129 lines
3.4 KiB
C++
129 lines
3.4 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 "SimdTransform.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 BroadphaseProxy;
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class CollisionShape;
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/// CollisionObject can be used to manage collision detection objects.
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/// CollisionObject 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 CollisionWorld.
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struct CollisionObject
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{
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SimdTransform m_worldTransform;
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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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SimdTransform m_interpolationWorldTransform;
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SimdTransform m_cachedInvertedWorldTransform;
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enum CollisionFlags
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{
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isStatic = 1,
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noContactResponse = 2,
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customMaterialCallback = 4,//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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SimdScalar m_friction;
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SimdScalar m_restitution;
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BroadphaseProxy* m_broadphaseHandle;
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CollisionShape* m_collisionShape;
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void* m_userPointer;//not use by Bullet internally
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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 ConvexConvexAlgorithm::
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float m_ccdSweptShereRadius;
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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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bool mergesSimulationIslands() const;
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inline bool IsStatic() const {
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return m_collisionFlags & isStatic;
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}
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inline bool HasContactResponse() {
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return !(m_collisionFlags & noContactResponse);
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}
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CollisionObject();
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void SetCollisionShape(CollisionShape* 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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