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
27#define FIXED_BASE_MULTI_BODY 6
38#ifdef BT_USE_DOUBLE_PRECISION
39#define btCollisionObjectData btCollisionObjectDoubleData
40#define btCollisionObjectDataName "btCollisionObjectDoubleData"
42#define btCollisionObjectData btCollisionObjectFloatData
43#define btCollisionObjectDataName "btCollisionObjectFloatData"
178 bool isUnity = (anisotropicFriction[0] != 1.f) || (anisotropicFriction[1] != 1.f) || (anisotropicFriction[2] != 1.f);
240 if (ignoreCollisionCheck)
291 void setActivationState(
int newState)
const;
302 void forceActivationState(
int newState)
const;
304 void activate(
bool forceActivation =
false)
const;
593 return hasCustomColor;
604 virtual int calculateSerializeBufferSize()
const;
607 virtual const char* serialize(
void* dataBuffer,
class btSerializer* serializer)
const;
609 virtual void serializeSingleObject(
class btSerializer * serializer)
const;
#define btCollisionObjectData
#define FIXED_BASE_MULTI_BODY
btAlignedObjectArray< class btCollisionObject * > btCollisionObjectArray
#define DISABLE_SIMULATION
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define ATTRIBUTE_ALIGNED16(a)
#define SIMD_FORCE_INLINE
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
btCollisionObject can be used to manage collision detection objects.
@ CF_CUSTOM_MATERIAL_CALLBACK
@ CF_HAS_COLLISION_SOUND_TRIGGER
@ CF_DISABLE_SPU_COLLISION_PROCESSING
@ CF_DISABLE_VISUALIZE_OBJECT
@ CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR
@ CF_HAS_CONTACT_STIFFNESS_DAMPING
btScalar getContactStiffness() const
const btBroadphaseProxy * getBroadphaseHandle() const
void setRestitution(btScalar rest)
int m_updateRevision
internal update revision number. It will be increased when the object changes. This allows some subsy...
virtual bool checkCollideWithOverride(const btCollisionObject *co) const
void setSpinningFriction(btScalar frict)
const btTransform & getWorldTransform() const
bool isStaticOrKinematicObject() const
btScalar getHitFraction() const
void setAnisotropicFriction(const btVector3 &anisotropicFriction, int frictionMode=CF_ANISOTROPIC_FRICTION)
@ CO_GHOST_OBJECT
CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter It...
void setWorldArrayIndex(int ix)
void setCollisionFlags(int flags)
btTransform & getWorldTransform()
int m_checkCollideWith
If some object should have elaborate collision filtering by sub-classes.
void removeCustomDebugColor()
btBroadphaseProxy * getBroadphaseHandle()
int getUserIndex3() const
const btVector3 & getAnisotropicFriction() const
btTransform m_worldTransform
btCollisionShape * m_collisionShape
int getUserIndex2() const
void setUserPointer(void *userPointer)
users can point to their objects, userPointer is not used by Bullet
int getInternalType() const
reserved for Bullet internal usage
virtual void setCollisionShape(btCollisionShape *collisionShape)
btScalar getDeactivationTime() const
bool hasContactResponse() const
btVector3 m_interpolationLinearVelocity
void setIgnoreCollisionCheck(const btCollisionObject *co, bool ignoreCollisionCheck)
btScalar getSpinningFriction() const
void * getUserPointer() const
users can point to their objects, userPointer is not used by Bullet
bool isStaticObject() const
void setContactProcessingThreshold(btScalar contactProcessingThreshold)
the constraint solver can discard solving contacts, if the distance is above this threshold.
btCollisionShape * m_rootCollisionShape
m_rootCollisionShape is temporarily used to store the original collision shape The m_collisionShape m...
void * m_extensionPointer
m_extensionPointer is used by some internal low-level Bullet extensions.
btTransform & getInterpolationWorldTransform()
bool checkCollideWith(const btCollisionObject *co) const
btVector3 m_interpolationAngularVelocity
bool getCustomDebugColor(btVector3 &colorRGB) const
int m_internalType
m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody,...
void setWorldTransform(const btTransform &worldTrans)
void * m_userObjectPointer
users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPoin...
void setCustomDebugColor(const btVector3 &colorRGB)
btScalar getFriction() const
btVector3 m_anisotropicFriction
btScalar getContactProcessingThreshold() const
int getWorldArrayIndex() const
btCollisionShape * getCollisionShape()
void setCcdMotionThreshold(btScalar ccdMotionThreshold)
Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold...
btScalar m_ccdSweptSphereRadius
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
bool hasAnisotropicFriction(int frictionMode=CF_ANISOTROPIC_FRICTION) const
virtual int calculateSerializeBufferSize() const
btTransform m_interpolationWorldTransform
m_interpolationWorldTransform is used for CCD and interpolation it can be either previous or future (...
void setCompanionId(int id)
int getNumObjectsWithoutCollision() const
bool isKinematicObject() const
btScalar m_deactivationTime
const btTransform & getInterpolationWorldTransform() const
btScalar getContactDamping() const
@ CF_ANISOTROPIC_ROLLING_FRICTION
@ CF_ANISOTROPIC_FRICTION
@ CF_ANISOTROPIC_FRICTION_DISABLED
const btCollisionShape * getCollisionShape() const
int getCompanionId() const
void setUserIndex2(int index)
void setFriction(btScalar frict)
void internalSetExtensionPointer(void *pointer)
Avoid using this internal API call, the extension pointer is used by some Bullet extensions If you ne...
btAlignedObjectArray< const btCollisionObject * > m_objectsWithoutCollisionCheck
void setCcdSweptSphereRadius(btScalar radius)
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
void setContactStiffnessAndDamping(btScalar stiffness, btScalar damping)
void setDeactivationTime(btScalar time)
bool mergesSimulationIslands() const
btScalar m_ccdMotionThreshold
Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold...
btScalar m_contactProcessingThreshold
void setRollingFriction(btScalar frict)
btScalar m_contactDamping
void setIslandTag(int tag)
void setBroadphaseHandle(btBroadphaseProxy *handle)
BT_DECLARE_ALIGNED_ALLOCATOR()
btScalar m_spinningFriction
btBroadphaseProxy * m_broadphaseHandle
const btCollisionObject * getObjectWithoutCollision(int index)
int m_hasAnisotropicFriction
int getCollisionFlags() const
void setInterpolationAngularVelocity(const btVector3 &angvel)
const btVector3 & getInterpolationAngularVelocity() const
btScalar getCcdMotionThreshold() const
void setHitFraction(btScalar hitFraction)
btScalar m_rollingFriction
btVector3 m_customDebugColorRGB
void * internalGetExtensionPointer() const
Avoid using this internal API call, the extension pointer is used by some Bullet extensions.
void setInterpolationLinearVelocity(const btVector3 &linvel)
btScalar m_hitFraction
time of impact calculation
int getUpdateRevisionInternal() const
void setUserIndex(int index)
users can point to their objects, userPointer is not used by Bullet
btScalar getRestitution() const
int getActivationState() const
btScalar getRollingFriction() const
btScalar getCcdSquareMotionThreshold() const
void setInterpolationWorldTransform(const btTransform &trans)
btScalar m_contactStiffness
void setUserIndex3(int index)
const btVector3 & getInterpolationLinearVelocity() const
btScalar getCcdSweptSphereRadius() const
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
btVector3 can be used to represent 3D points and vectors.
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
btVector3DoubleData m_anisotropicFriction
btVector3DoubleData m_interpolationLinearVelocity
int m_collisionFilterMask
double m_deactivationTime
double m_contactProcessingThreshold
int m_hasAnisotropicFriction
double m_ccdSweptSphereRadius
btTransformDoubleData m_interpolationWorldTransform
int m_collisionFilterGroup
btTransformDoubleData m_worldTransform
void * m_broadphaseHandle
double m_contactStiffness
btVector3DoubleData m_interpolationAngularVelocity
btCollisionShapeData * m_rootCollisionShape
double m_ccdMotionThreshold
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
btVector3FloatData m_interpolationLinearVelocity
float m_ccdSweptSphereRadius
btVector3FloatData m_anisotropicFriction
float m_contactProcessingThreshold
int m_collisionFilterMask
btTransformFloatData m_interpolationWorldTransform
float m_ccdMotionThreshold
btVector3FloatData m_interpolationAngularVelocity
btTransformFloatData m_worldTransform
int m_collisionFilterGroup
int m_hasAnisotropicFriction
btCollisionShapeData * m_rootCollisionShape
void * m_broadphaseHandle
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64