Bullet Collision Detection & Physics Library: btManifoldResult.h Source File

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btManifoldResult.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_MANIFOLD_RESULT_H
17#define BT_MANIFOLD_RESULT_H
18
19class btCollisionObject;
20struct btCollisionObjectWrapper;
21
22#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
23class btManifoldPoint;
24
25#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
26
27#include "LinearMath/btTransform.h"
28#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
29#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
30
31 typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1);
32extern ContactAddedCallback gContactAddedCallback;
33
34//#define DEBUG_PART_INDEX 1
35
37 typedef btScalar (*CalculateCombinedCallback)(const btCollisionObject* body0, const btCollisionObject* body1);
38
39extern CalculateCombinedCallback gCalculateCombinedRestitutionCallback;
40extern CalculateCombinedCallback gCalculateCombinedFrictionCallback;
41extern CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback;
42extern CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback;
43extern CalculateCombinedCallback gCalculateCombinedContactDampingCallback;
44extern CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback;
45
47 class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
48{
49protected:
50 btPersistentManifold* m_manifoldPtr;
51
52 const btCollisionObjectWrapper* m_body0Wrap;
53 const btCollisionObjectWrapper* m_body1Wrap;
54 int m_partId0;
55 int m_partId1;
56 int m_index0;
57 int m_index1;
58
59public:
60 btManifoldResult()
61 :
62#ifdef DEBUG_PART_INDEX
63
64 m_partId0(-1),
65 m_partId1(-1),
66 m_index0(-1),
67 m_index1(-1)
68#endif //DEBUG_PART_INDEX
69 m_closestPointDistanceThreshold(0)
70 {
71 }
72
73 btManifoldResult(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
74
75 virtual ~btManifoldResult(){};
76
77 void setPersistentManifold(btPersistentManifold* manifoldPtr)
78 {
79 m_manifoldPtr = manifoldPtr;
80 }
81
82 const btPersistentManifold* getPersistentManifold() const
83 {
84 return m_manifoldPtr;
85 }
86 btPersistentManifold* getPersistentManifold()
87 {
88 return m_manifoldPtr;
89 }
90
91 virtual void setShapeIdentifiersA(int partId0, int index0)
92 {
93 m_partId0 = partId0;
94 m_index0 = index0;
95 }
96
97 virtual void setShapeIdentifiersB(int partId1, int index1)
98 {
99 m_partId1 = partId1;
100 m_index1 = index1;
101 }
102
103 virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth);
104
105 SIMD_FORCE_INLINE void refreshContactPoints()
106 {
107 btAssert(m_manifoldPtr);
108 if (!m_manifoldPtr->getNumContacts())
109 return;
110
111 bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
112
113 if (isSwapped)
114 {
115 m_manifoldPtr->refreshContactPoints(m_body1Wrap->getCollisionObject()->getWorldTransform(), m_body0Wrap->getCollisionObject()->getWorldTransform());
116 }
117 else
118 {
119 m_manifoldPtr->refreshContactPoints(m_body0Wrap->getCollisionObject()->getWorldTransform(), m_body1Wrap->getCollisionObject()->getWorldTransform());
120 }
121 }
122
123 const btCollisionObjectWrapper* getBody0Wrap() const
124 {
125 return m_body0Wrap;
126 }
127 const btCollisionObjectWrapper* getBody1Wrap() const
128 {
129 return m_body1Wrap;
130 }
131
132 void setBody0Wrap(const btCollisionObjectWrapper* obj0Wrap)
133 {
134 m_body0Wrap = obj0Wrap;
135 }
136
137 void setBody1Wrap(const btCollisionObjectWrapper* obj1Wrap)
138 {
139 m_body1Wrap = obj1Wrap;
140 }
141
142 const btCollisionObject* getBody0Internal() const
143 {
144 return m_body0Wrap->getCollisionObject();
145 }
146
147 const btCollisionObject* getBody1Internal() const
148 {
149 return m_body1Wrap->getCollisionObject();
150 }
151
152 btScalar m_closestPointDistanceThreshold;
153
155 static btScalar calculateCombinedRestitution(const btCollisionObject* body0, const btCollisionObject* body1);
156 static btScalar calculateCombinedFriction(const btCollisionObject* body0, const btCollisionObject* body1);
157 static btScalar calculateCombinedRollingFriction(const btCollisionObject* body0, const btCollisionObject* body1);
158 static btScalar calculateCombinedSpinningFriction(const btCollisionObject* body0, const btCollisionObject* body1);
159 static btScalar calculateCombinedContactDamping(const btCollisionObject* body0, const btCollisionObject* body1);
160 static btScalar calculateCombinedContactStiffness(const btCollisionObject* body0, const btCollisionObject* body1);
161};
162
163#endif //BT_MANIFOLD_RESULT_H
btCollisionObjectWrapper.h
btCollisionObject.h
btDiscreteCollisionDetectorInterface.h
gCalculateCombinedContactStiffnessCallback
CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback
Definition: btManifoldResult.cpp:29
gCalculateCombinedContactDampingCallback
CalculateCombinedCallback gCalculateCombinedContactDampingCallback
Definition: btManifoldResult.cpp:28
gContactAddedCallback
ContactAddedCallback gContactAddedCallback
This is to allow MaterialCombiner/Custom Friction/Restitution values.
Definition: btManifoldResult.cpp:22
gCalculateCombinedSpinningFrictionCallback
CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback
Definition: btManifoldResult.cpp:27
gCalculateCombinedFrictionCallback
CalculateCombinedCallback gCalculateCombinedFrictionCallback
Definition: btManifoldResult.cpp:25
gCalculateCombinedRollingFrictionCallback
CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback
Definition: btManifoldResult.cpp:26
ContactAddedCallback
bool(* ContactAddedCallback)(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1)
Definition: btManifoldResult.h:31
CalculateCombinedCallback
btScalar(* CalculateCombinedCallback)(const btCollisionObject *body0, const btCollisionObject *body1)
These callbacks are used to customize the algorith that combine restitution, friction,...
Definition: btManifoldResult.h:37
gCalculateCombinedRestitutionCallback
CalculateCombinedCallback gCalculateCombinedRestitutionCallback
Definition: btManifoldResult.cpp:24
btPersistentManifold.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btTransform.h
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:51
btCollisionObject::getWorldTransform
btTransform & getWorldTransform()
Definition: btCollisionObject.h:379
btManifoldPoint
ManifoldContactPoint collects and maintains persistent contactpoints.
Definition: btManifoldPoint.h:52
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:48
btManifoldResult::setShapeIdentifiersA
virtual void setShapeIdentifiersA(int partId0, int index0)
setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material comb...
Definition: btManifoldResult.h:91
btManifoldResult::setBody0Wrap
void setBody0Wrap(const btCollisionObjectWrapper *obj0Wrap)
Definition: btManifoldResult.h:132
btManifoldResult::m_body0Wrap
const btCollisionObjectWrapper * m_body0Wrap
Definition: btManifoldResult.h:52
btManifoldResult::m_partId0
int m_partId0
Definition: btManifoldResult.h:54
btManifoldResult::calculateCombinedFriction
static btScalar calculateCombinedFriction(const btCollisionObject *body0, const btCollisionObject *body1)
User can override this material combiner by implementing gContactAddedCallback and setting body0->m_c...
Definition: btManifoldResult.cpp:56
btManifoldResult::btManifoldResult
btManifoldResult()
Definition: btManifoldResult.h:60
btManifoldResult::calculateCombinedContactDamping
static btScalar calculateCombinedContactDamping(const btCollisionObject *body0, const btCollisionObject *body1)
Definition: btManifoldResult.cpp:73
btManifoldResult::m_body1Wrap
const btCollisionObjectWrapper * m_body1Wrap
Definition: btManifoldResult.h:53
btManifoldResult::getPersistentManifold
const btPersistentManifold * getPersistentManifold() const
Definition: btManifoldResult.h:82
btManifoldResult::calculateCombinedContactStiffness
static btScalar calculateCombinedContactStiffness(const btCollisionObject *body0, const btCollisionObject *body1)
Definition: btManifoldResult.cpp:78
btManifoldResult::getBody1Wrap
const btCollisionObjectWrapper * getBody1Wrap() const
Definition: btManifoldResult.h:127
btManifoldResult::getBody1Internal
const btCollisionObject * getBody1Internal() const
Definition: btManifoldResult.h:147
btManifoldResult::m_partId1
int m_partId1
Definition: btManifoldResult.h:55
btManifoldResult::calculateCombinedSpinningFriction
static btScalar calculateCombinedSpinningFriction(const btCollisionObject *body0, const btCollisionObject *body1)
Definition: btManifoldResult.cpp:43
btManifoldResult::setBody1Wrap
void setBody1Wrap(const btCollisionObjectWrapper *obj1Wrap)
Definition: btManifoldResult.h:137
btManifoldResult::calculateCombinedRollingFriction
static btScalar calculateCombinedRollingFriction(const btCollisionObject *body0, const btCollisionObject *body1)
Definition: btManifoldResult.cpp:31
btManifoldResult::setPersistentManifold
void setPersistentManifold(btPersistentManifold *manifoldPtr)
Definition: btManifoldResult.h:77
btManifoldResult::getBody0Internal
const btCollisionObject * getBody0Internal() const
Definition: btManifoldResult.h:142
btManifoldResult::m_index0
int m_index0
Definition: btManifoldResult.h:56
btManifoldResult::setShapeIdentifiersB
virtual void setShapeIdentifiersB(int partId1, int index1)
Definition: btManifoldResult.h:97
btManifoldResult::~btManifoldResult
virtual ~btManifoldResult()
Definition: btManifoldResult.h:75
btManifoldResult::calculateCombinedRestitution
static btScalar calculateCombinedRestitution(const btCollisionObject *body0, const btCollisionObject *body1)
in the future we can let the user override the methods to combine restitution and friction
Definition: btManifoldResult.cpp:68
btManifoldResult::m_closestPointDistanceThreshold
btScalar m_closestPointDistanceThreshold
Definition: btManifoldResult.h:152
btManifoldResult::refreshContactPoints
void refreshContactPoints()
Definition: btManifoldResult.h:105
btManifoldResult::getBody0Wrap
const btCollisionObjectWrapper * getBody0Wrap() const
Definition: btManifoldResult.h:123
btManifoldResult::getPersistentManifold
btPersistentManifold * getPersistentManifold()
Definition: btManifoldResult.h:86
btManifoldResult::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btManifoldResult.h:50
btManifoldResult::addContactPoint
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
Definition: btManifoldResult.cpp:103
btManifoldResult::m_index1
int m_index1
Definition: btManifoldResult.h:57
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:65
btPersistentManifold::getBody0
const btCollisionObject * getBody0() const
Definition: btPersistentManifold.h:105
btPersistentManifold::refreshContactPoints
void refreshContactPoints(const btTransform &trA, const btTransform &trB)
calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
Definition: btPersistentManifold.cpp:247
btPersistentManifold::getNumContacts
int getNumContacts() const
Definition: btPersistentManifold.h:120
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:18
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition: btCollisionObjectWrapper.h:45
btDiscreteCollisionDetectorInterface::Result
Definition: btDiscreteCollisionDetectorInterface.h:30