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, CF_HAS_CONTACT_STIFFNESS_DAMPING = 128 } |
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 |
void | setSpinningFriction (btScalar frict) |
btScalar | getSpinningFriction () const |
void | setContactStiffnessAndDamping (btScalar stiffness, btScalar damping) |
btScalar | getContactStiffness () const |
btScalar | getContactDamping () 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 |
int | getUserIndex2 () 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... | |
void | setUserIndex2 (int index) |
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 |
btScalar | m_spinningFriction |
btScalar | m_contactDamping |
btScalar | m_contactStiffness |
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_userIndex2 |
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 154 of file btCollisionObject.h.
Definition at line 129 of file btCollisionObject.h.
Definition at line 141 of file btCollisionObject.h.
btCollisionObject::btCollisionObject | ( | ) |
Definition at line 20 of file btCollisionObject.cpp.
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Definition at line 52 of file btCollisionObject.cpp.
void btCollisionObject::activate | ( | bool | forceActivation = false | ) | const |
Definition at line 67 of file btCollisionObject.cpp.
btCollisionObject::BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
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Reimplemented in btSoftBody, and btRigidBody.
Definition at line 636 of file btCollisionObject.h.
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Definition at line 548 of file btCollisionObject.h.
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Reimplemented in btMultiBodyLinkCollider.
Definition at line 251 of file btCollisionObject.h.
void btCollisionObject::forceActivationState | ( | int | newState | ) | const |
Definition at line 62 of file btCollisionObject.cpp.
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Definition at line 277 of file btCollisionObject.h.
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Definition at line 167 of file btCollisionObject.h.
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Definition at line 384 of file btCollisionObject.h.
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Definition at line 389 of file btCollisionObject.h.
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Definition at line 491 of file btCollisionObject.h.
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Definition at line 496 of file btCollisionObject.h.
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Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
Definition at line 480 of file btCollisionObject.h.
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Definition at line 469 of file btCollisionObject.h.
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Definition at line 223 of file btCollisionObject.h.
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Definition at line 228 of file btCollisionObject.h.
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Definition at line 448 of file btCollisionObject.h.
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Definition at line 356 of file btCollisionObject.h.
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Definition at line 188 of file btCollisionObject.h.
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Definition at line 351 of file btCollisionObject.h.
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Definition at line 285 of file btCollisionObject.h.
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Definition at line 313 of file btCollisionObject.h.
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Definition at line 458 of file btCollisionObject.h.
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reserved for Bullet internal usage
Definition at line 362 of file btCollisionObject.h.
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Definition at line 433 of file btCollisionObject.h.
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Definition at line 428 of file btCollisionObject.h.
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Definition at line 400 of file btCollisionObject.h.
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Definition at line 405 of file btCollisionObject.h.
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Definition at line 438 of file btCollisionObject.h.
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Definition at line 304 of file btCollisionObject.h.
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Definition at line 323 of file btCollisionObject.h.
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Definition at line 332 of file btCollisionObject.h.
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Definition at line 542 of file btCollisionObject.h.
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Definition at line 515 of file btCollisionObject.h.
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Definition at line 520 of file btCollisionObject.h.
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users can point to their objects, userPointer is not used by Bullet
Definition at line 510 of file btCollisionObject.h.
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Definition at line 367 of file btCollisionObject.h.
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Definition at line 372 of file btCollisionObject.h.
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Definition at line 177 of file btCollisionObject.h.
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Definition at line 207 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 266 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 272 of file btCollisionObject.h.
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Definition at line 294 of file btCollisionObject.h.
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Definition at line 197 of file btCollisionObject.h.
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Definition at line 193 of file btCollisionObject.h.
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Definition at line 202 of file btCollisionObject.h.
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static objects, kinematic and object without contact response don't merge islands
Definition at line 161 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 76 of file btCollisionObject.cpp.
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Reimplemented in btRigidBody.
Definition at line 118 of file btCollisionObject.cpp.
void btCollisionObject::setActivationState | ( | int | newState | ) | const |
Definition at line 56 of file btCollisionObject.cpp.
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Definition at line 171 of file btCollisionObject.h.
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Definition at line 394 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 504 of file btCollisionObject.h.
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Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
Definition at line 486 of file btCollisionObject.h.
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Definition at line 474 of file btCollisionObject.h.
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Reimplemented in btSoftBody.
Definition at line 216 of file btCollisionObject.h.
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Definition at line 453 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 184 of file btCollisionObject.h.
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Definition at line 336 of file btCollisionObject.h.
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Definition at line 281 of file btCollisionObject.h.
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Definition at line 308 of file btCollisionObject.h.
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Definition at line 299 of file btCollisionObject.h.
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Definition at line 318 of file btCollisionObject.h.
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Definition at line 327 of file btCollisionObject.h.
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users can point to their objects, userPointer is not used by Bullet
Definition at line 532 of file btCollisionObject.h.
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Definition at line 537 of file btCollisionObject.h.
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users can point to their objects, userPointer is not used by Bullet
Definition at line 526 of file btCollisionObject.h.
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Definition at line 377 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 114 of file btCollisionObject.h.
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Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
Definition at line 111 of file btCollisionObject.h.
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If some object should have elaborate collision filtering by sub-classes.
Definition at line 117 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 90 of file btCollisionObject.h.
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Definition at line 66 of file btCollisionObject.h.
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Definition at line 91 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 108 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 97 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 119 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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Definition at line 89 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 122 of file btCollisionObject.h.
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Definition at line 105 of file btCollisionObject.h.
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Definition at line 103 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 101 of file btCollisionObject.h.
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Definition at line 54 of file btCollisionObject.h.