Bullet Collision Detection & Physics Library
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btCollisionObject can be used to manage collision detection objects. More...
#include <btCollisionObject.h>
Public Types | |
enum | CollisionFlags { CF_STATIC_OBJECT = 1, CF_KINEMATIC_OBJECT = 2, CF_NO_CONTACT_RESPONSE = 4, CF_CUSTOM_MATERIAL_CALLBACK = 8, CF_CHARACTER_OBJECT = 16, CF_DISABLE_VISUALIZE_OBJECT = 32, CF_DISABLE_SPU_COLLISION_PROCESSING = 64 } |
enum | CollisionObjectTypes { CO_COLLISION_OBJECT =1, CO_RIGID_BODY =2, CO_GHOST_OBJECT =4, CO_SOFT_BODY =8, CO_HF_FLUID =16, CO_USER_TYPE =32, CO_FEATHERSTONE_LINK =64 } |
enum | AnisotropicFrictionFlags { CF_ANISOTROPIC_FRICTION_DISABLED =0, CF_ANISOTROPIC_FRICTION = 1, CF_ANISOTROPIC_ROLLING_FRICTION = 2 } |
Public Member Functions | |
BT_DECLARE_ALIGNED_ALLOCATOR () | |
bool | mergesSimulationIslands () const |
const btVector3 & | getAnisotropicFriction () const |
void | setAnisotropicFriction (const btVector3 &anisotropicFriction, int frictionMode=CF_ANISOTROPIC_FRICTION) |
bool | hasAnisotropicFriction (int frictionMode=CF_ANISOTROPIC_FRICTION) const |
void | setContactProcessingThreshold (btScalar contactProcessingThreshold) |
the constraint solver can discard solving contacts, if the distance is above this threshold. More... | |
btScalar | getContactProcessingThreshold () const |
bool | isStaticObject () const |
bool | isKinematicObject () const |
bool | isStaticOrKinematicObject () const |
bool | hasContactResponse () const |
btCollisionObject () | |
virtual | ~btCollisionObject () |
virtual void | setCollisionShape (btCollisionShape *collisionShape) |
const btCollisionShape * | getCollisionShape () const |
btCollisionShape * | getCollisionShape () |
void | setIgnoreCollisionCheck (const btCollisionObject *co, bool ignoreCollisionCheck) |
virtual bool | checkCollideWithOverride (const btCollisionObject *co) const |
void * | internalGetExtensionPointer () const |
Avoid using this internal API call, the extension pointer is used by some Bullet extensions. More... | |
void | internalSetExtensionPointer (void *pointer) |
Avoid using this internal API call, the extension pointer is used by some Bullet extensions If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead. More... | |
int | getActivationState () const |
void | setActivationState (int newState) const |
void | setDeactivationTime (btScalar time) |
btScalar | getDeactivationTime () const |
void | forceActivationState (int newState) const |
void | activate (bool forceActivation=false) const |
bool | isActive () const |
void | setRestitution (btScalar rest) |
btScalar | getRestitution () const |
void | setFriction (btScalar frict) |
btScalar | getFriction () const |
void | setRollingFriction (btScalar frict) |
btScalar | getRollingFriction () const |
int | getInternalType () const |
reserved for Bullet internal usage More... | |
btTransform & | getWorldTransform () |
const btTransform & | getWorldTransform () const |
void | setWorldTransform (const btTransform &worldTrans) |
btBroadphaseProxy * | getBroadphaseHandle () |
const btBroadphaseProxy * | getBroadphaseHandle () const |
void | setBroadphaseHandle (btBroadphaseProxy *handle) |
const btTransform & | getInterpolationWorldTransform () const |
btTransform & | getInterpolationWorldTransform () |
void | setInterpolationWorldTransform (const btTransform &trans) |
void | setInterpolationLinearVelocity (const btVector3 &linvel) |
void | setInterpolationAngularVelocity (const btVector3 &angvel) |
const btVector3 & | getInterpolationLinearVelocity () const |
const btVector3 & | getInterpolationAngularVelocity () const |
int | getIslandTag () const |
void | setIslandTag (int tag) |
int | getCompanionId () const |
void | setCompanionId (int id) |
btScalar | getHitFraction () const |
void | setHitFraction (btScalar hitFraction) |
int | getCollisionFlags () const |
void | setCollisionFlags (int flags) |
btScalar | getCcdSweptSphereRadius () const |
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm:: More... | |
void | setCcdSweptSphereRadius (btScalar radius) |
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm:: More... | |
btScalar | getCcdMotionThreshold () const |
btScalar | getCcdSquareMotionThreshold () const |
void | setCcdMotionThreshold (btScalar ccdMotionThreshold) |
Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold. More... | |
void * | getUserPointer () const |
users can point to their objects, userPointer is not used by Bullet More... | |
int | getUserIndex () const |
void | setUserPointer (void *userPointer) |
users can point to their objects, userPointer is not used by Bullet More... | |
void | setUserIndex (int index) |
users can point to their objects, userPointer is not used by Bullet More... | |
int | getUpdateRevisionInternal () const |
bool | checkCollideWith (const btCollisionObject *co) const |
virtual int | calculateSerializeBufferSize () const |
virtual const char * | serialize (void *dataBuffer, class btSerializer *serializer) const |
fills the dataBuffer and returns the struct name (and 0 on failure) More... | |
virtual void | serializeSingleObject (class btSerializer *serializer) const |
Protected Attributes | |
btTransform | m_worldTransform |
btTransform | m_interpolationWorldTransform |
m_interpolationWorldTransform is used for CCD and interpolation it can be either previous or future (predicted) transform More... | |
btVector3 | m_interpolationLinearVelocity |
btVector3 | m_interpolationAngularVelocity |
btVector3 | m_anisotropicFriction |
int | m_hasAnisotropicFriction |
btScalar | m_contactProcessingThreshold |
btBroadphaseProxy * | m_broadphaseHandle |
btCollisionShape * | m_collisionShape |
void * | m_extensionPointer |
m_extensionPointer is used by some internal low-level Bullet extensions. More... | |
btCollisionShape * | m_rootCollisionShape |
m_rootCollisionShape is temporarily used to store the original collision shape The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes If it is NULL, the m_collisionShape is not temporarily replaced. More... | |
int | m_collisionFlags |
int | m_islandTag1 |
int | m_companionId |
int | m_activationState1 |
btScalar | m_deactivationTime |
btScalar | m_friction |
btScalar | m_restitution |
btScalar | m_rollingFriction |
int | m_internalType |
m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc. More... | |
void * | m_userObjectPointer |
users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer More... | |
int | m_userIndex |
btScalar | m_hitFraction |
time of impact calculation More... | |
btScalar | m_ccdSweptSphereRadius |
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm:: More... | |
btScalar | m_ccdMotionThreshold |
Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold. More... | |
int | m_checkCollideWith |
If some object should have elaborate collision filtering by sub-classes. More... | |
btAlignedObjectArray< const btCollisionObject * > | m_objectsWithoutCollisionCheck |
int | m_updateRevision |
internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation. More... | |
btCollisionObject can be used to manage collision detection objects.
btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy. They can be added to the btCollisionWorld.
Definition at line 49 of file btCollisionObject.h.
Enumerator | |
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CF_ANISOTROPIC_FRICTION_DISABLED | |
CF_ANISOTROPIC_FRICTION | |
CF_ANISOTROPIC_ROLLING_FRICTION |
Definition at line 146 of file btCollisionObject.h.
Enumerator | |
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CF_STATIC_OBJECT | |
CF_KINEMATIC_OBJECT | |
CF_NO_CONTACT_RESPONSE | |
CF_CUSTOM_MATERIAL_CALLBACK | |
CF_CHARACTER_OBJECT | |
CF_DISABLE_VISUALIZE_OBJECT | |
CF_DISABLE_SPU_COLLISION_PROCESSING |
Definition at line 122 of file btCollisionObject.h.
Definition at line 133 of file btCollisionObject.h.
btCollisionObject::btCollisionObject | ( | ) |
Definition at line 20 of file btCollisionObject.cpp.
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Definition at line 48 of file btCollisionObject.cpp.
void btCollisionObject::activate | ( | bool | forceActivation = false | ) | const |
Definition at line 63 of file btCollisionObject.cpp.
btCollisionObject::BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
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Reimplemented in btSoftBody, and btRigidBody.
Definition at line 582 of file btCollisionObject.h.
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Definition at line 497 of file btCollisionObject.h.
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Reimplemented in btMultiBodyLinkCollider.
Definition at line 243 of file btCollisionObject.h.
void btCollisionObject::forceActivationState | ( | int | newState | ) | const |
Definition at line 58 of file btCollisionObject.cpp.
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Definition at line 269 of file btCollisionObject.h.
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Definition at line 159 of file btCollisionObject.h.
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Definition at line 344 of file btCollisionObject.h.
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Definition at line 349 of file btCollisionObject.h.
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Definition at line 451 of file btCollisionObject.h.
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Definition at line 456 of file btCollisionObject.h.
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Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
Definition at line 440 of file btCollisionObject.h.
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Definition at line 429 of file btCollisionObject.h.
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Definition at line 215 of file btCollisionObject.h.
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Definition at line 220 of file btCollisionObject.h.
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Definition at line 408 of file btCollisionObject.h.
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Definition at line 180 of file btCollisionObject.h.
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Definition at line 277 of file btCollisionObject.h.
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Definition at line 305 of file btCollisionObject.h.
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Definition at line 418 of file btCollisionObject.h.
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reserved for Bullet internal usage
Definition at line 322 of file btCollisionObject.h.
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Definition at line 393 of file btCollisionObject.h.
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Definition at line 388 of file btCollisionObject.h.
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Definition at line 360 of file btCollisionObject.h.
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Definition at line 365 of file btCollisionObject.h.
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Definition at line 398 of file btCollisionObject.h.
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Definition at line 296 of file btCollisionObject.h.
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Definition at line 315 of file btCollisionObject.h.
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Definition at line 491 of file btCollisionObject.h.
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Definition at line 475 of file btCollisionObject.h.
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users can point to their objects, userPointer is not used by Bullet
Definition at line 470 of file btCollisionObject.h.
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Definition at line 327 of file btCollisionObject.h.
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Definition at line 332 of file btCollisionObject.h.
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Definition at line 169 of file btCollisionObject.h.
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Definition at line 199 of file btCollisionObject.h.
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Avoid using this internal API call, the extension pointer is used by some Bullet extensions.
If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
Definition at line 258 of file btCollisionObject.h.
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Avoid using this internal API call, the extension pointer is used by some Bullet extensions If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
Definition at line 264 of file btCollisionObject.h.
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Definition at line 286 of file btCollisionObject.h.
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Definition at line 189 of file btCollisionObject.h.
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Definition at line 185 of file btCollisionObject.h.
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Definition at line 194 of file btCollisionObject.h.
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static objects, kinematic and object without contact response don't merge islands
Definition at line 153 of file btCollisionObject.h.
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fills the dataBuffer and returns the struct name (and 0 on failure)
Reimplemented in btSoftBody, and btRigidBody.
Definition at line 72 of file btCollisionObject.cpp.
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Reimplemented in btRigidBody.
Definition at line 112 of file btCollisionObject.cpp.
void btCollisionObject::setActivationState | ( | int | newState | ) | const |
Definition at line 52 of file btCollisionObject.cpp.
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Definition at line 163 of file btCollisionObject.h.
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Definition at line 354 of file btCollisionObject.h.
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Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold.
Definition at line 464 of file btCollisionObject.h.
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Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
Definition at line 446 of file btCollisionObject.h.
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Definition at line 434 of file btCollisionObject.h.
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Reimplemented in btSoftBody.
Definition at line 208 of file btCollisionObject.h.
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Definition at line 413 of file btCollisionObject.h.
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the constraint solver can discard solving contacts, if the distance is above this threshold.
0 by default. Note that using contacts with positive distance can improve stability. It increases, however, the chance of colliding with degerate contacts, such as 'interior' triangle edges
Definition at line 176 of file btCollisionObject.h.
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Definition at line 273 of file btCollisionObject.h.
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Definition at line 300 of file btCollisionObject.h.
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Definition at line 423 of file btCollisionObject.h.
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Definition at line 225 of file btCollisionObject.h.
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Definition at line 382 of file btCollisionObject.h.
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Definition at line 376 of file btCollisionObject.h.
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Definition at line 370 of file btCollisionObject.h.
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Definition at line 403 of file btCollisionObject.h.
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Definition at line 291 of file btCollisionObject.h.
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Definition at line 310 of file btCollisionObject.h.
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users can point to their objects, userPointer is not used by Bullet
Definition at line 486 of file btCollisionObject.h.
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users can point to their objects, userPointer is not used by Bullet
Definition at line 480 of file btCollisionObject.h.
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Definition at line 337 of file btCollisionObject.h.
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Definition at line 83 of file btCollisionObject.h.
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Definition at line 64 of file btCollisionObject.h.
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Definition at line 68 of file btCollisionObject.h.
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Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold.
Definition at line 107 of file btCollisionObject.h.
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Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
Definition at line 104 of file btCollisionObject.h.
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If some object should have elaborate collision filtering by sub-classes.
Definition at line 110 of file btCollisionObject.h.
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Definition at line 78 of file btCollisionObject.h.
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Definition at line 69 of file btCollisionObject.h.
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Definition at line 81 of file btCollisionObject.h.
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Definition at line 66 of file btCollisionObject.h.
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Definition at line 84 of file btCollisionObject.h.
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m_extensionPointer is used by some internal low-level Bullet extensions.
Definition at line 71 of file btCollisionObject.h.
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Definition at line 86 of file btCollisionObject.h.
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Definition at line 65 of file btCollisionObject.h.
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time of impact calculation
Definition at line 101 of file btCollisionObject.h.
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m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
do not assign your own m_internalType unless you write a new dynamics object class.
Definition at line 92 of file btCollisionObject.h.
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Definition at line 62 of file btCollisionObject.h.
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Definition at line 61 of file btCollisionObject.h.
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m_interpolationWorldTransform is used for CCD and interpolation it can be either previous or future (predicted) transform
Definition at line 58 of file btCollisionObject.h.
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Definition at line 80 of file btCollisionObject.h.
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Definition at line 112 of file btCollisionObject.h.
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Definition at line 87 of file btCollisionObject.h.
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Definition at line 88 of file btCollisionObject.h.
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m_rootCollisionShape is temporarily used to store the original collision shape The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes If it is NULL, the m_collisionShape is not temporarily replaced.
Definition at line 76 of file btCollisionObject.h.
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internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation.
Definition at line 115 of file btCollisionObject.h.
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Definition at line 98 of file btCollisionObject.h.
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users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
Definition at line 96 of file btCollisionObject.h.
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Definition at line 54 of file btCollisionObject.h.