diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h | 62 |
1 files changed, 36 insertions, 26 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h index 3a11c967ac9..2f17967fe0f 100644 --- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h +++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h @@ -80,11 +80,12 @@ protected: int m_islandTag1; int m_companionId; - int m_activationState1; - btScalar m_deactivationTime; + mutable int m_activationState1; + mutable btScalar m_deactivationTime; btScalar m_friction; btScalar m_restitution; + btScalar m_rollingFriction; ///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. @@ -105,7 +106,7 @@ protected: /// If some object should have elaborate collision filtering by sub-classes int m_checkCollideWith; - virtual bool checkCollideWithOverride(btCollisionObject* /* co */) + virtual bool checkCollideWithOverride(const btCollisionObject* /* co */) const { return true; } @@ -137,6 +138,13 @@ public: CO_USER_TYPE=32 }; + enum AnisotropicFrictionFlags + { + CF_ANISOTROPIC_FRICTION_DISABLED=0, + CF_ANISOTROPIC_FRICTION = 1, + CF_ANISOTROPIC_ROLLING_FRICTION = 2 + }; + SIMD_FORCE_INLINE bool mergesSimulationIslands() const { ///static objects, kinematic and object without contact response don't merge islands @@ -147,14 +155,15 @@ public: { return m_anisotropicFriction; } - void setAnisotropicFriction(const btVector3& anisotropicFriction) + void setAnisotropicFriction(const btVector3& anisotropicFriction, int frictionMode = CF_ANISOTROPIC_FRICTION) { m_anisotropicFriction = anisotropicFriction; - m_hasAnisotropicFriction = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f); + bool isUnity = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f); + m_hasAnisotropicFriction = isUnity?frictionMode : 0; } - bool hasAnisotropicFriction() const + bool hasAnisotropicFriction(int frictionMode = CF_ANISOTROPIC_FRICTION) const { - return m_hasAnisotropicFriction!=0; + return (m_hasAnisotropicFriction&frictionMode)!=0; } ///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default. @@ -207,22 +216,9 @@ public: return m_collisionShape; } - SIMD_FORCE_INLINE const btCollisionShape* getRootCollisionShape() const - { - return m_rootCollisionShape; - } - - SIMD_FORCE_INLINE btCollisionShape* getRootCollisionShape() - { - return m_rootCollisionShape; - } + - ///Avoid using this internal API call - ///internalSetTemporaryCollisionShape is used to temporary replace the actual collision shape by a child collision shape. - void internalSetTemporaryCollisionShape(btCollisionShape* collisionShape) - { - m_collisionShape = collisionShape; - } + ///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. @@ -239,7 +235,7 @@ public: SIMD_FORCE_INLINE int getActivationState() const { return m_activationState1;} - void setActivationState(int newState); + void setActivationState(int newState) const; void setDeactivationTime(btScalar time) { @@ -250,9 +246,9 @@ public: return m_deactivationTime; } - void forceActivationState(int newState); + void forceActivationState(int newState) const; - void activate(bool forceActivation = false); + void activate(bool forceActivation = false) const; SIMD_FORCE_INLINE bool isActive() const { @@ -276,6 +272,16 @@ public: return m_friction; } + void setRollingFriction(btScalar frict) + { + m_rollingFriction = frict; + } + btScalar getRollingFriction() const + { + return m_rollingFriction; + } + + ///reserved for Bullet internal usage int getInternalType() const { @@ -433,7 +439,7 @@ public: } - inline bool checkCollideWith(btCollisionObject* co) + inline bool checkCollideWith(const btCollisionObject* co) const { if (m_checkCollideWith) return checkCollideWithOverride(co); @@ -466,6 +472,7 @@ struct btCollisionObjectDoubleData double m_contactProcessingThreshold; double m_deactivationTime; double m_friction; + double m_rollingFriction; double m_restitution; double m_hitFraction; double m_ccdSweptSphereRadius; @@ -498,6 +505,8 @@ struct btCollisionObjectFloatData float m_contactProcessingThreshold; float m_deactivationTime; float m_friction; + float m_rollingFriction; + float m_restitution; float m_hitFraction; float m_ccdSweptSphereRadius; @@ -510,6 +519,7 @@ struct btCollisionObjectFloatData int m_activationState1; int m_internalType; int m_checkCollideWith; + char m_padding[4]; }; |