Public Types | Public Member Functions | Protected Member Functions | Protected Attributes

btCollisionObject Class Reference

btCollisionObject can be used to manage collision detection objects. More...

#include <btCollisionObject.h>

Inheritance diagram for btCollisionObject:
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Collaboration diagram for btCollisionObject:
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List of all members.

Public Types

enum  CollisionFlags {
  CF_STATIC_OBJECT = 1,
  CF_KINEMATIC_OBJECT = 2,
  CF_NO_CONTACT_RESPONSE = 4,
  CF_CUSTOM_MATERIAL_CALLBACK = 8,
  CF_CHARACTER_OBJECT = 16,
  CF_DISABLE_VISUALIZE_OBJECT = 32,
  CF_DISABLE_SPU_COLLISION_PROCESSING = 64
}
enum  CollisionObjectTypes {
  CO_COLLISION_OBJECT = 1,
  CO_RIGID_BODY = 2,
  CO_GHOST_OBJECT = 4,
  CO_SOFT_BODY = 8,
  CO_HF_FLUID = 16,
  CO_USER_TYPE = 32
}
enum  AnisotropicFrictionFlags {
  CF_ANISOTROPIC_FRICTION_DISABLED = 0,
  CF_ANISOTROPIC_FRICTION = 1,
  CF_ANISOTROPIC_ROLLING_FRICTION = 2
}

Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
bool mergesSimulationIslands () const
const btVector3getAnisotropicFriction () const
void setAnisotropicFriction (const btVector3 &anisotropicFriction, int frictionMode=CF_ANISOTROPIC_FRICTION)
bool hasAnisotropicFriction (int frictionMode=CF_ANISOTROPIC_FRICTION) const
void setContactProcessingThreshold (btScalar contactProcessingThreshold)
 the constraint solver can discard solving contacts, if the distance is above this threshold.
btScalar getContactProcessingThreshold () const
bool isStaticObject () const
bool isKinematicObject () const
bool isStaticOrKinematicObject () const
bool hasContactResponse () const
 btCollisionObject ()
virtual ~btCollisionObject ()
virtual void setCollisionShape (btCollisionShape *collisionShape)
const btCollisionShapegetCollisionShape () const
btCollisionShapegetCollisionShape ()
void * internalGetExtensionPointer () const
 Avoid using this internal API call, the extension pointer is used by some Bullet extensions.
void internalSetExtensionPointer (void *pointer)
 Avoid using this internal API call, the extension pointer is used by some Bullet extensions If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
int getActivationState () const
void setActivationState (int newState) const
void setDeactivationTime (btScalar time)
btScalar getDeactivationTime () const
void forceActivationState (int newState) const
void activate (bool forceActivation=false) const
bool isActive () const
void setRestitution (btScalar rest)
btScalar getRestitution () const
void setFriction (btScalar frict)
btScalar getFriction () const
void setRollingFriction (btScalar frict)
btScalar getRollingFriction () const
int getInternalType () const
 reserved for Bullet internal usage
btTransformgetWorldTransform ()
const btTransformgetWorldTransform () const
void setWorldTransform (const btTransform &worldTrans)
btBroadphaseProxygetBroadphaseHandle ()
const btBroadphaseProxygetBroadphaseHandle () const
void setBroadphaseHandle (btBroadphaseProxy *handle)
const btTransformgetInterpolationWorldTransform () const
btTransformgetInterpolationWorldTransform ()
void setInterpolationWorldTransform (const btTransform &trans)
void setInterpolationLinearVelocity (const btVector3 &linvel)
void setInterpolationAngularVelocity (const btVector3 &angvel)
const btVector3getInterpolationLinearVelocity () const
const btVector3getInterpolationAngularVelocity () const
int getIslandTag () const
void setIslandTag (int tag)
int getCompanionId () const
void setCompanionId (int id)
btScalar getHitFraction () const
void setHitFraction (btScalar hitFraction)
int getCollisionFlags () const
void setCollisionFlags (int flags)
btScalar getCcdSweptSphereRadius () const
 Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
void setCcdSweptSphereRadius (btScalar radius)
 Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
btScalar getCcdMotionThreshold () const
btScalar getCcdSquareMotionThreshold () const
void setCcdMotionThreshold (btScalar ccdMotionThreshold)
 Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold.
void * getUserPointer () const
 users can point to their objects, userPointer is not used by Bullet
void setUserPointer (void *userPointer)
 users can point to their objects, userPointer is not used by Bullet
bool checkCollideWith (const btCollisionObject *co) const
virtual int calculateSerializeBufferSize () const
virtual const char * serialize (void *dataBuffer, class btSerializer *serializer) const
 fills the dataBuffer and returns the struct name (and 0 on failure)
virtual void serializeSingleObject (class btSerializer *serializer) const

Protected Member Functions

virtual bool checkCollideWithOverride (const btCollisionObject *) const

Protected Attributes

btTransform m_worldTransform
btTransform m_interpolationWorldTransform
 m_interpolationWorldTransform is used for CCD and interpolation it can be either previous or future (predicted) transform
btVector3 m_interpolationLinearVelocity
btVector3 m_interpolationAngularVelocity
btVector3 m_anisotropicFriction
int m_hasAnisotropicFriction
btScalar m_contactProcessingThreshold
btBroadphaseProxym_broadphaseHandle
btCollisionShapem_collisionShape
void * m_extensionPointer
 m_extensionPointer is used by some internal low-level Bullet extensions.
btCollisionShapem_rootCollisionShape
 m_rootCollisionShape is temporarily used to store the original collision shape The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes If it is NULL, the m_collisionShape is not temporarily replaced.
int m_collisionFlags
int m_islandTag1
int m_companionId
int m_activationState1
btScalar m_deactivationTime
btScalar m_friction
btScalar m_restitution
btScalar m_rollingFriction
int m_internalType
 m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
void * m_userObjectPointer
 users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
btScalar m_hitFraction
 time of impact calculation
btScalar m_ccdSweptSphereRadius
 Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
btScalar m_ccdMotionThreshold
 Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold.
int m_checkCollideWith
 If some object should have elaborate collision filtering by sub-classes.

Detailed Description

btCollisionObject can be used to manage collision detection objects.

btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy. They can be added to the btCollisionWorld.

Definition at line 49 of file btCollisionObject.h.


Member Enumeration Documentation

Enumerator:
CF_ANISOTROPIC_FRICTION_DISABLED 
CF_ANISOTROPIC_FRICTION 
CF_ANISOTROPIC_ROLLING_FRICTION 

Definition at line 141 of file btCollisionObject.h.

Enumerator:
CF_STATIC_OBJECT 
CF_KINEMATIC_OBJECT 
CF_NO_CONTACT_RESPONSE 
CF_CUSTOM_MATERIAL_CALLBACK 
CF_CHARACTER_OBJECT 
CF_DISABLE_VISUALIZE_OBJECT 
CF_DISABLE_SPU_COLLISION_PROCESSING 

Definition at line 118 of file btCollisionObject.h.

Enumerator:
CO_COLLISION_OBJECT 
CO_RIGID_BODY 
CO_GHOST_OBJECT 

CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter It is useful for collision sensors, explosion objects, character controller etc.

CO_SOFT_BODY 
CO_HF_FLUID 
CO_USER_TYPE 

Definition at line 129 of file btCollisionObject.h.


Constructor & Destructor Documentation

btCollisionObject::btCollisionObject (  ) 

Definition at line 20 of file btCollisionObject.cpp.

btCollisionObject::~btCollisionObject (  )  [virtual]

Definition at line 46 of file btCollisionObject.cpp.


Member Function Documentation

void btCollisionObject::activate ( bool  forceActivation = false  )  const

Definition at line 61 of file btCollisionObject.cpp.

btCollisionObject::BT_DECLARE_ALIGNED_ALLOCATOR (  ) 
int btCollisionObject::calculateSerializeBufferSize (  )  const [inline, virtual]

Reimplemented in btRigidBody, and btSoftBody.

Definition at line 527 of file btCollisionObject.h.

bool btCollisionObject::checkCollideWith ( const btCollisionObject co  )  const [inline]

Definition at line 442 of file btCollisionObject.h.

virtual bool btCollisionObject::checkCollideWithOverride ( const btCollisionObject  )  const [inline, protected, virtual]

Reimplemented in btRigidBody.

Definition at line 109 of file btCollisionObject.h.

void btCollisionObject::forceActivationState ( int  newState  )  const

Definition at line 56 of file btCollisionObject.cpp.

int btCollisionObject::getActivationState (  )  const [inline]

Definition at line 236 of file btCollisionObject.h.

const btVector3& btCollisionObject::getAnisotropicFriction (  )  const [inline]

Definition at line 154 of file btCollisionObject.h.

btBroadphaseProxy* btCollisionObject::getBroadphaseHandle (  )  [inline]

Definition at line 307 of file btCollisionObject.h.

const btBroadphaseProxy* btCollisionObject::getBroadphaseHandle (  )  const [inline]

Definition at line 312 of file btCollisionObject.h.

btScalar btCollisionObject::getCcdMotionThreshold (  )  const [inline]

Definition at line 411 of file btCollisionObject.h.

btScalar btCollisionObject::getCcdSquareMotionThreshold (  )  const [inline]

Definition at line 416 of file btCollisionObject.h.

btScalar btCollisionObject::getCcdSweptSphereRadius (  )  const [inline]

Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::

Definition at line 400 of file btCollisionObject.h.

int btCollisionObject::getCollisionFlags (  )  const [inline]

Definition at line 389 of file btCollisionObject.h.

const btCollisionShape* btCollisionObject::getCollisionShape (  )  const [inline]

Reimplemented in btRigidBody.

Definition at line 209 of file btCollisionObject.h.

btCollisionShape* btCollisionObject::getCollisionShape (  )  [inline]

Reimplemented in btRigidBody.

Definition at line 214 of file btCollisionObject.h.

int btCollisionObject::getCompanionId (  )  const [inline]

Definition at line 368 of file btCollisionObject.h.

btScalar btCollisionObject::getContactProcessingThreshold (  )  const [inline]

Definition at line 175 of file btCollisionObject.h.

btScalar btCollisionObject::getDeactivationTime (  )  const [inline]

Definition at line 244 of file btCollisionObject.h.

btScalar btCollisionObject::getFriction (  )  const [inline]

Definition at line 270 of file btCollisionObject.h.

btScalar btCollisionObject::getHitFraction (  )  const [inline]

Definition at line 378 of file btCollisionObject.h.

int btCollisionObject::getInternalType (  )  const [inline]

reserved for Bullet internal usage

Definition at line 286 of file btCollisionObject.h.

const btVector3& btCollisionObject::getInterpolationAngularVelocity (  )  const [inline]

Definition at line 353 of file btCollisionObject.h.

const btVector3& btCollisionObject::getInterpolationLinearVelocity (  )  const [inline]

Definition at line 348 of file btCollisionObject.h.

const btTransform& btCollisionObject::getInterpolationWorldTransform (  )  const [inline]

Definition at line 323 of file btCollisionObject.h.

btTransform& btCollisionObject::getInterpolationWorldTransform (  )  [inline]

Definition at line 328 of file btCollisionObject.h.

int btCollisionObject::getIslandTag (  )  const [inline]

Definition at line 358 of file btCollisionObject.h.

btScalar btCollisionObject::getRestitution (  )  const [inline]

Definition at line 262 of file btCollisionObject.h.

btScalar btCollisionObject::getRollingFriction (  )  const [inline]

Definition at line 279 of file btCollisionObject.h.

void* btCollisionObject::getUserPointer (  )  const [inline]

users can point to their objects, userPointer is not used by Bullet

Definition at line 430 of file btCollisionObject.h.

btTransform& btCollisionObject::getWorldTransform (  )  [inline]

Definition at line 291 of file btCollisionObject.h.

const btTransform& btCollisionObject::getWorldTransform (  )  const [inline]

Definition at line 296 of file btCollisionObject.h.

bool btCollisionObject::hasAnisotropicFriction ( int  frictionMode = CF_ANISOTROPIC_FRICTION  )  const [inline]

Definition at line 164 of file btCollisionObject.h.

bool btCollisionObject::hasContactResponse (  )  const [inline]

Definition at line 194 of file btCollisionObject.h.

void* btCollisionObject::internalGetExtensionPointer (  )  const [inline]

Avoid using this internal API call, the extension pointer is used by some Bullet extensions.

If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.

Definition at line 225 of file btCollisionObject.h.

void btCollisionObject::internalSetExtensionPointer ( void *  pointer  )  [inline]

Avoid using this internal API call, the extension pointer is used by some Bullet extensions If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.

Definition at line 231 of file btCollisionObject.h.

bool btCollisionObject::isActive (  )  const [inline]

Definition at line 253 of file btCollisionObject.h.

bool btCollisionObject::isKinematicObject (  )  const [inline]

Definition at line 184 of file btCollisionObject.h.

bool btCollisionObject::isStaticObject (  )  const [inline]

Definition at line 180 of file btCollisionObject.h.

bool btCollisionObject::isStaticOrKinematicObject (  )  const [inline]

Definition at line 189 of file btCollisionObject.h.

bool btCollisionObject::mergesSimulationIslands (  )  const [inline]

static objects, kinematic and object without contact response don't merge islands

Definition at line 148 of file btCollisionObject.h.

const char * btCollisionObject::serialize ( void *  dataBuffer,
class btSerializer serializer 
) const [virtual]

fills the dataBuffer and returns the struct name (and 0 on failure)

Reimplemented in btRigidBody, and btSoftBody.

Definition at line 70 of file btCollisionObject.cpp.

void btCollisionObject::serializeSingleObject ( class btSerializer serializer  )  const [virtual]

Reimplemented in btRigidBody.

Definition at line 110 of file btCollisionObject.cpp.

void btCollisionObject::setActivationState ( int  newState  )  const

Definition at line 50 of file btCollisionObject.cpp.

void btCollisionObject::setAnisotropicFriction ( const btVector3 anisotropicFriction,
int  frictionMode = CF_ANISOTROPIC_FRICTION 
) [inline]

Definition at line 158 of file btCollisionObject.h.

void btCollisionObject::setBroadphaseHandle ( btBroadphaseProxy handle  )  [inline]

Definition at line 317 of file btCollisionObject.h.

void btCollisionObject::setCcdMotionThreshold ( btScalar  ccdMotionThreshold  )  [inline]

Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold.

Definition at line 424 of file btCollisionObject.h.

void btCollisionObject::setCcdSweptSphereRadius ( btScalar  radius  )  [inline]

Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::

Definition at line 406 of file btCollisionObject.h.

void btCollisionObject::setCollisionFlags ( int  flags  )  [inline]

Definition at line 394 of file btCollisionObject.h.

virtual void btCollisionObject::setCollisionShape ( btCollisionShape collisionShape  )  [inline, virtual]

Reimplemented in btSoftBody.

Definition at line 203 of file btCollisionObject.h.

void btCollisionObject::setCompanionId ( int  id  )  [inline]

Definition at line 373 of file btCollisionObject.h.

void btCollisionObject::setContactProcessingThreshold ( btScalar  contactProcessingThreshold  )  [inline]

the constraint solver can discard solving contacts, if the distance is above this threshold.

0 by default. Note that using contacts with positive distance can improve stability. It increases, however, the chance of colliding with degerate contacts, such as 'interior' triangle edges

Definition at line 171 of file btCollisionObject.h.

void btCollisionObject::setDeactivationTime ( btScalar  time  )  [inline]

Definition at line 240 of file btCollisionObject.h.

void btCollisionObject::setFriction ( btScalar  frict  )  [inline]

Definition at line 266 of file btCollisionObject.h.

void btCollisionObject::setHitFraction ( btScalar  hitFraction  )  [inline]

Definition at line 383 of file btCollisionObject.h.

void btCollisionObject::setInterpolationAngularVelocity ( const btVector3 angvel  )  [inline]

Definition at line 343 of file btCollisionObject.h.

void btCollisionObject::setInterpolationLinearVelocity ( const btVector3 linvel  )  [inline]

Definition at line 338 of file btCollisionObject.h.

void btCollisionObject::setInterpolationWorldTransform ( const btTransform trans  )  [inline]

Definition at line 333 of file btCollisionObject.h.

void btCollisionObject::setIslandTag ( int  tag  )  [inline]

Definition at line 363 of file btCollisionObject.h.

void btCollisionObject::setRestitution ( btScalar  rest  )  [inline]

Definition at line 258 of file btCollisionObject.h.

void btCollisionObject::setRollingFriction ( btScalar  frict  )  [inline]

Definition at line 275 of file btCollisionObject.h.

void btCollisionObject::setUserPointer ( void *  userPointer  )  [inline]

users can point to their objects, userPointer is not used by Bullet

Definition at line 436 of file btCollisionObject.h.

void btCollisionObject::setWorldTransform ( const btTransform worldTrans  )  [inline]

Definition at line 301 of file btCollisionObject.h.


Member Data Documentation

int btCollisionObject::m_activationState1 [mutable, protected]

Definition at line 83 of file btCollisionObject.h.

Definition at line 64 of file btCollisionObject.h.

Definition at line 68 of file btCollisionObject.h.

Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold.

Definition at line 104 of file btCollisionObject.h.

Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::

Definition at line 101 of file btCollisionObject.h.

If some object should have elaborate collision filtering by sub-classes.

Definition at line 107 of file btCollisionObject.h.

Definition at line 78 of file btCollisionObject.h.

Definition at line 69 of file btCollisionObject.h.

Definition at line 81 of file btCollisionObject.h.

Definition at line 66 of file btCollisionObject.h.

Definition at line 84 of file btCollisionObject.h.

m_extensionPointer is used by some internal low-level Bullet extensions.

Definition at line 71 of file btCollisionObject.h.

Definition at line 86 of file btCollisionObject.h.

Definition at line 65 of file btCollisionObject.h.

time of impact calculation

Definition at line 98 of file btCollisionObject.h.

m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.

do not assign your own m_internalType unless you write a new dynamics object class.

Definition at line 92 of file btCollisionObject.h.

Definition at line 62 of file btCollisionObject.h.

Definition at line 61 of file btCollisionObject.h.

m_interpolationWorldTransform is used for CCD and interpolation it can be either previous or future (predicted) transform

Definition at line 58 of file btCollisionObject.h.

Definition at line 80 of file btCollisionObject.h.

Definition at line 87 of file btCollisionObject.h.

Definition at line 88 of file btCollisionObject.h.

m_rootCollisionShape is temporarily used to store the original collision shape The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes If it is NULL, the m_collisionShape is not temporarily replaced.

Definition at line 76 of file btCollisionObject.h.

users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer

Definition at line 95 of file btCollisionObject.h.

Definition at line 54 of file btCollisionObject.h.


The documentation for this class was generated from the following files: