149 lines
4.0 KiB
C++
149 lines
4.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef COLLISION_OBJECT_H
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#define COLLISION_OBJECT_H
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#include "LinearMath/btTransform.h"
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//island management, m_activationState1
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#define ACTIVE_TAG 1
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#define ISLAND_SLEEPING 2
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#define WANTS_DEACTIVATION 3
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#define DISABLE_DEACTIVATION 4
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#define DISABLE_SIMULATION 5
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struct btBroadphaseProxy;
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class btCollisionShape;
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#include "LinearMath/btMotionState.h"
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/// btCollisionObject can be used to manage collision detection objects.
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/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
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/// They can be added to the btCollisionWorld.
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struct btCollisionObject
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{
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btTransform m_worldTransform;
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btBroadphaseProxy* m_broadphaseHandle;
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btCollisionShape* m_collisionShape;
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///m_interpolationWorldTransform is used for CCD and interpolation
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///it can be either previous or future (predicted) transform
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btTransform m_interpolationWorldTransform;
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enum CollisionFlags
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{
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CF_STATIC_OBJECT= 1,
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CF_KINEMATIC_OJBECT= 2,
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CF_NO_CONTACT_RESPONSE = 4,
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CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
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};
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int m_collisionFlags;
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int m_islandTag1;
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int m_activationState1;
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float m_deactivationTime;
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btScalar m_friction;
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btScalar m_restitution;
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///users can point to their objects, m_userPointer is not used by Bullet
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void* m_userObjectPointer;
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///m_internalOwner is reserved to point to Bullet's btRigidBody. Don't use this, use m_userObjectPointer instead.
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void* m_internalOwner;
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///time of impact calculation
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float m_hitFraction;
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///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
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float m_ccdSweptSphereRadius;
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/// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionTreshold
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float m_ccdSquareMotionTreshold;
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inline bool mergesSimulationIslands() const
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{
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///static objects, kinematic and object without contact response don't merge islands
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return !(m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OJBECT | CF_NO_CONTACT_RESPONSE) );
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}
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inline bool isStaticObject() const {
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return m_collisionFlags & CF_STATIC_OBJECT;
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}
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inline bool isKinematicObject() const
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{
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return m_collisionFlags & CF_KINEMATIC_OJBECT;
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}
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inline bool isStaticOrKinematicObject() const
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{
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return m_collisionFlags & (CF_KINEMATIC_OJBECT | CF_STATIC_OBJECT);
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}
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inline bool hasContactResponse() const {
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return !(m_collisionFlags & CF_NO_CONTACT_RESPONSE);
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}
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btCollisionObject();
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void SetCollisionShape(btCollisionShape* collisionShape)
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{
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m_collisionShape = collisionShape;
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}
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int GetActivationState() const { return m_activationState1;}
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void SetActivationState(int newState);
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void ForceActivationState(int newState);
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void activate();
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inline bool IsActive() const
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{
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return ((GetActivationState() != ISLAND_SLEEPING) && (GetActivationState() != DISABLE_SIMULATION));
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}
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void setRestitution(float rest)
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{
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m_restitution = rest;
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}
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float getRestitution() const
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{
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return m_restitution;
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}
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void setFriction(float frict)
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{
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m_friction = frict;
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}
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float getFriction() const
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{
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return m_friction;
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}
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};
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#endif //COLLISION_OBJECT_H
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