Bullet Collision Detection & Physics Library
btManifoldResult.h
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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 
17 #ifndef BT_MANIFOLD_RESULT_H
18 #define BT_MANIFOLD_RESULT_H
19 
20 class btCollisionObject;
22 
24 class btManifoldPoint;
25 
27 
28 #include "LinearMath/btTransform.h"
31 
32 typedef 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 {
41 protected:
42 
44 
47  int m_partId0;
48  int m_partId1;
49  int m_index0;
50  int m_index1;
51 
52 
53 public:
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 
68  btManifoldResult(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
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  {
103  btAssert(m_manifoldPtr);
104  if (!m_manifoldPtr->getNumContacts())
105  return;
106 
107  bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
108 
109  if (isSwapped)
110  {
111  m_manifoldPtr->refreshContactPoints(m_body1Wrap->getCollisionObject()->getWorldTransform(),m_body0Wrap->getCollisionObject()->getWorldTransform());
112  } else
113  {
114  m_manifoldPtr->refreshContactPoints(m_body0Wrap->getCollisionObject()->getWorldTransform(),m_body1Wrap->getCollisionObject()->getWorldTransform());
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  {
139  return m_body0Wrap->getCollisionObject();
140  }
141 
143  {
144  return m_body1Wrap->getCollisionObject();
145  }
146 
148 
151  static btScalar calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1);
156 };
157 
158 #endif //BT_MANIFOLD_RESULT_H
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
virtual ~btManifoldResult()
void refreshContactPoints(const btTransform &trA, const btTransform &trB)
calculated new worldspace coordinates and depth, and reject points that exceed the collision margin ...
const btCollisionObjectWrapper * getBody0Wrap() const
static btScalar calculateCombinedContactDamping(const btCollisionObject *body0, const btCollisionObject *body1)
btPersistentManifold * m_manifoldPtr
const btCollisionObject * getBody1Internal() const
static btScalar calculateCombinedRollingFriction(const btCollisionObject *body0, const btCollisionObject *body1)
btPersistentManifold * getPersistentManifold()
void setPersistentManifold(btPersistentManifold *manifoldPtr)
#define btAssert(x)
Definition: btScalar.h:131
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
static btScalar calculateCombinedContactStiffness(const btCollisionObject *body0, const btCollisionObject *body1)
ManifoldContactPoint collects and maintains persistent contactpoints.
btManifoldResult is a helper class to manage contact results.
const btCollisionObjectWrapper * m_body1Wrap
virtual void setShapeIdentifiersA(int partId0, int index0)
setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material comb...
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
btTransform & getWorldTransform()
btScalar m_closestPointDistanceThreshold
const btCollisionObject * getBody0() const
const btCollisionObject * getCollisionObject() const
btCollisionObject can be used to manage collision detection objects.
virtual void setShapeIdentifiersB(int partId1, int index1)
static btScalar calculateCombinedFriction(const btCollisionObject *body0, const btCollisionObject *body1)
User can override this material combiner by implementing gContactAddedCallback and setting body0->m_c...
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
bool(* ContactAddedCallback)(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1)
const btCollisionObject * getBody0Internal() const
static btScalar calculateCombinedSpinningFriction(const btCollisionObject *body0, const btCollisionObject *body1)
void setBody1Wrap(const btCollisionObjectWrapper *obj1Wrap)
ContactAddedCallback gContactAddedCallback
This is to allow MaterialCombiner/Custom Friction/Restitution values.
const btCollisionObjectWrapper * getBody1Wrap() const
const btCollisionObjectWrapper * m_body0Wrap
void setBody0Wrap(const btCollisionObjectWrapper *obj0Wrap)
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 ...
const btPersistentManifold * getPersistentManifold() const
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292