43 lines
1.4 KiB
C
43 lines
1.4 KiB
C
#ifndef BT_CONTACT4_H
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#define BT_CONTACT4_H
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#include "BulletCommon/b3Vector3.h"
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ATTRIBUTE_ALIGNED16(struct) b3Contact4
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{
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BT_DECLARE_ALIGNED_ALLOCATOR();
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b3Vector3 m_worldPos[4];
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b3Vector3 m_worldNormal;
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// float m_restituitionCoeff;
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// float m_frictionCoeff;
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unsigned short m_restituitionCoeffCmp;
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unsigned short m_frictionCoeffCmp;
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int m_batchIdx;
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int m_bodyAPtrAndSignBit;
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int m_bodyBPtrAndSignBit;
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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 ) { btAssert( 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 ) { btAssert( 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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float getNPoints() const { return m_worldNormal[3]; }
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float getPenetration(int idx) const { return m_worldPos[idx][3]; }
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bool isInvalid() const { return (getBodyA()==0 || getBodyB()==0); }
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};
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#endif //BT_CONTACT4_H
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