21 #ifdef BT_USE_DOUBLE_PRECISION 22 #define btCollisionObjectData btCollisionObjectDoubleData 24 #define btCollisionObjectData btCollisionObjectFloatData 51 #ifdef DEBUG_PERSISTENCY 53 void btPersistentManifold::DebugPersistency()
59 printf(
"m_pointCache[%d].m_userPersistentData = %x\n",i,
m_pointCache[i].m_userPersistentData);
62 #endif //DEBUG_PERSISTENCY 70 #ifdef DEBUG_PERSISTENCY 79 printf(
"error in clearUserCache\n");
83 #endif //DEBUG_PERSISTENCY 91 #ifdef DEBUG_PERSISTENCY 124 int maxPenetrationIndex = -1;
125 #define KEEP_DEEPEST_POINT 1 126 #ifdef KEEP_DEEPEST_POINT 128 for (
int i=0;i<4;i++)
132 maxPenetrationIndex = i;
136 #endif //KEEP_DEEPEST_POINT 142 if (maxPenetrationIndex != 0)
149 if (maxPenetrationIndex != 1)
157 if (maxPenetrationIndex != 2)
165 if (maxPenetrationIndex != 3)
175 if(maxPenetrationIndex != 0) {
179 if(maxPenetrationIndex != 1) {
183 if(maxPenetrationIndex != 2) {
187 if(maxPenetrationIndex != 3) {
202 int nearestPoint = -1;
203 for(
int i = 0; i <
size; i++ )
209 if( distToManiPoint < shortestDist )
211 shortestDist = distToManiPoint;
228 #if MANIFOLD_CACHE_SIZE >= 4 260 #ifdef DEBUG_PERSISTENCY 261 printf(
"refreshContactPoints posA = (%f,%f,%f) posB = (%f,%f,%f)\n",
268 #endif //DEBUG_PERSISTENCY 281 btVector3 projectedDifference,projectedPoint;
296 distance2d = projectedDifference.
dot(projectedDifference);
304 (*gContactProcessedCallback)(manifoldPoint,(
void*)
m_body0,(
void*)
m_body1);
308 #ifdef DEBUG_PERSISTENCY 331 dataOut->m_index1a = manifold->
m_index1a;
346 dataOut->m_pointCacheLifeTime[i] = pt.
m_lifeTime;
351 dataOut->m_pointCacheIndex0[i] = pt.
m_index0;
352 dataOut->m_pointCacheIndex1[i] = pt.
m_index1;
353 dataOut->m_pointCachePartId0[i] = pt.
m_partId0;
354 dataOut->m_pointCachePartId1[i] = pt.
m_partId1;
ContactStartedCallback gContactStartedCallback
float m_pointCacheDistance[4]
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
int getCacheEntry(const btManifoldPoint &newPoint) const
const btCollisionObject * m_body1
btVector3DoubleData m_pointCachePositionWorldOnB[4]
double m_pointCacheAppliedImpulseLateral2[4]
void deSerializeDouble(const struct btVector3DoubleData &dataIn)
double m_pointCacheContactMotion1[4]
btScalar m_combinedContactStiffness1
btVector3 m_lateralFrictionDir1
void refreshContactPoints(const btTransform &trA, const btTransform &trB)
calculated new worldspace coordinates and depth, and reject points that exceed the collision margin ...
int m_pointCacheIndex0[4]
int m_pointCachePartId0[4]
float m_pointCacheContactMotion1[4]
btScalar getContactBreakingThreshold() const
btScalar m_appliedImpulseLateral1
btScalar m_combinedRestitution
float m_pointCacheCombinedFriction[4]
float m_pointCacheAppliedImpulse[4]
virtual void * getUniquePointer(void *oldPtr)=0
float m_pointCacheAppliedImpulseLateral2[4]
float m_contactBreakingThreshold
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
btScalar m_appliedImpulse
int m_pointCacheLifeTime[4]
double m_pointCacheCombinedFriction[4]
btVector3DoubleData m_pointCacheLocalPointB[4]
double m_pointCacheCombinedRollingFriction[4]
const char * serialize(const class btPersistentManifold *manifold, void *dataBuffer, class btSerializer *serializer) const
ManifoldContactPoint collects and maintains persistent contactpoints.
const btCollisionObject * getBody0() const
btScalar m_contactMotion1
#define MANIFOLD_CACHE_SIZE
float m_pointCacheCombinedContactStiffness1[4]
int sortCachedPoints(const btManifoldPoint &pt)
sort cached points so most isolated points come first
btScalar dot(const btVector3 &v) const
Return the dot product.
double m_pointCacheCombinedSpinningFriction[4]
float m_pointCacheAppliedImpulseLateral1[4]
const btScalar & getZ() const
Return the z value.
int m_pointCacheLifeTime[4]
double m_pointCacheCombinedContactStiffness1[4]
btVector3DoubleData m_pointCacheNormalWorldOnB[4]
#define btCollisionObjectData
float m_pointCacheContactERP[4]
double m_pointCacheCombinedContactDamping1[4]
btScalar m_combinedRollingFriction
btVector3DoubleData m_pointCachePositionWorldOnA[4]
#define btPersistentManifoldData
double m_pointCacheAppliedImpulse[4]
float m_pointCacheContactCFM[4]
btVector3 m_normalWorldOnB
void * m_userPersistentData
btVector3 m_positionWorldOnB
btVector3FloatData m_pointCacheLocalPointB[4]
btScalar m_appliedImpulseLateral2
void(* ContactEndedCallback)(btPersistentManifold *const &manifold)
double m_pointCacheContactMotion2[4]
double m_pointCacheDistance[4]
btVector3 cross(const btVector3 &v) const
Return the cross product between this and another vector.
void serialize(struct btVector3Data &dataOut) const
const btScalar & getY() const
Return the y value.
static btScalar calcArea4Points(const btVector3 &p0, const btVector3 &p1, const btVector3 &p2, const btVector3 &p3)
void deSerialize(const struct btVector3DoubleData &dataIn)
btVector3FloatData m_pointCachePositionWorldOnB[4]
const btScalar & getX() const
Return the x value.
btScalar getContactProcessingThreshold() const
float m_contactProcessingThreshold
btVector3DoubleData m_pointCacheLateralFrictionDir1[4]
btVector3FloatData m_pointCacheNormalWorldOnB[4]
btVector3 m_positionWorldOnA
m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity ...
float m_pointCacheContactMotion2[4]
const btManifoldPoint & getContactPoint(int index) const
bool(* ContactDestroyedCallback)(void *userPersistentData)
int m_pointCacheIndex0[4]
ContactDestroyedCallback gContactDestroyedCallback
int m_pointCachePartId1[4]
btScalar gContactBreakingThreshold
maximum contact breaking and merging threshold
void(* ContactStartedCallback)(btPersistentManifold *const &manifold)
btVector3 can be used to represent 3D points and vectors.
int m_pointCacheContactPointFlags[4]
ContactEndedCallback gContactEndedCallback
btScalar length2() const
Return the length of the vector squared.
int m_pointCacheIndex1[4]
void removeContactPoint(int index)
int calculateSerializeBufferSize() const
int m_pointCacheIndex1[4]
btVector3FloatData m_pointCacheLocalPointA[4]
float m_pointCacheCombinedContactDamping1[4]
double m_contactProcessingThreshold
bool(* ContactProcessedCallback)(btManifoldPoint &cp, void *body0, void *body1)
btScalar m_combinedContactDamping1
int m_pointCacheContactPointFlags[4]
rudimentary class to provide type info
double m_pointCacheCombinedRestitution[4]
double m_pointCacheContactCFM[4]
btVector3FloatData m_pointCacheLateralFrictionDir2[4]
double m_contactBreakingThreshold
int getNumContacts() const
#define btPersistentManifoldDataName
float m_pointCacheFrictionCFM[4]
void clearUserCache(btManifoldPoint &pt)
double m_pointCacheFrictionCFM[4]
bool gContactCalcArea3Points
gContactCalcArea3Points will approximate the convex hull area using 3 points when setting it to false...
btScalar m_contactMotion2
const T & btMax(const T &a, const T &b)
btScalar m_combinedFriction
btVector3DoubleData m_pointCacheLateralFrictionDir2[4]
double m_pointCacheAppliedImpulseLateral1[4]
btScalar m_contactProcessingThreshold
btScalar dot(const btQuaternion &q1, const btQuaternion &q2)
Calculate the dot product between two quaternions.
btScalar m_contactBreakingThreshold
void deSerialize(const struct btPersistentManifoldDoubleData *manifoldDataPtr)
int m_pointCachePartId0[4]
btVector3 m_lateralFrictionDir2
btVector3DoubleData m_pointCacheLocalPointA[4]
btScalar getDistance() const
float m_pointCacheCombinedSpinningFriction[4]
const btCollisionObject * m_body0
this two body pointers can point to the physics rigidbody class.
const btCollisionObject * getBody1() const
double m_pointCacheContactERP[4]
int addManifoldPoint(const btManifoldPoint &newPoint, bool isPredictive=false)
btVector3FloatData m_pointCacheLateralFrictionDir1[4]
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar m_combinedSpinningFriction
btVector3FloatData m_pointCachePositionWorldOnA[4]
bool validContactDistance(const btManifoldPoint &pt) const
ContactProcessedCallback gContactProcessedCallback
btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE]
float m_pointCacheCombinedRollingFriction[4]
int m_pointCachePartId1[4]
float m_pointCacheCombinedRestitution[4]