bool | isPredictive = false |
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Definition at line 210 of file btPersistentManifold.cpp.
btPersistentManifold::BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
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Definition at line 244 of file btPersistentManifold.h.
void btPersistentManifold::clearUserCache | ( | btManifoldPoint & | pt | ) |
Definition at line 56 of file btPersistentManifold.cpp.
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Definition at line 102 of file btPersistentManifold.h.
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Definition at line 103 of file btPersistentManifold.h.
int btPersistentManifold::getCacheEntry | ( | const btManifoldPoint & | newPoint | ) | const |
Definition at line 190 of file btPersistentManifold.cpp.
btScalar btPersistentManifold::getContactBreakingThreshold | ( | ) | const |
Definition at line 242 of file btPersistentManifold.cpp.
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Definition at line 131 of file btPersistentManifold.h.
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Definition at line 125 of file btPersistentManifold.h.
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Definition at line 140 of file btPersistentManifold.h.
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Definition at line 117 of file btPersistentManifold.h.
void btPersistentManifold::refreshContactPoints | ( | const btTransform & | trA, |
const btTransform & | trB | ||
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calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
first refresh worldspace positions and distance
then
Definition at line 249 of file btPersistentManifold.cpp.
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Definition at line 162 of file btPersistentManifold.h.
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we keep existing contact points for friction anchors if the friction force is within the Coulomb friction cone
Definition at line 188 of file btPersistentManifold.h.
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Definition at line 105 of file btPersistentManifold.h.
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Definition at line 145 of file btPersistentManifold.h.
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Definition at line 150 of file btPersistentManifold.h.
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the setNumContacts API is usually not used, except when you gather/fill all contacts manually
Definition at line 119 of file btPersistentManifold.h.
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sort cached points so most isolated points come first
Definition at line 111 of file btPersistentManifold.cpp.
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Definition at line 236 of file btPersistentManifold.h.
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this two body pointers can point to the physics rigidbody class.
Definition at line 69 of file btPersistentManifold.h.
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Definition at line 70 of file btPersistentManifold.h.
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Definition at line 72 of file btPersistentManifold.h.
int btPersistentManifold::m_companionIdA |
Definition at line 87 of file btPersistentManifold.h.
int btPersistentManifold::m_companionIdB |
Definition at line 88 of file btPersistentManifold.h.
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Definition at line 74 of file btPersistentManifold.h.
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Definition at line 75 of file btPersistentManifold.h.
int btPersistentManifold::m_index1a |
Definition at line 90 of file btPersistentManifold.h.
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Definition at line 66 of file btPersistentManifold.h.