17 #ifndef BT_MANIFOLD_RESULT_H 18 #define BT_MANIFOLD_RESULT_H 66 #ifdef DEBUG_PART_INDEX
83 m_manifoldPtr = manifoldPtr;
138 m_body0Wrap = obj0Wrap;
143 m_body1Wrap = obj1Wrap;
167 #endif //BT_MANIFOLD_RESULT_H const btPersistentManifold * getPersistentManifold() const
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
virtual ~btManifoldResult()
void refreshContactPoints(const btTransform &trA, const btTransform &trB)
calculated new worldspace coordinates and depth, and reject points that exceed the collision margin ...
static btScalar calculateCombinedContactDamping(const btCollisionObject *body0, const btCollisionObject *body1)
btPersistentManifold * m_manifoldPtr
static btScalar calculateCombinedRollingFriction(const btCollisionObject *body0, const btCollisionObject *body1)
btPersistentManifold * getPersistentManifold()
void setPersistentManifold(btPersistentManifold *manifoldPtr)
const btCollisionObject * getBody1Internal() const
CalculateCombinedCallback gCalculateCombinedContactDampingCallback
void refreshContactPoints()
#define SIMD_FORCE_INLINE
static btScalar calculateCombinedContactStiffness(const btCollisionObject *body0, const btCollisionObject *body1)
ManifoldContactPoint collects and maintains persistent contactpoints.
const btCollisionObject * getBody0() const
btManifoldResult is a helper class to manage contact results.
btScalar(* CalculateCombinedCallback)(const btCollisionObject *body0, const btCollisionObject *body1)
These callbacks are used to customize the algorith that combine restitution, friction, damping, Stiffness.
const btCollisionObjectWrapper * getBody1Wrap() const
const btCollisionObjectWrapper * m_body1Wrap
virtual void setShapeIdentifiersA(int partId0, int index0)
setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material comb...
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
btTransform & getWorldTransform()
btScalar m_closestPointDistanceThreshold
CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback
const btCollisionObjectWrapper * getBody0Wrap() const
btCollisionObject can be used to manage collision detection objects.
const btCollisionObject * getBody0Internal() const
virtual void setShapeIdentifiersB(int partId1, int index1)
static btScalar calculateCombinedFriction(const btCollisionObject *body0, const btCollisionObject *body1)
User can override this material combiner by implementing gContactAddedCallback and setting body0->m_c...
btVector3 can be used to represent 3D points and vectors.
bool(* ContactAddedCallback)(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1)
CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback
CalculateCombinedCallback gCalculateCombinedFrictionCallback
int getNumContacts() const
static btScalar calculateCombinedSpinningFriction(const btCollisionObject *body0, const btCollisionObject *body1)
void setBody1Wrap(const btCollisionObjectWrapper *obj1Wrap)
ContactAddedCallback gContactAddedCallback
This is to allow MaterialCombiner/Custom Friction/Restitution values.
const btCollisionObjectWrapper * m_body0Wrap
void setBody0Wrap(const btCollisionObjectWrapper *obj0Wrap)
CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback
static btScalar calculateCombinedRestitution(const btCollisionObject *body0, const btCollisionObject *body1)
in the future we can let the user override the methods to combine restitution and friction ...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
const btCollisionObject * getCollisionObject() const
CalculateCombinedCallback gCalculateCombinedRestitutionCallback