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, CF_HAS_FRICTION_ANCHOR = 512, CF_HAS_COLLISION_SOUND_TRIGGER = 1024 }
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 48 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 154 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 |
CF_HAS_FRICTION_ANCHOR |
CF_HAS_COLLISION_SOUND_TRIGGER |

Definition at line 126 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 141 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 56 of file btCollisionObject.cpp.

## Member Function Documentation

## ◆ activate()

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

Definition at line 71 of file btCollisionObject.cpp.

## ◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btCollisionObject::BT_DECLARE_ALIGNED_ALLOCATOR | ( |  | ) |

## ◆ calculateSerializeBufferSize()

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

Reimplemented in btSoftBody, btRigidBody, and btMultiBodyLinkCollider.

Definition at line 661 of file btCollisionObject.h.

## ◆ checkCollideWith()

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

Definition at line 572 of file btCollisionObject.h.

## ◆ checkCollideWithOverride()

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

Reimplemented in btMultiBodyLinkCollider.

Definition at line 252 of file btCollisionObject.h.

## ◆ forceActivationState()

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

Definition at line 66 of file btCollisionObject.cpp.

## ◆ getActivationState()

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

Definition at line 275 of file btCollisionObject.h.

## ◆ getAnisotropicFriction()

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

Definition at line 167 of file btCollisionObject.h.

## ◆ getBroadphaseHandle() [1/2]

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

Definition at line 381 of file btCollisionObject.h.

## ◆ getBroadphaseHandle() [2/2]

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

Definition at line 386 of file btCollisionObject.h.

## ◆ getCcdMotionThreshold()

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

Definition at line 497 of file btCollisionObject.h.

## ◆ getCcdSquareMotionThreshold()

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

Definition at line 502 of file btCollisionObject.h.

## ◆ getCcdSweptSphereRadius()

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

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

Definition at line 486 of file btCollisionObject.h.

## ◆ getCollisionFlags()

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

Definition at line 475 of file btCollisionObject.h.

## ◆ getCollisionShape() [1/2]

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

Definition at line 224 of file btCollisionObject.h.

## ◆ getCollisionShape() [2/2]

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

Definition at line 229 of file btCollisionObject.h.

## ◆ getCompanionId()

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

Definition at line 444 of file btCollisionObject.h.

## ◆ getContactDamping()

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

Definition at line 354 of file btCollisionObject.h.

## ◆ getContactProcessingThreshold()

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

Definition at line 188 of file btCollisionObject.h.

## ◆ getContactStiffness()

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

Definition at line 349 of file btCollisionObject.h.

## ◆ getCustomDebugColor()

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

Definition at line 562 of file btCollisionObject.h.

## ◆ getDeactivationTime()

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

Definition at line 283 of file btCollisionObject.h.

## ◆ getFriction()

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

Definition at line 311 of file btCollisionObject.h.

## ◆ getHitFraction()

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

Definition at line 465 of file btCollisionObject.h.

## ◆ getInternalType()

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

reserved for Bullet internal usage

Definition at line 360 of file btCollisionObject.h.

## ◆ getInterpolationAngularVelocity()

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

Definition at line 429 of file btCollisionObject.h.

## ◆ getInterpolationLinearVelocity()

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

Definition at line 424 of file btCollisionObject.h.

## ◆ getInterpolationWorldTransform() [1/2]

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

Definition at line 396 of file btCollisionObject.h.

## ◆ getInterpolationWorldTransform() [2/2]

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

Definition at line 401 of file btCollisionObject.h.

## ◆ getIslandTag()

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

Definition at line 434 of file btCollisionObject.h.

## ◆ getRestitution()

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

Definition at line 302 of file btCollisionObject.h.

## ◆ getRollingFriction()

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

Definition at line 321 of file btCollisionObject.h.

## ◆ getSpinningFriction()

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

Definition at line 330 of file btCollisionObject.h.

## ◆ getUpdateRevisionInternal()

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

Definition at line 546 of file btCollisionObject.h.

## ◆ getUserIndex()

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

Definition at line 519 of file btCollisionObject.h.

## ◆ getUserIndex2()

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

Definition at line 524 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 514 of file btCollisionObject.h.

## ◆ getWorldArrayIndex()

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

Definition at line 454 of file btCollisionObject.h.

## ◆ getWorldTransform() [1/2]

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

Definition at line 365 of file btCollisionObject.h.

## ◆ getWorldTransform() [2/2]

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

Definition at line 370 of file btCollisionObject.h.

## ◆ hasAnisotropicFriction()

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

Definition at line 177 of file btCollisionObject.h.

## ◆ hasContactResponse()

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

Definition at line 208 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 264 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 270 of file btCollisionObject.h.

## ◆ isActive()

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

Definition at line 292 of file btCollisionObject.h.

## ◆ isKinematicObject()

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

Definition at line 198 of file btCollisionObject.h.

## ◆ isStaticObject()

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

Definition at line 193 of file btCollisionObject.h.

## ◆ isStaticOrKinematicObject()

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

Definition at line 203 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 161 of file btCollisionObject.h.

## ◆ removeCustomDebugColor()

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

Definition at line 557 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, btRigidBody, and btMultiBodyLinkCollider.

Definition at line 80 of file btCollisionObject.cpp.

## ◆ serializeSingleObject()

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

Reimplemented in btRigidBody.

Definition at line 131 of file btCollisionObject.cpp.

## ◆ setActivationState()

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

Definition at line 60 of file btCollisionObject.cpp.

## ◆ setAnisotropicFriction()

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

Definition at line 171 of file btCollisionObject.h.

## ◆ setBroadphaseHandle()

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

Definition at line 391 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 508 of file btCollisionObject.h.

## ◆ setCcdSweptSphereRadius()

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

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

Definition at line 492 of file btCollisionObject.h.

## ◆ setCollisionFlags()

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

Definition at line 480 of file btCollisionObject.h.

## ◆ setCollisionShape()

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

Reimplemented in btSoftBody.

Definition at line 217 of file btCollisionObject.h.

## ◆ setCompanionId()

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

Definition at line 449 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 184 of file btCollisionObject.h.

## ◆ setContactStiffnessAndDamping()

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

Definition at line 334 of file btCollisionObject.h.

## ◆ setCustomDebugColor()

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

Definition at line 551 of file btCollisionObject.h.

## ◆ setDeactivationTime()

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

Definition at line 279 of file btCollisionObject.h.

## ◆ setFriction()

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

Definition at line 306 of file btCollisionObject.h.

## ◆ setHitFraction()

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

Definition at line 470 of file btCollisionObject.h.

## ◆ setIgnoreCollisionCheck()

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

Definition at line 234 of file btCollisionObject.h.

## ◆ setInterpolationAngularVelocity()

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

Definition at line 418 of file btCollisionObject.h.

## ◆ setInterpolationLinearVelocity()

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

Definition at line 412 of file btCollisionObject.h.

## ◆ setInterpolationWorldTransform()

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

Definition at line 406 of file btCollisionObject.h.

## ◆ setIslandTag()

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

Definition at line 439 of file btCollisionObject.h.

## ◆ setRestitution()

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

Definition at line 297 of file btCollisionObject.h.

## ◆ setRollingFriction()

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

Definition at line 316 of file btCollisionObject.h.

## ◆ setSpinningFriction()

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

Definition at line 325 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 536 of file btCollisionObject.h.

## ◆ setUserIndex2()

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

Definition at line 541 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 530 of file btCollisionObject.h.

## ◆ setWorldArrayIndex()

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

Definition at line 460 of file btCollisionObject.h.

## ◆ setWorldTransform()

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

Definition at line 375 of file btCollisionObject.h.

## Member Data Documentation

## ◆ m_activationState1

int btCollisionObject::m_activationState1
| mutableprotected

Definition at line 82 of file btCollisionObject.h.

## ◆ m_anisotropicFriction

btVector3 btCollisionObject::m_anisotropicFriction
| protected

Definition at line 62 of file btCollisionObject.h.

## ◆ m_broadphaseHandle

btBroadphaseProxy* btCollisionObject::m_broadphaseHandle
| protected

Definition at line 66 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 111 of file btCollisionObject.h.

## ◆ m_ccdSweptSphereRadius

btScalar btCollisionObject::m_ccdSweptSphereRadius
| protected

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

Definition at line 108 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 114 of file btCollisionObject.h.

## ◆ m_collisionFlags

int btCollisionObject::m_collisionFlags
| protected

Definition at line 76 of file btCollisionObject.h.

## ◆ m_collisionShape

btCollisionShape* btCollisionObject::m_collisionShape
| protected

Definition at line 67 of file btCollisionObject.h.

## ◆ m_companionId

int btCollisionObject::m_companionId
| protected

Definition at line 79 of file btCollisionObject.h.

## ◆ m_contactDamping

btScalar btCollisionObject::m_contactDamping
| protected

Definition at line 89 of file btCollisionObject.h.

## ◆ m_contactProcessingThreshold

btScalar btCollisionObject::m_contactProcessingThreshold
| protected

Definition at line 64 of file btCollisionObject.h.

## ◆ m_contactStiffness

btScalar btCollisionObject::m_contactStiffness
| protected

Definition at line 90 of file btCollisionObject.h.

## ◆ m_customDebugColorRGB

btVector3 btCollisionObject::m_customDebugColorRGB
| protected

Definition at line 121 of file btCollisionObject.h.

## ◆ m_deactivationTime

btScalar btCollisionObject::m_deactivationTime
| mutableprotected

Definition at line 83 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 69 of file btCollisionObject.h.

## ◆ m_friction

btScalar btCollisionObject::m_friction
| protected

Definition at line 85 of file btCollisionObject.h.

## ◆ m_hasAnisotropicFriction

int btCollisionObject::m_hasAnisotropicFriction
| protected

Definition at line 63 of file btCollisionObject.h.

## ◆ m_hitFraction

btScalar btCollisionObject::m_hitFraction
| protected

time of impact calculation

Definition at line 105 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 94 of file btCollisionObject.h.

## ◆ m_interpolationAngularVelocity

btVector3 btCollisionObject::m_interpolationAngularVelocity
| protected

Definition at line 60 of file btCollisionObject.h.

## ◆ m_interpolationLinearVelocity

btVector3 btCollisionObject::m_interpolationLinearVelocity
| protected

Definition at line 59 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 56 of file btCollisionObject.h.

## ◆ m_islandTag1

int btCollisionObject::m_islandTag1
| protected

Definition at line 78 of file btCollisionObject.h.

## ◆ m_objectsWithoutCollisionCheck

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

Definition at line 116 of file btCollisionObject.h.

## ◆ m_restitution

btScalar btCollisionObject::m_restitution
| protected

Definition at line 86 of file btCollisionObject.h.

## ◆ m_rollingFriction

btScalar btCollisionObject::m_rollingFriction
| protected

Definition at line 87 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 74 of file btCollisionObject.h.

## ◆ m_spinningFriction

btScalar btCollisionObject::m_spinningFriction
| protected

Definition at line 88 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 119 of file btCollisionObject.h.

## ◆ m_userIndex

int btCollisionObject::m_userIndex
| protected

Definition at line 102 of file btCollisionObject.h.

## ◆ m_userIndex2

int btCollisionObject::m_userIndex2
| protected

Definition at line 100 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 98 of file btCollisionObject.h.

## ◆ m_worldArrayIndex

int btCollisionObject::m_worldArrayIndex
| protected

Definition at line 80 of file btCollisionObject.h.

## ◆ m_worldTransform

btTransform btCollisionObject::m_worldTransform
| protected

Definition at line 52 of file btCollisionObject.h.

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

- btCollisionObject.h
- btCollisionObject.cpp