Bullet Collision Detection & Physics Library
btManifoldResult.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16
17#ifndef BT_MANIFOLD_RESULT_H
18#define BT_MANIFOLD_RESULT_H
19
22
24class btManifoldPoint;
25
27
31
32typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1);
34
35//#define DEBUG_PART_INDEX 1
36
37
40{
41protected:
42
44
51
52
53public:
54
56 :
57#ifdef DEBUG_PART_INDEX
58
59 m_partId0(-1),
60 m_partId1(-1),
61 m_index0(-1),
62 m_index1(-1)
63#endif //DEBUG_PART_INDEX
65 {
66 }
67
69
70 virtual ~btManifoldResult() {};
71
73 {
74 m_manifoldPtr = manifoldPtr;
75 }
76
78 {
79 return m_manifoldPtr;
80 }
82 {
83 return m_manifoldPtr;
84 }
85
86 virtual void setShapeIdentifiersA(int partId0,int index0)
87 {
88 m_partId0=partId0;
89 m_index0=index0;
90 }
91
92 virtual void setShapeIdentifiersB( int partId1,int index1)
93 {
94 m_partId1=partId1;
95 m_index1=index1;
96 }
97
98
99 virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth);
100
102 {
105 return;
106
107 bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
108
109 if (isSwapped)
110 {
112 } else
113 {
115 }
116 }
117
119 {
120 return m_body0Wrap;
121 }
123 {
124 return m_body1Wrap;
125 }
126
128 {
129 m_body0Wrap = obj0Wrap;
130 }
131
133 {
134 m_body1Wrap = obj1Wrap;
135 }
136
138 {
140 }
141
143 {
145 }
146
148
156};
157
158#endif //BT_MANIFOLD_RESULT_H
ContactAddedCallback gContactAddedCallback
This is to allow MaterialCombiner/Custom Friction/Restitution values.
bool(* ContactAddedCallback)(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
#define btAssert(x)
Definition: btScalar.h:131
btCollisionObject can be used to manage collision detection objects.
btTransform & getWorldTransform()
ManifoldContactPoint collects and maintains persistent contactpoints.
btManifoldResult is a helper class to manage contact results.
virtual void setShapeIdentifiersA(int partId0, int index0)
setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material comb...
void setBody0Wrap(const btCollisionObjectWrapper *obj0Wrap)
const btCollisionObjectWrapper * m_body0Wrap
static btScalar calculateCombinedFriction(const btCollisionObject *body0, const btCollisionObject *body1)
User can override this material combiner by implementing gContactAddedCallback and setting body0->m_c...
static btScalar calculateCombinedContactDamping(const btCollisionObject *body0, const btCollisionObject *body1)
const btCollisionObjectWrapper * m_body1Wrap
const btPersistentManifold * getPersistentManifold() const
static btScalar calculateCombinedContactStiffness(const btCollisionObject *body0, const btCollisionObject *body1)
const btCollisionObjectWrapper * getBody1Wrap() const
const btCollisionObject * getBody1Internal() const
static btScalar calculateCombinedSpinningFriction(const btCollisionObject *body0, const btCollisionObject *body1)
void setBody1Wrap(const btCollisionObjectWrapper *obj1Wrap)
static btScalar calculateCombinedRollingFriction(const btCollisionObject *body0, const btCollisionObject *body1)
void setPersistentManifold(btPersistentManifold *manifoldPtr)
const btCollisionObject * getBody0Internal() const
virtual void setShapeIdentifiersB(int partId1, int index1)
virtual ~btManifoldResult()
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
btScalar m_closestPointDistanceThreshold
const btCollisionObjectWrapper * getBody0Wrap() const
btPersistentManifold * getPersistentManifold()
btPersistentManifold * m_manifoldPtr
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
const btCollisionObject * getBody0() const
void refreshContactPoints(const btTransform &trA, const btTransform &trB)
calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
const btCollisionObject * getCollisionObject() const