Bullet Collision Detection & Physics Library
btCollisionObject.cpp
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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 #include "btCollisionObject.h"
19 
21  : m_interpolationLinearVelocity(0.f, 0.f, 0.f),
22  m_interpolationAngularVelocity(0.f, 0.f, 0.f),
23  m_anisotropicFriction(1.f, 1.f, 1.f),
24  m_hasAnisotropicFriction(false),
25  m_contactProcessingThreshold(BT_LARGE_FLOAT),
26  m_broadphaseHandle(0),
27  m_collisionShape(0),
28  m_extensionPointer(0),
29  m_rootCollisionShape(0),
30  m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
31  m_islandTag1(-1),
32  m_companionId(-1),
33  m_worldArrayIndex(-1),
34  m_activationState1(1),
35  m_deactivationTime(btScalar(0.)),
36  m_friction(btScalar(0.5)),
37  m_restitution(btScalar(0.)),
38  m_rollingFriction(0.0f),
39  m_spinningFriction(0.f),
40  m_contactDamping(.1),
41  m_contactStiffness(BT_LARGE_FLOAT),
42  m_internalType(CO_COLLISION_OBJECT),
43  m_userObjectPointer(0),
44  m_userIndex2(-1),
45  m_userIndex(-1),
46  m_userIndex3(-1),
47  m_hitFraction(btScalar(1.)),
48  m_ccdSweptSphereRadius(btScalar(0.)),
49  m_ccdMotionThreshold(btScalar(0.)),
50  m_checkCollideWith(false),
51  m_updateRevision(0)
52 {
55 }
56 
58 {
59 }
60 
61 void btCollisionObject::setActivationState(int newState) const
62 {
64  m_activationState1 = newState;
65 }
66 
68 {
69  m_activationState1 = newState;
70 }
71 
72 void btCollisionObject::activate(bool forceActivation) const
73 {
74  if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT)))
75  {
78  }
79 }
80 
81 const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* serializer) const
82 {
83  btCollisionObjectData* dataOut = (btCollisionObjectData*)dataBuffer;
84 
85  m_worldTransform.serialize(dataOut->m_worldTransform);
86  m_interpolationWorldTransform.serialize(dataOut->m_interpolationWorldTransform);
87  m_interpolationLinearVelocity.serialize(dataOut->m_interpolationLinearVelocity);
88  m_interpolationAngularVelocity.serialize(dataOut->m_interpolationAngularVelocity);
89  m_anisotropicFriction.serialize(dataOut->m_anisotropicFriction);
90  dataOut->m_hasAnisotropicFriction = m_hasAnisotropicFriction;
91  dataOut->m_contactProcessingThreshold = m_contactProcessingThreshold;
92  dataOut->m_broadphaseHandle = 0;
93  dataOut->m_collisionShape = serializer->getUniquePointer(m_collisionShape);
94  dataOut->m_rootCollisionShape = 0; //@todo
95  dataOut->m_collisionFlags = m_collisionFlags;
96  dataOut->m_islandTag1 = m_islandTag1;
97  dataOut->m_companionId = m_companionId;
98  dataOut->m_activationState1 = m_activationState1;
99  dataOut->m_deactivationTime = m_deactivationTime;
100  dataOut->m_friction = m_friction;
101  dataOut->m_rollingFriction = m_rollingFriction;
102  dataOut->m_contactDamping = m_contactDamping;
103  dataOut->m_contactStiffness = m_contactStiffness;
104  dataOut->m_restitution = m_restitution;
105  dataOut->m_internalType = m_internalType;
106 
107  char* name = (char*)serializer->findNameForPointer(this);
108  dataOut->m_name = (char*)serializer->getUniquePointer(name);
109  if (dataOut->m_name)
110  {
111  serializer->serializeName(name);
112  }
113  dataOut->m_hitFraction = m_hitFraction;
114  dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
115  dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
116  dataOut->m_checkCollideWith = m_checkCollideWith;
117  if (m_broadphaseHandle)
118  {
119  dataOut->m_collisionFilterGroup = m_broadphaseHandle->m_collisionFilterGroup;
120  dataOut->m_collisionFilterMask = m_broadphaseHandle->m_collisionFilterMask;
121  dataOut->m_uniqueId = m_broadphaseHandle->m_uniqueId;
122  }
123  else
124  {
125  dataOut->m_collisionFilterGroup = 0;
126  dataOut->m_collisionFilterMask = 0;
127  dataOut->m_uniqueId = -1;
128  }
130 }
131 
133 {
134  int len = calculateSerializeBufferSize();
135  btChunk* chunk = serializer->allocate(len, 1);
136  const char* structType = serialize(chunk->m_oldPtr, serializer);
137  serializer->finalizeChunk(chunk, structType, BT_COLLISIONOBJECT_CODE, (void*)this);
138 }
#define ACTIVE_TAG
#define btCollisionObjectData
#define DISABLE_DEACTIVATION
#define btCollisionObjectDataName
#define DISABLE_SIMULATION
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define BT_LARGE_FLOAT
Definition: btScalar.h:316
#define BT_COLLISIONOBJECT_CODE
Definition: btSerializer.h:111
void * m_oldPtr
Definition: btSerializer.h:52
btCollisionObject can be used to manage collision detection objects.
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
int m_checkCollideWith
If some object should have elaborate collision filtering by sub-classes.
btTransform m_worldTransform
btCollisionShape * m_collisionShape
virtual void serializeSingleObject(class btSerializer *serializer) const
btVector3 m_interpolationLinearVelocity
void activate(bool forceActivation=false) const
void setActivationState(int newState) const
btVector3 m_interpolationAngularVelocity
int m_internalType
m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody,...
btVector3 m_anisotropicFriction
btScalar m_ccdSweptSphereRadius
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
virtual int calculateSerializeBufferSize() const
btTransform m_interpolationWorldTransform
m_interpolationWorldTransform is used for CCD and interpolation it can be either previous or future (...
void forceActivationState(int newState) const
btScalar m_ccdMotionThreshold
Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold...
btScalar m_contactProcessingThreshold
btBroadphaseProxy * m_broadphaseHandle
btScalar m_hitFraction
time of impact calculation
virtual btChunk * allocate(size_t size, int numElements)=0
virtual const char * findNameForPointer(const void *ptr) const =0
virtual void serializeName(const char *ptr)=0
virtual void * getUniquePointer(void *oldPtr)=0
virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
void serialize(struct btTransformData &dataOut) const
Definition: btTransform.h:256
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:166
void serialize(struct btVector3Data &dataOut) const
Definition: btVector3.h:1317