Bullet Collision Detection & Physics Library: btCollisionObject.cpp Source File

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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
17 #include "btCollisionObject.h"
18 #include "LinearMath/btSerializer.h"
19
20 btCollisionObject::btCollisionObject()
21 : m_anisotropicFriction(1.f,1.f,1.f),
22 m_hasAnisotropicFriction(false),
23 m_contactProcessingThreshold(BT_LARGE_FLOAT),
24 m_broadphaseHandle(0),
25 m_collisionShape(0),
26 m_extensionPointer(0),
27 m_rootCollisionShape(0),
28 m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
29 m_islandTag1(-1),
30 m_companionId(-1),
31 m_activationState1(1),
32 m_deactivationTime(btScalar(0.)),
33 m_friction(btScalar(0.5)),
34 m_restitution(btScalar(0.)),
35 m_rollingFriction(0.0f),
36 m_internalType(CO_COLLISION_OBJECT),
37 m_userObjectPointer(0),
38 m_userIndex(-1),
39 m_hitFraction(btScalar(1.)),
40 m_ccdSweptSphereRadius(btScalar(0.)),
41 m_ccdMotionThreshold(btScalar(0.)),
42 m_checkCollideWith(false),
43 m_updateRevision(0)
44 {
45 m_worldTransform.setIdentity();
46 }
47
48 btCollisionObject::~btCollisionObject()
49 {
50 }
51
52 void btCollisionObject::setActivationState(int newState) const
53 {
54 if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
55 m_activationState1 = newState;
56 }
57
58 void btCollisionObject::forceActivationState(int newState) const
59 {
60 m_activationState1 = newState;
61 }
62
63 void btCollisionObject::activate(bool forceActivation) const
64 {
65 if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
66 {
67 setActivationState(ACTIVE_TAG);
68 m_deactivationTime = btScalar(0.);
69 }
70 }
71
72 const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* serializer) const
73 {
74
75 btCollisionObjectData* dataOut = (btCollisionObjectData*)dataBuffer;
76
77 m_worldTransform.serialize(dataOut->m_worldTransform);
78 m_interpolationWorldTransform.serialize(dataOut->m_interpolationWorldTransform);
79 m_interpolationLinearVelocity.serialize(dataOut->m_interpolationLinearVelocity);
80 m_interpolationAngularVelocity.serialize(dataOut->m_interpolationAngularVelocity);
81 m_anisotropicFriction.serialize(dataOut->m_anisotropicFriction);
82 dataOut->m_hasAnisotropicFriction = m_hasAnisotropicFriction;
83 dataOut->m_contactProcessingThreshold = m_contactProcessingThreshold;
84 dataOut->m_broadphaseHandle = 0;
85 dataOut->m_collisionShape = serializer->getUniquePointer(m_collisionShape);
86 dataOut->m_rootCollisionShape = 0;//@todo
87 dataOut->m_collisionFlags = m_collisionFlags;
88 dataOut->m_islandTag1 = m_islandTag1;
89 dataOut->m_companionId = m_companionId;
90 dataOut->m_activationState1 = m_activationState1;
91 dataOut->m_deactivationTime = m_deactivationTime;
92 dataOut->m_friction = m_friction;
93 dataOut->m_rollingFriction = m_rollingFriction;
94 dataOut->m_restitution = m_restitution;
95 dataOut->m_internalType = m_internalType;
96
97 char* name = (char*) serializer->findNameForPointer(this);
98 dataOut->m_name = (char*)serializer->getUniquePointer(name);
99 if (dataOut->m_name)
100 {
101 serializer->serializeName(name);
102 }
103 dataOut->m_hitFraction = m_hitFraction;
104 dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
105 dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
106 dataOut->m_checkCollideWith = m_checkCollideWith;
107
108 return btCollisionObjectDataName;
109 }
110
111
112 void btCollisionObject::serializeSingleObject(class btSerializer* serializer) const
113 {
114 int len = calculateSerializeBufferSize();
115 btChunk* chunk = serializer->allocate(len,1);
116 const char* structType = serialize(chunk->m_oldPtr, serializer);
117 serializer->finalizeChunk(chunk,structType,BT_COLLISIONOBJECT_CODE,(void*)this);
118 }
btCollisionObject::m_companionId
int m_companionId
Definition: btCollisionObject.h:81
ACTIVE_TAG
#define ACTIVE_TAG
Definition: btCollisionObject.h:22
BT_LARGE_FLOAT
#define BT_LARGE_FLOAT
Definition: btScalar.h:280
btChunk
Definition: btSerializer.h:51
btCollisionObject::m_ccdMotionThreshold
btScalar m_ccdMotionThreshold
Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold...
Definition: btCollisionObject.h:107
btCollisionObject::m_interpolationWorldTransform
btTransform m_interpolationWorldTransform
m_interpolationWorldTransform is used for CCD and interpolation it can be either previous or future (...
Definition: btCollisionObject.h:58
btCollisionObject::m_ccdSweptSphereRadius
btScalar m_ccdSweptSphereRadius
Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
Definition: btCollisionObject.h:104
btCollisionObject::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btCollisionObject.h:582
btSerializer::getUniquePointer
virtual void * getUniquePointer(void *oldPtr)=0
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:172
btCollisionObject::m_hitFraction
btScalar m_hitFraction
time of impact calculation
Definition: btCollisionObject.h:101
btCollisionObject::CF_STATIC_OBJECT
Definition: btCollisionObject.h:124
btCollisionObjectData
#define btCollisionObjectData
Definition: btCollisionObject.h:41
btCollisionObject::m_worldTransform
btTransform m_worldTransform
Definition: btCollisionObject.h:54
btCollisionObject::m_collisionShape
btCollisionShape * m_collisionShape
Definition: btCollisionObject.h:69
btSerializer
Definition: btSerializer.h:68
btCollisionObject::~btCollisionObject
virtual ~btCollisionObject()
Definition: btCollisionObject.cpp:48
btCollisionObject::forceActivationState
void forceActivationState(int newState) const
Definition: btCollisionObject.cpp:58
btCollisionObject::m_anisotropicFriction
btVector3 m_anisotropicFriction
Definition: btCollisionObject.h:64
btCollisionObject::m_deactivationTime
btScalar m_deactivationTime
Definition: btCollisionObject.h:84
btCollisionObject::serialize
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btCollisionObject.cpp:72
btCollisionObject::m_hasAnisotropicFriction
int m_hasAnisotropicFriction
Definition: btCollisionObject.h:65
btCollisionObject::setActivationState
void setActivationState(int newState) const
Definition: btCollisionObject.cpp:52
btCollisionObjectDataName
#define btCollisionObjectDataName
Definition: btCollisionObject.h:42
btCollisionObject::m_internalType
int m_internalType
m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
Definition: btCollisionObject.h:92
btCollisionObject::m_activationState1
int m_activationState1
Definition: btCollisionObject.h:83
btVector3::serialize
void serialize(struct btVector3Data &dataOut) const
Definition: btVector3.h:1340
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
DISABLE_SIMULATION
#define DISABLE_SIMULATION
Definition: btCollisionObject.h:26
btCollisionObject::m_contactProcessingThreshold
btScalar m_contactProcessingThreshold
Definition: btCollisionObject.h:66
btCollisionObject::m_collisionFlags
int m_collisionFlags
Definition: btCollisionObject.h:78
BT_COLLISIONOBJECT_CODE
#define BT_COLLISIONOBJECT_CODE
Definition: btSerializer.h:119
btCollisionObject::activate
void activate(bool forceActivation=false) const
Definition: btCollisionObject.cpp:63
btCollisionObject::m_rollingFriction
btScalar m_rollingFriction
Definition: btCollisionObject.h:88
btCollisionObject::CF_KINEMATIC_OBJECT
Definition: btCollisionObject.h:125
btSerializer::finalizeChunk
virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
btSerializer::serializeName
virtual void serializeName(const char *ptr)=0
btCollisionObject::m_interpolationAngularVelocity
btVector3 m_interpolationAngularVelocity
Definition: btCollisionObject.h:62
btCollisionObject.h
btCollisionObject::m_checkCollideWith
int m_checkCollideWith
If some object should have elaborate collision filtering by sub-classes.
Definition: btCollisionObject.h:110
DISABLE_DEACTIVATION
#define DISABLE_DEACTIVATION
Definition: btCollisionObject.h:25
btCollisionObject::serializeSingleObject
virtual void serializeSingleObject(class btSerializer *serializer) const
Definition: btCollisionObject.cpp:112
btCollisionObject::m_restitution
btScalar m_restitution
Definition: btCollisionObject.h:87
btCollisionObject::m_islandTag1
int m_islandTag1
Definition: btCollisionObject.h:80
btSerializer::findNameForPointer
virtual const char * findNameForPointer(const void *ptr) const =0
btTransform::serialize
void serialize(struct btTransformData &dataOut) const
Definition: btTransform.h:267
btCollisionObject::m_interpolationLinearVelocity
btVector3 m_interpolationLinearVelocity
Definition: btCollisionObject.h:61
btChunk::m_oldPtr
void * m_oldPtr
Definition: btSerializer.h:56
btCollisionObject::m_friction
btScalar m_friction
Definition: btCollisionObject.h:86
btSerializer::allocate
virtual btChunk * allocate(size_t size, int numElements)=0
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btSerializer.h
btCollisionObject::btCollisionObject
btCollisionObject()
Definition: btCollisionObject.cpp:20