btManifoldResult Class Reference

btManifoldResult is a helper class to manage contact results. More...

#include <btManifoldResult.h>

Inherits btDiscreteCollisionDetectorInterface::Result.

Inherited by btBridgedManifoldResult, and btPerturbedContactResult.

Public Member Functions
	btManifoldResult ()
	btManifoldResult (const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
virtual	~btManifoldResult ()
void	setPersistentManifold (btPersistentManifold *manifoldPtr)
const btPersistentManifold *	getPersistentManifold () const
btPersistentManifold *	getPersistentManifold ()
virtual void	setShapeIdentifiersA (int partId0, int index0)
	setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material combiner
virtual void	setShapeIdentifiersB (int partId1, int index1)
virtual void	addContactPoint (const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
SIMD_FORCE_INLINE void	refreshContactPoints ()
const btCollisionObjectWrapper *	getBody0Wrap () const
const btCollisionObjectWrapper *	getBody1Wrap () const
void	setBody0Wrap (const btCollisionObjectWrapper *obj0Wrap)
void	setBody1Wrap (const btCollisionObjectWrapper *obj1Wrap)
const btCollisionObject *	getBody0Internal () const
const btCollisionObject *	getBody1Internal () const
Public Member Functions inherited from btDiscreteCollisionDetectorInterface::Result
virtual	~Result ()

Static Public Member Functions
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
static btScalar	calculateCombinedFriction (const btCollisionObject *body0, const btCollisionObject *body1)
	User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;.
static btScalar	calculateCombinedRollingFriction (const btCollisionObject *body0, const btCollisionObject *body1)
static btScalar	calculateCombinedSpinningFriction (const btCollisionObject *body0, const btCollisionObject *body1)
static btScalar	calculateCombinedContactDamping (const btCollisionObject *body0, const btCollisionObject *body1)
static btScalar	calculateCombinedContactStiffness (const btCollisionObject *body0, const btCollisionObject *body1)

Public Attributes
btScalar	m_closestPointDistanceThreshold

Protected Attributes
btPersistentManifold *	m_manifoldPtr
const btCollisionObjectWrapper *	m_body0Wrap
const btCollisionObjectWrapper *	m_body1Wrap
int	m_partId0
int	m_partId1
int	m_index0
int	m_index1

Detailed Description

btManifoldResult is a helper class to manage contact results.

Definition at line 47 of file btManifoldResult.h.

Constructor & Destructor Documentation

btManifoldResult() [1/2]

btManifoldResult::btManifoldResult ( )

inline

Definition at line 60 of file btManifoldResult.h.

btManifoldResult() [2/2]

btManifoldResult::btManifoldResult	(	const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap )

Definition at line 89 of file btManifoldResult.cpp.

~btManifoldResult()

virtual btManifoldResult::~btManifoldResult ( )

inlinevirtual

Definition at line 75 of file btManifoldResult.h.

Member Function Documentation

addContactPoint()

void btManifoldResult::addContactPoint ( const btVector3 & normalOnBInWorld, const btVector3 & pointInWorld, btScalar depth )

virtual

Todo

, check this for any side effects

Implements btDiscreteCollisionDetectorInterface::Result.

Reimplemented in btBridgedManifoldResult, and btPerturbedContactResult.

Definition at line 105 of file btManifoldResult.cpp.

References BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING, BT_CONTACT_FLAG_FRICTION_ANCHOR, btAssert, btPlaneSpace1(), gCalculateCombinedContactDampingCallback, gCalculateCombinedContactStiffnessCallback, gCalculateCombinedFrictionCallback, gCalculateCombinedRestitutionCallback, gCalculateCombinedRollingFrictionCallback, gCalculateCombinedSpinningFrictionCallback, gContactAddedCallback, gContactStartedCallback, btCollisionObjectWrapper::getCollisionObject(), m_body0Wrap, m_body1Wrap, btManifoldPoint::m_combinedContactDamping1, btManifoldPoint::m_combinedContactStiffness1, btManifoldPoint::m_combinedFriction, btManifoldPoint::m_combinedRestitution, btManifoldPoint::m_combinedRollingFriction, btManifoldPoint::m_combinedSpinningFriction, btManifoldPoint::m_contactPointFlags, btManifoldPoint::m_index0, m_index0, btManifoldPoint::m_index1, m_index1, btManifoldPoint::m_lateralFrictionDir1, btManifoldPoint::m_lateralFrictionDir2, m_manifoldPtr, btManifoldPoint::m_normalWorldOnB, btManifoldPoint::m_partId0, m_partId0, btManifoldPoint::m_partId1, m_partId1, btManifoldPoint::m_positionWorldOnA, and btManifoldPoint::m_positionWorldOnB.

Referenced by btGImpactCollisionAlgorithm::addContactPoint(), btPerturbedContactResult::addContactPoint(), btConvexPlaneCollisionAlgorithm::collideSingleContact(), btConvexConvexAlgorithm::processCollision(), btConvexPlaneCollisionAlgorithm::processCollision(), btSphereBoxCollisionAlgorithm::processCollision(), and btSphereSphereCollisionAlgorithm::processCollision().

calculateCombinedContactDamping()

btScalar btManifoldResult::calculateCombinedContactDamping ( const btCollisionObject * body0, const btCollisionObject * body1 )

static

Definition at line 73 of file btManifoldResult.cpp.

calculateCombinedContactStiffness()

btScalar btManifoldResult::calculateCombinedContactStiffness ( const btCollisionObject * body0, const btCollisionObject * body1 )

static

Definition at line 78 of file btManifoldResult.cpp.

calculateCombinedFriction()

btScalar btManifoldResult::calculateCombinedFriction ( const btCollisionObject * body0, const btCollisionObject * body1 )

static

User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;.

Definition at line 56 of file btManifoldResult.cpp.

calculateCombinedRestitution()

btScalar btManifoldResult::calculateCombinedRestitution ( const btCollisionObject * body0, const btCollisionObject * body1 )

static

in the future we can let the user override the methods to combine restitution and friction

Definition at line 68 of file btManifoldResult.cpp.

calculateCombinedRollingFriction()

btScalar btManifoldResult::calculateCombinedRollingFriction ( const btCollisionObject * body0, const btCollisionObject * body1 )

static

Definition at line 31 of file btManifoldResult.cpp.

calculateCombinedSpinningFriction()

btScalar btManifoldResult::calculateCombinedSpinningFriction ( const btCollisionObject * body0, const btCollisionObject * body1 )

static

Definition at line 43 of file btManifoldResult.cpp.

getBody0Internal()

const btCollisionObject * btManifoldResult::getBody0Internal ( ) const

inline

Definition at line 142 of file btManifoldResult.h.

References btCollisionObjectWrapper::getCollisionObject(), and m_body0Wrap.

Referenced by btCompoundLeafCallback::ProcessChildShape().

getBody0Wrap()

const btCollisionObjectWrapper * btManifoldResult::getBody0Wrap ( ) const

inline

Definition at line 123 of file btManifoldResult.h.

References m_body0Wrap.

Referenced by btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(), btGImpactCollisionAlgorithm::gimpact_vs_shape(), btCompoundCompoundLeafCallback::Process(), btCompoundLeafCallback::ProcessChildShape(), and btGImpactTriangleCallback::processTriangle().

getBody1Internal()

const btCollisionObject * btManifoldResult::getBody1Internal ( ) const

inline

Definition at line 147 of file btManifoldResult.h.

References btCollisionObjectWrapper::getCollisionObject(), and m_body1Wrap.

getBody1Wrap()

const btCollisionObjectWrapper * btManifoldResult::getBody1Wrap ( ) const

inline

Definition at line 127 of file btManifoldResult.h.

References m_body1Wrap.

Referenced by btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(), btGImpactCollisionAlgorithm::gimpact_vs_shape(), btCompoundCompoundLeafCallback::Process(), btCompoundLeafCallback::ProcessChildShape(), and btGImpactTriangleCallback::processTriangle().

getPersistentManifold() [1/2]

btPersistentManifold * btManifoldResult::getPersistentManifold ( )

inline

Definition at line 86 of file btManifoldResult.h.

References m_manifoldPtr.

getPersistentManifold() [2/2]

const btPersistentManifold * btManifoldResult::getPersistentManifold ( ) const

inline

Definition at line 82 of file btManifoldResult.h.

References m_manifoldPtr.

Referenced by btConvexConvexAlgorithm::processCollision(), and btConvexPlaneCollisionAlgorithm::processCollision().

refreshContactPoints()

SIMD_FORCE_INLINE void btManifoldResult::refreshContactPoints ( )

inline

Definition at line 105 of file btManifoldResult.h.

References btAssert, btCollisionObjectWrapper::getCollisionObject(), m_body0Wrap, m_body1Wrap, and m_manifoldPtr.

Referenced by btBox2dBox2dCollisionAlgorithm::processCollision(), btBoxBoxCollisionAlgorithm::processCollision(), btCompoundCollisionAlgorithm::processCollision(), btCompoundCompoundCollisionAlgorithm::processCollision(), btConvex2dConvex2dAlgorithm::processCollision(), btConvexConvexAlgorithm::processCollision(), btConvexPlaneCollisionAlgorithm::processCollision(), btGImpactCollisionAlgorithm::processCollision(), btSphereBoxCollisionAlgorithm::processCollision(), btSphereSphereCollisionAlgorithm::processCollision(), and btSphereTriangleCollisionAlgorithm::processCollision().

setBody0Wrap()

void btManifoldResult::setBody0Wrap ( const btCollisionObjectWrapper * obj0Wrap )

inline

Definition at line 132 of file btManifoldResult.h.

References m_body0Wrap.

Referenced by btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(), btGImpactCollisionAlgorithm::gimpact_vs_shape(), btCompoundCompoundLeafCallback::Process(), btCompoundLeafCallback::ProcessChildShape(), and btGImpactTriangleCallback::processTriangle().

setBody1Wrap()

void btManifoldResult::setBody1Wrap ( const btCollisionObjectWrapper * obj1Wrap )

inline

Definition at line 137 of file btManifoldResult.h.

References m_body1Wrap.

Referenced by btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(), btGImpactCollisionAlgorithm::gimpact_vs_shape(), btCompoundCompoundLeafCallback::Process(), btCompoundLeafCallback::ProcessChildShape(), and btGImpactTriangleCallback::processTriangle().

setPersistentManifold()

void btManifoldResult::setPersistentManifold ( btPersistentManifold * manifoldPtr )

inline

Definition at line 77 of file btManifoldResult.h.

References m_manifoldPtr, and manifoldPtr.

Referenced by btGImpactCollisionAlgorithm::checkManifold(), btConvexPlaneCollisionAlgorithm::collideSingleContact(), btBox2dBox2dCollisionAlgorithm::processCollision(), btBoxBoxCollisionAlgorithm::processCollision(), btCompoundCollisionAlgorithm::processCollision(), btCompoundCompoundCollisionAlgorithm::processCollision(), btConvex2dConvex2dAlgorithm::processCollision(), btConvexConvexAlgorithm::processCollision(), btConvexPlaneCollisionAlgorithm::processCollision(), btSphereBoxCollisionAlgorithm::processCollision(), btSphereSphereCollisionAlgorithm::processCollision(), and btSphereTriangleCollisionAlgorithm::processCollision().

setShapeIdentifiersA()

virtual void btManifoldResult::setShapeIdentifiersA ( int partId0, int index0 )

inlinevirtual

setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material combiner

Implements btDiscreteCollisionDetectorInterface::Result.

Definition at line 91 of file btManifoldResult.h.

References m_index0, and m_partId0.

Referenced by btGImpactCollisionAlgorithm::addContactPoint(), btGImpactCollisionAlgorithm::convex_vs_convex_collision(), btCompoundCompoundLeafCallback::Process(), btCompoundLeafCallback::ProcessChildShape(), and btGImpactCollisionAlgorithm::shape_vs_shape_collision().

setShapeIdentifiersB()

virtual void btManifoldResult::setShapeIdentifiersB ( int partId1, int index1 )

inlinevirtual

Implements btDiscreteCollisionDetectorInterface::Result.

Definition at line 97 of file btManifoldResult.h.

References m_index1, and m_partId1.

Referenced by btGImpactCollisionAlgorithm::addContactPoint(), btGImpactCollisionAlgorithm::convex_vs_convex_collision(), btCompoundCompoundLeafCallback::Process(), btCompoundLeafCallback::ProcessChildShape(), and btGImpactCollisionAlgorithm::shape_vs_shape_collision().

Member Data Documentation

m_body0Wrap

const btCollisionObjectWrapper* btManifoldResult::m_body0Wrap

protected

Definition at line 52 of file btManifoldResult.h.

Referenced by btBridgedManifoldResult::addContactPoint(), addContactPoint(), getBody0Internal(), getBody0Wrap(), refreshContactPoints(), and setBody0Wrap().

m_body1Wrap

const btCollisionObjectWrapper* btManifoldResult::m_body1Wrap

protected

Definition at line 53 of file btManifoldResult.h.

Referenced by btBridgedManifoldResult::addContactPoint(), addContactPoint(), getBody1Internal(), getBody1Wrap(), refreshContactPoints(), and setBody1Wrap().

m_closestPointDistanceThreshold

btScalar btManifoldResult::m_closestPointDistanceThreshold

Definition at line 152 of file btManifoldResult.h.

Referenced by btCollisionWorld::contactPairTest(), btCompoundCompoundLeafCallback::Process(), btCompoundLeafCallback::ProcessChildShape(), btCompoundCollisionAlgorithm::processCollision(), btCompoundCompoundCollisionAlgorithm::processCollision(), btConvexConvexAlgorithm::processCollision(), btConvexPlaneCollisionAlgorithm::processCollision(), btSphereSphereCollisionAlgorithm::processCollision(), btSphereTriangleCollisionAlgorithm::processCollision(), and btSoftBodyTriangleCallback::processTriangle().

m_index0

int btManifoldResult::m_index0

protected

Definition at line 56 of file btManifoldResult.h.

Referenced by btBridgedManifoldResult::addContactPoint(), addContactPoint(), and setShapeIdentifiersA().

m_index1

int btManifoldResult::m_index1

protected

Definition at line 57 of file btManifoldResult.h.

Referenced by btBridgedManifoldResult::addContactPoint(), addContactPoint(), and setShapeIdentifiersB().

m_manifoldPtr

btPersistentManifold* btManifoldResult::m_manifoldPtr

protected

Definition at line 50 of file btManifoldResult.h.

Referenced by btBridgedManifoldResult::addContactPoint(), addContactPoint(), getPersistentManifold(), getPersistentManifold(), refreshContactPoints(), and setPersistentManifold().

m_partId0

int btManifoldResult::m_partId0

protected

Definition at line 54 of file btManifoldResult.h.

Referenced by btBridgedManifoldResult::addContactPoint(), addContactPoint(), and setShapeIdentifiersA().

m_partId1

int btManifoldResult::m_partId1

protected

Definition at line 55 of file btManifoldResult.h.

Referenced by btBridgedManifoldResult::addContactPoint(), addContactPoint(), and setShapeIdentifiersB().

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

• btManifoldResult.h
• btManifoldResult.cpp