677722bba3
Remove constructor from b3Vector3, to make it a POD type, so it can go into a union (and more compatible with OpenCL float4) Use b3MakeVector3 instead of constructor Share some code between C++ and GPU in a shared file: see b3TransformAabb2 in src/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h Improve PairBench a bit, show timings and #overlapping pairs. Increase shadowmap default size to 8192x8192 (hope the GPU supports it)
47 lines
2.2 KiB
C
47 lines
2.2 KiB
C
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
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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 B3_CONTACT4_H
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#define B3_CONTACT4_H
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
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B3_ATTRIBUTE_ALIGNED16(struct) b3Contact4 : public b3Contact4Data
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{
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B3_DECLARE_ALIGNED_ALLOCATOR();
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int getBodyA()const {return abs(m_bodyAPtrAndSignBit);}
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int getBodyB()const {return abs(m_bodyBPtrAndSignBit);}
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bool isBodyAFixed()const { return m_bodyAPtrAndSignBit<0;}
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bool isBodyBFixed()const { return m_bodyBPtrAndSignBit<0;}
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// todo. make it safer
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int& getBatchIdx() { return m_batchIdx; }
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const int& getBatchIdx() const { return m_batchIdx; }
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float getRestituitionCoeff() const { return ((float)m_restituitionCoeffCmp/(float)0xffff); }
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void setRestituitionCoeff( float c ) { b3Assert( c >= 0.f && c <= 1.f ); m_restituitionCoeffCmp = (unsigned short)(c*0xffff); }
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float getFrictionCoeff() const { return ((float)m_frictionCoeffCmp/(float)0xffff); }
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void setFrictionCoeff( float c ) { b3Assert( c >= 0.f && c <= 1.f ); m_frictionCoeffCmp = (unsigned short)(c*0xffff); }
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//float& getNPoints() { return m_worldNormal[3]; }
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int getNPoints() const { return (int) m_worldNormalOnB.w; }
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float getPenetration(int idx) const { return m_worldPosB[idx].w; }
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bool isInvalid() const { return (getBodyA()==0 || getBodyB()==0); }
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};
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#endif //B3_CONTACT4_H
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