Bullet Collision Detection & Physics Library: btCollisionObject Class Reference

Bullet Collision Detection & Physics Library

Public Types | Public Member Functions | Protected Attributes | List of all members
btCollisionObject Class Reference

btCollisionObject can be used to manage collision detection objects. More...

`#include <btCollisionObject.h>`

Inheritance diagram for btCollisionObject:
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Collaboration diagram for btCollisionObject:
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## 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, CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256 }
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)
int | getWorldArrayIndex () const
void | setWorldArrayIndex (int ix)
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
void | setCustomDebugColor (const btVector3 &colorRGB)
void | removeCustomDebugColor ()
bool | getCustomDebugColor (btVector3 &colorRGB) 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_worldArrayIndex
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...
btVector3 | m_customDebugColorRGB

## Detailed Description

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.

## Member Enumeration Documentation

## § AnisotropicFrictionFlags

enum btCollisionObject::AnisotropicFrictionFlags

Enumerator
CF_ANISOTROPIC_FRICTION_DISABLED |
CF_ANISOTROPIC_FRICTION |
CF_ANISOTROPIC_ROLLING_FRICTION |

Definition at line 157 of file btCollisionObject.h.

## § CollisionFlags

enum btCollisionObject::CollisionFlags

Enumerator
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 |
CF_HAS_CONTACT_STIFFNESS_DAMPING |
CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR |

Definition at line 131 of file btCollisionObject.h.

## § CollisionObjectTypes

enum btCollisionObject::CollisionObjectTypes

Enumerator
CO_COLLISION_OBJECT |
CO_RIGID_BODY |
CO_GHOST_OBJECT | CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter It is useful for collision sensors, explosion objects, character controller etc.
CO_SOFT_BODY |
CO_HF_FLUID |
CO_USER_TYPE |
CO_FEATHERSTONE_LINK |

Definition at line 144 of file btCollisionObject.h.

## Constructor & Destructor Documentation

## § btCollisionObject()

btCollisionObject::btCollisionObject | ( |  | ) |

Definition at line 20 of file btCollisionObject.cpp.

## § ~btCollisionObject()

btCollisionObject::~btCollisionObject | ( |  | ) |
| virtual

Definition at line 53 of file btCollisionObject.cpp.

## Member Function Documentation

## § activate()

void btCollisionObject::activate | ( | bool | forceActivation = `false` | ) | const

Definition at line 68 of file btCollisionObject.cpp.

## § BT_DECLARE_ALIGNED_ALLOCATOR()

btCollisionObject::BT_DECLARE_ALIGNED_ALLOCATOR | ( |  | ) |

## § calculateSerializeBufferSize()

int btCollisionObject::calculateSerializeBufferSize | ( |  | ) | const
| inlinevirtual

Reimplemented in btSoftBody, and btRigidBody.

Definition at line 670 of file btCollisionObject.h.

## § checkCollideWith()

bool btCollisionObject::checkCollideWith | ( | const btCollisionObject * | co | ) | const
| inline

Definition at line 582 of file btCollisionObject.h.

## § checkCollideWithOverride()

virtual bool btCollisionObject::checkCollideWithOverride | ( | const btCollisionObject * | co | ) | const
| inlinevirtual

Reimplemented in btMultiBodyLinkCollider.

Definition at line 254 of file btCollisionObject.h.

## § forceActivationState()

void btCollisionObject::forceActivationState | ( | int | newState | ) | const

Definition at line 63 of file btCollisionObject.cpp.

## § getActivationState()

int btCollisionObject::getActivationState | ( |  | ) | const
| inline

Definition at line 280 of file btCollisionObject.h.

## § getAnisotropicFriction()

const btVector3& btCollisionObject::getAnisotropicFriction | ( |  | ) | const
| inline

Definition at line 170 of file btCollisionObject.h.

## § getBroadphaseHandle() [1/2]

btBroadphaseProxy* btCollisionObject::getBroadphaseHandle | ( |  | ) |
| inline

Definition at line 387 of file btCollisionObject.h.

## § getBroadphaseHandle() [2/2]

const btBroadphaseProxy* btCollisionObject::getBroadphaseHandle | ( |  | ) | const
| inline

Definition at line 392 of file btCollisionObject.h.

## § getCcdMotionThreshold()

btScalar btCollisionObject::getCcdMotionThreshold | ( |  | ) | const
| inline

Definition at line 505 of file btCollisionObject.h.

## § getCcdSquareMotionThreshold()

btScalar btCollisionObject::getCcdSquareMotionThreshold | ( |  | ) | const
| inline

Definition at line 510 of file btCollisionObject.h.

## § getCcdSweptSphereRadius()

btScalar btCollisionObject::getCcdSweptSphereRadius | ( |  | ) | const
| inline

Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::

Definition at line 494 of file btCollisionObject.h.

## § getCollisionFlags()

int btCollisionObject::getCollisionFlags | ( |  | ) | const
| inline

Definition at line 483 of file btCollisionObject.h.

## § getCollisionShape() [1/2]

const btCollisionShape* btCollisionObject::getCollisionShape | ( |  | ) | const
| inline

Definition at line 226 of file btCollisionObject.h.

## § getCollisionShape() [2/2]

btCollisionShape* btCollisionObject::getCollisionShape | ( |  | ) |
| inline

Definition at line 231 of file btCollisionObject.h.

## § getCompanionId()

int btCollisionObject::getCompanionId | ( |  | ) | const
| inline

Definition at line 451 of file btCollisionObject.h.

## § getContactDamping()

btScalar btCollisionObject::getContactDamping | ( |  | ) | const
| inline

Definition at line 359 of file btCollisionObject.h.

## § getContactProcessingThreshold()

btScalar btCollisionObject::getContactProcessingThreshold | ( |  | ) | const
| inline

Definition at line 191 of file btCollisionObject.h.

## § getContactStiffness()

btScalar btCollisionObject::getContactStiffness | ( |  | ) | const
| inline

Definition at line 354 of file btCollisionObject.h.

## § getCustomDebugColor()

bool btCollisionObject::getCustomDebugColor | ( | btVector3 & | colorRGB | ) | const
| inline

Definition at line 572 of file btCollisionObject.h.

## § getDeactivationTime()

btScalar btCollisionObject::getDeactivationTime | ( |  | ) | const
| inline

Definition at line 288 of file btCollisionObject.h.

## § getFriction()

btScalar btCollisionObject::getFriction | ( |  | ) | const
| inline

Definition at line 316 of file btCollisionObject.h.

## § getHitFraction()

btScalar btCollisionObject::getHitFraction | ( |  | ) | const
| inline

Definition at line 472 of file btCollisionObject.h.

## § getInternalType()

int btCollisionObject::getInternalType | ( |  | ) | const
| inline

reserved for Bullet internal usage

Definition at line 365 of file btCollisionObject.h.

## § getInterpolationAngularVelocity()

const btVector3& btCollisionObject::getInterpolationAngularVelocity | ( |  | ) | const
| inline

Definition at line 436 of file btCollisionObject.h.

## § getInterpolationLinearVelocity()

const btVector3& btCollisionObject::getInterpolationLinearVelocity | ( |  | ) | const
| inline

Definition at line 431 of file btCollisionObject.h.

## § getInterpolationWorldTransform() [1/2]

const btTransform& btCollisionObject::getInterpolationWorldTransform | ( |  | ) | const
| inline

Definition at line 403 of file btCollisionObject.h.

## § getInterpolationWorldTransform() [2/2]

btTransform& btCollisionObject::getInterpolationWorldTransform | ( |  | ) |
| inline

Definition at line 408 of file btCollisionObject.h.

## § getIslandTag()

int btCollisionObject::getIslandTag | ( |  | ) | const
| inline

Definition at line 441 of file btCollisionObject.h.

## § getRestitution()

btScalar btCollisionObject::getRestitution | ( |  | ) | const
| inline

Definition at line 307 of file btCollisionObject.h.

## § getRollingFriction()

btScalar btCollisionObject::getRollingFriction | ( |  | ) | const
| inline

Definition at line 326 of file btCollisionObject.h.

## § getSpinningFriction()

btScalar btCollisionObject::getSpinningFriction | ( |  | ) | const
| inline

Definition at line 335 of file btCollisionObject.h.

## § getUpdateRevisionInternal()

int btCollisionObject::getUpdateRevisionInternal | ( |  | ) | const
| inline

Definition at line 556 of file btCollisionObject.h.

## § getUserIndex()

int btCollisionObject::getUserIndex | ( |  | ) | const
| inline

Definition at line 529 of file btCollisionObject.h.

## § getUserIndex2()

int btCollisionObject::getUserIndex2 | ( |  | ) | const
| inline

Definition at line 534 of file btCollisionObject.h.

## § getUserPointer()

void* btCollisionObject::getUserPointer | ( |  | ) | const
| inline

users can point to their objects, userPointer is not used by Bullet

Definition at line 524 of file btCollisionObject.h.

## § getWorldArrayIndex()

int btCollisionObject::getWorldArrayIndex | ( |  | ) | const
| inline

Definition at line 461 of file btCollisionObject.h.

## § getWorldTransform() [1/2]

btTransform& btCollisionObject::getWorldTransform | ( |  | ) |
| inline

Definition at line 370 of file btCollisionObject.h.

## § getWorldTransform() [2/2]

const btTransform& btCollisionObject::getWorldTransform | ( |  | ) | const
| inline

Definition at line 375 of file btCollisionObject.h.

## § hasAnisotropicFriction()

bool btCollisionObject::hasAnisotropicFriction | ( | int | frictionMode = `CF_ANISOTROPIC_FRICTION` | ) | const
| inline

Definition at line 180 of file btCollisionObject.h.

## § hasContactResponse()

bool btCollisionObject::hasContactResponse | ( |  | ) | const
| inline

Definition at line 210 of file btCollisionObject.h.

## § internalGetExtensionPointer()

void* btCollisionObject::internalGetExtensionPointer | ( |  | ) | const
| inline

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 269 of file btCollisionObject.h.

## § internalSetExtensionPointer()

void btCollisionObject::internalSetExtensionPointer | ( | void * | pointer | ) |
| inline

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 275 of file btCollisionObject.h.

## § isActive()

bool btCollisionObject::isActive | ( |  | ) | const
| inline

Definition at line 297 of file btCollisionObject.h.

## § isKinematicObject()

bool btCollisionObject::isKinematicObject | ( |  | ) | const
| inline

Definition at line 200 of file btCollisionObject.h.

## § isStaticObject()

bool btCollisionObject::isStaticObject | ( |  | ) | const
| inline

Definition at line 196 of file btCollisionObject.h.

## § isStaticOrKinematicObject()

bool btCollisionObject::isStaticOrKinematicObject | ( |  | ) | const
| inline

Definition at line 205 of file btCollisionObject.h.

## § mergesSimulationIslands()

bool btCollisionObject::mergesSimulationIslands | ( |  | ) | const
| inline

static objects, kinematic and object without contact response don't merge islands

Definition at line 164 of file btCollisionObject.h.

## § removeCustomDebugColor()

void btCollisionObject::removeCustomDebugColor | ( |  | ) |
| inline

Definition at line 567 of file btCollisionObject.h.

## § serialize()

const char * btCollisionObject::serialize | ( | void * | dataBuffer,
|  | class btSerializer * | serializer
| ) |  | const
| virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

Reimplemented in btSoftBody, and btRigidBody.

Definition at line 77 of file btCollisionObject.cpp.

## § serializeSingleObject()

void btCollisionObject::serializeSingleObject | ( | class btSerializer * | serializer | ) | const
| virtual

Reimplemented in btRigidBody.

Definition at line 119 of file btCollisionObject.cpp.

## § setActivationState()

void btCollisionObject::setActivationState | ( | int | newState | ) | const

Definition at line 57 of file btCollisionObject.cpp.

## § setAnisotropicFriction()

void btCollisionObject::setAnisotropicFriction | ( | const btVector3 & | anisotropicFriction,
|  | int | frictionMode = `CF_ANISOTROPIC_FRICTION`
| ) |  |
| inline

Definition at line 174 of file btCollisionObject.h.

## § setBroadphaseHandle()

void btCollisionObject::setBroadphaseHandle | ( | btBroadphaseProxy * | handle | ) |
| inline

Definition at line 397 of file btCollisionObject.h.

## § setCcdMotionThreshold()

void btCollisionObject::setCcdMotionThreshold | ( | btScalar | ccdMotionThreshold | ) |
| inline

Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold.

Definition at line 518 of file btCollisionObject.h.

## § setCcdSweptSphereRadius()

void btCollisionObject::setCcdSweptSphereRadius | ( | btScalar | radius | ) |
| inline

Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::

Definition at line 500 of file btCollisionObject.h.

## § setCollisionFlags()

void btCollisionObject::setCollisionFlags | ( | int | flags | ) |
| inline

Definition at line 488 of file btCollisionObject.h.

## § setCollisionShape()

virtual void btCollisionObject::setCollisionShape | ( | btCollisionShape * | collisionShape | ) |
| inlinevirtual

Reimplemented in btSoftBody.

Definition at line 219 of file btCollisionObject.h.

## § setCompanionId()

void btCollisionObject::setCompanionId | ( | int | id | ) |
| inline

Definition at line 456 of file btCollisionObject.h.

## § setContactProcessingThreshold()

void btCollisionObject::setContactProcessingThreshold | ( | btScalar | contactProcessingThreshold | ) |
| inline

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 187 of file btCollisionObject.h.

## § setContactStiffnessAndDamping()

void btCollisionObject::setContactStiffnessAndDamping | ( | btScalar | stiffness,
|  | btScalar | damping
| ) |  |
| inline

Definition at line 339 of file btCollisionObject.h.

## § setCustomDebugColor()

void btCollisionObject::setCustomDebugColor | ( | const btVector3 & | colorRGB | ) |
| inline

Definition at line 561 of file btCollisionObject.h.

## § setDeactivationTime()

void btCollisionObject::setDeactivationTime | ( | btScalar | time | ) |
| inline

Definition at line 284 of file btCollisionObject.h.

## § setFriction()

void btCollisionObject::setFriction | ( | btScalar | frict | ) |
| inline

Definition at line 311 of file btCollisionObject.h.

## § setHitFraction()

void btCollisionObject::setHitFraction | ( | btScalar | hitFraction | ) |
| inline

Definition at line 477 of file btCollisionObject.h.

## § setIgnoreCollisionCheck()

void btCollisionObject::setIgnoreCollisionCheck | ( | const btCollisionObject * | co,
|  | bool | ignoreCollisionCheck
| ) |  |
| inline

Definition at line 236 of file btCollisionObject.h.

## § setInterpolationAngularVelocity()

void btCollisionObject::setInterpolationAngularVelocity | ( | const btVector3 & | angvel | ) |
| inline

Definition at line 425 of file btCollisionObject.h.

## § setInterpolationLinearVelocity()

void btCollisionObject::setInterpolationLinearVelocity | ( | const btVector3 & | linvel | ) |
| inline

Definition at line 419 of file btCollisionObject.h.

## § setInterpolationWorldTransform()

void btCollisionObject::setInterpolationWorldTransform | ( | const btTransform & | trans | ) |
| inline

Definition at line 413 of file btCollisionObject.h.

## § setIslandTag()

void btCollisionObject::setIslandTag | ( | int | tag | ) |
| inline

Definition at line 446 of file btCollisionObject.h.

## § setRestitution()

void btCollisionObject::setRestitution | ( | btScalar | rest | ) |
| inline

Definition at line 302 of file btCollisionObject.h.

## § setRollingFriction()

void btCollisionObject::setRollingFriction | ( | btScalar | frict | ) |
| inline

Definition at line 321 of file btCollisionObject.h.

## § setSpinningFriction()

void btCollisionObject::setSpinningFriction | ( | btScalar | frict | ) |
| inline

Definition at line 330 of file btCollisionObject.h.

## § setUserIndex()

void btCollisionObject::setUserIndex | ( | int | index | ) |
| inline

users can point to their objects, userPointer is not used by Bullet

Definition at line 546 of file btCollisionObject.h.

## § setUserIndex2()

void btCollisionObject::setUserIndex2 | ( | int | index | ) |
| inline

Definition at line 551 of file btCollisionObject.h.

## § setUserPointer()

void btCollisionObject::setUserPointer | ( | void * | userPointer | ) |
| inline

users can point to their objects, userPointer is not used by Bullet

Definition at line 540 of file btCollisionObject.h.

## § setWorldArrayIndex()

void btCollisionObject::setWorldArrayIndex | ( | int | ix | ) |
| inline

Definition at line 467 of file btCollisionObject.h.

## § setWorldTransform()

void btCollisionObject::setWorldTransform | ( | const btTransform & | worldTrans | ) |
| inline

Definition at line 380 of file btCollisionObject.h.

## Member Data Documentation

## § m_activationState1

int btCollisionObject::m_activationState1
| mutableprotected

Definition at line 84 of file btCollisionObject.h.

## § m_anisotropicFriction

btVector3 btCollisionObject::m_anisotropicFriction
| protected

Definition at line 64 of file btCollisionObject.h.

## § m_broadphaseHandle

btBroadphaseProxy* btCollisionObject::m_broadphaseHandle
| protected

Definition at line 68 of file btCollisionObject.h.

## § m_ccdMotionThreshold

btScalar btCollisionObject::m_ccdMotionThreshold
| protected

Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold.

Definition at line 115 of file btCollisionObject.h.

## § m_ccdSweptSphereRadius

btScalar btCollisionObject::m_ccdSweptSphereRadius
| protected

Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::

Definition at line 112 of file btCollisionObject.h.

## § m_checkCollideWith

int btCollisionObject::m_checkCollideWith
| protected

If some object should have elaborate collision filtering by sub-classes.

Definition at line 118 of file btCollisionObject.h.

## § m_collisionFlags

int btCollisionObject::m_collisionFlags
| protected

Definition at line 78 of file btCollisionObject.h.

## § m_collisionShape

btCollisionShape* btCollisionObject::m_collisionShape
| protected

Definition at line 69 of file btCollisionObject.h.

## § m_companionId

int btCollisionObject::m_companionId
| protected

Definition at line 81 of file btCollisionObject.h.

## § m_contactDamping

btScalar btCollisionObject::m_contactDamping
| protected

Definition at line 91 of file btCollisionObject.h.

## § m_contactProcessingThreshold

btScalar btCollisionObject::m_contactProcessingThreshold
| protected

Definition at line 66 of file btCollisionObject.h.

## § m_contactStiffness

btScalar btCollisionObject::m_contactStiffness
| protected

Definition at line 92 of file btCollisionObject.h.

## § m_customDebugColorRGB

btVector3 btCollisionObject::m_customDebugColorRGB
| protected

Definition at line 125 of file btCollisionObject.h.

## § m_deactivationTime

btScalar btCollisionObject::m_deactivationTime
| mutableprotected

Definition at line 85 of file btCollisionObject.h.

## § m_extensionPointer

void* btCollisionObject::m_extensionPointer
| protected

m_extensionPointer is used by some internal low-level Bullet extensions.

Definition at line 71 of file btCollisionObject.h.

## § m_friction

btScalar btCollisionObject::m_friction
| protected

Definition at line 87 of file btCollisionObject.h.

## § m_hasAnisotropicFriction

int btCollisionObject::m_hasAnisotropicFriction
| protected

Definition at line 65 of file btCollisionObject.h.

## § m_hitFraction

btScalar btCollisionObject::m_hitFraction
| protected

time of impact calculation

Definition at line 109 of file btCollisionObject.h.

## § m_internalType

int btCollisionObject::m_internalType
| protected

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 98 of file btCollisionObject.h.

## § m_interpolationAngularVelocity

btVector3 btCollisionObject::m_interpolationAngularVelocity
| protected

Definition at line 62 of file btCollisionObject.h.

## § m_interpolationLinearVelocity

btVector3 btCollisionObject::m_interpolationLinearVelocity
| protected

Definition at line 61 of file btCollisionObject.h.

## § m_interpolationWorldTransform

btTransform btCollisionObject::m_interpolationWorldTransform
| protected

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.

## § m_islandTag1

int btCollisionObject::m_islandTag1
| protected

Definition at line 80 of file btCollisionObject.h.

## § m_objectsWithoutCollisionCheck

btAlignedObjectArray<const btCollisionObject*> btCollisionObject::m_objectsWithoutCollisionCheck
| protected

Definition at line 120 of file btCollisionObject.h.

## § m_restitution

btScalar btCollisionObject::m_restitution
| protected

Definition at line 88 of file btCollisionObject.h.

## § m_rollingFriction

btScalar btCollisionObject::m_rollingFriction
| protected

Definition at line 89 of file btCollisionObject.h.

## § m_rootCollisionShape

btCollisionShape* btCollisionObject::m_rootCollisionShape
| protected

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.

## § m_spinningFriction

btScalar btCollisionObject::m_spinningFriction
| protected

Definition at line 90 of file btCollisionObject.h.

## § m_updateRevision

int btCollisionObject::m_updateRevision
| protected

internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation.

Definition at line 123 of file btCollisionObject.h.

## § m_userIndex

int btCollisionObject::m_userIndex
| protected

Definition at line 106 of file btCollisionObject.h.

## § m_userIndex2

int btCollisionObject::m_userIndex2
| protected

Definition at line 104 of file btCollisionObject.h.

## § m_userObjectPointer

void* btCollisionObject::m_userObjectPointer
| protected

users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer

Definition at line 102 of file btCollisionObject.h.

## § m_worldArrayIndex

int btCollisionObject::m_worldArrayIndex
| protected

Definition at line 82 of file btCollisionObject.h.

## § m_worldTransform

btTransform btCollisionObject::m_worldTransform
| protected

Definition at line 54 of file btCollisionObject.h.

The documentation for this class was generated from the following files:

- btCollisionObject.h
- btCollisionObject.cpp