btCollisionObject Class Reference

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

#include <btCollisionObject.h>

Inheritance diagram for btCollisionObject:

[legend]

Collaboration diagram for btCollisionObject:

[legend]

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 }
enum	CollisionObjectTypes {   CO_COLLISION_OBJECT = 1,   CO_RIGID_BODY,   CO_GHOST_OBJECT,   CO_SOFT_BODY,   CO_HF_FLUID }
Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
SIMD_FORCE_INLINE bool	mergesSimulationIslands () const
const btVector3 &	getAnisotropicFriction () const
void	setAnisotropicFriction (const btVector3 &anisotropicFriction)
bool	hasAnisotropicFriction () const
void	setContactProcessingThreshold (btScalar contactProcessingThreshold)
	the constraint solver can discard solving contacts, if the distance is above this threshold.
btScalar	getContactProcessingThreshold () const
SIMD_FORCE_INLINE bool	isStaticObject () const
SIMD_FORCE_INLINE bool	isKinematicObject () const
SIMD_FORCE_INLINE bool	isStaticOrKinematicObject () const
SIMD_FORCE_INLINE bool	hasContactResponse () const
	btCollisionObject ()
virtual	~btCollisionObject ()
virtual void	setCollisionShape (btCollisionShape *collisionShape)
SIMD_FORCE_INLINE const btCollisionShape *	getCollisionShape () const
SIMD_FORCE_INLINE btCollisionShape *	getCollisionShape ()
SIMD_FORCE_INLINE const btCollisionShape *	getRootCollisionShape () const
SIMD_FORCE_INLINE btCollisionShape *	getRootCollisionShape ()
void	internalSetTemporaryCollisionShape (btCollisionShape *collisionShape)
	Avoid using this internal API call internalSetTemporaryCollisionShape is used to temporary replace the actual collision shape by a child collision shape.
SIMD_FORCE_INLINE int	getActivationState () const
void	setActivationState (int newState)
void	setDeactivationTime (btScalar time)
btScalar	getDeactivationTime () const
void	forceActivationState (int newState)
void	activate (bool forceActivation=false)
SIMD_FORCE_INLINE bool	isActive () const
void	setRestitution (btScalar rest)
btScalar	getRestitution () const
void	setFriction (btScalar frict)
btScalar	getFriction () const
int	getInternalType () const
	reserved for Bullet internal usage
btTransform &	getWorldTransform ()
const btTransform &	getWorldTransform () const
void	setWorldTransform (const btTransform &worldTrans)
SIMD_FORCE_INLINE btBroadphaseProxy *	getBroadphaseHandle ()
SIMD_FORCE_INLINE const btBroadphaseProxy *	getBroadphaseHandle () const
void	setBroadphaseHandle (btBroadphaseProxy *handle)
const btTransform &	getInterpolationWorldTransform () const
btTransform &	getInterpolationWorldTransform ()
void	setInterpolationWorldTransform (const btTransform &trans)
void	setInterpolationLinearVelocity (const btVector3 &linvel)
void	setInterpolationAngularVelocity (const btVector3 &angvel)
const btVector3 &	getInterpolationLinearVelocity () const
const btVector3 &	getInterpolationAngularVelocity () const
SIMD_FORCE_INLINE int	getIslandTag () const
void	setIslandTag (int tag)
SIMD_FORCE_INLINE int	getCompanionId () const
void	setCompanionId (int id)
SIMD_FORCE_INLINE btScalar	getHitFraction () const
void	setHitFraction (btScalar hitFraction)
SIMD_FORCE_INLINE 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 (btCollisionObject *co)
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)
Protected Member Functions
virtual bool	checkCollideWithOverride (btCollisionObject *)
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
btBroadphaseProxy *	m_broadphaseHandle
btCollisionShape *	m_collisionShape
btCollisionShape *	m_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
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

enum btCollisionObject::CollisionFlags

Enumerator:

CF_STATIC_OBJECT
CF_KINEMATIC_OBJECT
CF_NO_CONTACT_RESPONSE
CF_CUSTOM_MATERIAL_CALLBACK
CF_CHARACTER_OBJECT
CF_DISABLE_VISUALIZE_OBJECT

Definition at line 115 of file btCollisionObject.h.

enum btCollisionObject::CollisionObjectTypes

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

Definition at line 125 of file btCollisionObject.h.

---

Constructor & Destructor Documentation

btCollisionObject::btCollisionObject

(

)

Definition at line 20 of file btCollisionObject.cpp.

btCollisionObject::~btCollisionObject

(

)

[virtual]

Definition at line 44 of file btCollisionObject.cpp.

---

Member Function Documentation

void btCollisionObject::activate

(

bool

forceActivation = false

)

Definition at line 59 of file btCollisionObject.cpp.

btCollisionObject::BT_DECLARE_ALIGNED_ALLOCATOR

(

)

SIMD_FORCE_INLINE int btCollisionObject::calculateSerializeBufferSize

(

)

const [virtual]

Reimplemented in btRigidBody.

Definition at line 499 of file btCollisionObject.h.

bool btCollisionObject::checkCollideWith

(

btCollisionObject *

co

)

[inline]

Definition at line 419 of file btCollisionObject.h.

virtual bool btCollisionObject::checkCollideWithOverride

(

btCollisionObject *

)

[inline, protected, virtual]

Definition at line 106 of file btCollisionObject.h.

void btCollisionObject::forceActivationState

(

int

newState

)

Definition at line 54 of file btCollisionObject.cpp.

SIMD_FORCE_INLINE int btCollisionObject::getActivationState

(

)

const [inline]

Definition at line 223 of file btCollisionObject.h.

const btVector3& btCollisionObject::getAnisotropicFriction

(

)

const [inline]

Definition at line 142 of file btCollisionObject.h.

SIMD_FORCE_INLINE const btBroadphaseProxy* btCollisionObject::getBroadphaseHandle

(

)

const [inline]

Definition at line 289 of file btCollisionObject.h.

SIMD_FORCE_INLINE btBroadphaseProxy* btCollisionObject::getBroadphaseHandle

(

)

[inline]

Definition at line 284 of file btCollisionObject.h.

btScalar btCollisionObject::getCcdMotionThreshold

(

)

const [inline]

Definition at line 388 of file btCollisionObject.h.

btScalar btCollisionObject::getCcdSquareMotionThreshold

(

)

const [inline]

Definition at line 393 of file btCollisionObject.h.

btScalar btCollisionObject::getCcdSweptSphereRadius

(

)

const [inline]

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

Definition at line 377 of file btCollisionObject.h.

SIMD_FORCE_INLINE int btCollisionObject::getCollisionFlags

(

)

const [inline]

Definition at line 366 of file btCollisionObject.h.

SIMD_FORCE_INLINE btCollisionShape* btCollisionObject::getCollisionShape

(

)

[inline]

Reimplemented in btRigidBody.

Definition at line 201 of file btCollisionObject.h.

SIMD_FORCE_INLINE const btCollisionShape* btCollisionObject::getCollisionShape

(

)

const [inline]

Reimplemented in btRigidBody.

Definition at line 196 of file btCollisionObject.h.

SIMD_FORCE_INLINE int btCollisionObject::getCompanionId

(

)

const [inline]

Definition at line 345 of file btCollisionObject.h.

btScalar btCollisionObject::getContactProcessingThreshold

(

)

const [inline]

Definition at line 162 of file btCollisionObject.h.

btScalar btCollisionObject::getDeactivationTime

(

)

const [inline]

Definition at line 231 of file btCollisionObject.h.

btScalar btCollisionObject::getFriction

(

)

const [inline]

Definition at line 257 of file btCollisionObject.h.

SIMD_FORCE_INLINE btScalar btCollisionObject::getHitFraction

(

)

const [inline]

Definition at line 355 of file btCollisionObject.h.

int btCollisionObject::getInternalType

(

)

const [inline]

reserved for Bullet internal usage

Definition at line 263 of file btCollisionObject.h.

const btVector3& btCollisionObject::getInterpolationAngularVelocity

(

)

const [inline]

Definition at line 330 of file btCollisionObject.h.

const btVector3& btCollisionObject::getInterpolationLinearVelocity

(

)

const [inline]

Definition at line 325 of file btCollisionObject.h.

btTransform& btCollisionObject::getInterpolationWorldTransform

(

)

[inline]

Definition at line 305 of file btCollisionObject.h.

const btTransform& btCollisionObject::getInterpolationWorldTransform

(

)

const [inline]

Definition at line 300 of file btCollisionObject.h.

SIMD_FORCE_INLINE int btCollisionObject::getIslandTag

(

)

const [inline]

Definition at line 335 of file btCollisionObject.h.

btScalar btCollisionObject::getRestitution

(

)

const [inline]

Definition at line 249 of file btCollisionObject.h.

SIMD_FORCE_INLINE btCollisionShape* btCollisionObject::getRootCollisionShape

(

)

[inline]

Definition at line 211 of file btCollisionObject.h.

SIMD_FORCE_INLINE const btCollisionShape* btCollisionObject::getRootCollisionShape

(

)

const [inline]

Definition at line 206 of file btCollisionObject.h.

void* btCollisionObject::getUserPointer

(

)

const [inline]

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

Definition at line 407 of file btCollisionObject.h.

const btTransform& btCollisionObject::getWorldTransform

(

)

const [inline]

Definition at line 273 of file btCollisionObject.h.

btTransform& btCollisionObject::getWorldTransform

(

)

[inline]

Definition at line 268 of file btCollisionObject.h.

bool btCollisionObject::hasAnisotropicFriction

(

)

const [inline]

Definition at line 151 of file btCollisionObject.h.

SIMD_FORCE_INLINE bool btCollisionObject::hasContactResponse

(

)

const [inline]

Definition at line 181 of file btCollisionObject.h.

void btCollisionObject::internalSetTemporaryCollisionShape

(

btCollisionShape *

collisionShape

)

[inline]

Avoid using this internal API call internalSetTemporaryCollisionShape is used to temporary replace the actual collision shape by a child collision shape.

Definition at line 218 of file btCollisionObject.h.

SIMD_FORCE_INLINE bool btCollisionObject::isActive

(

)

const [inline]

Definition at line 240 of file btCollisionObject.h.

SIMD_FORCE_INLINE bool btCollisionObject::isKinematicObject

(

)

const [inline]

Definition at line 171 of file btCollisionObject.h.

SIMD_FORCE_INLINE bool btCollisionObject::isStaticObject

(

)

const [inline]

Definition at line 167 of file btCollisionObject.h.

SIMD_FORCE_INLINE bool btCollisionObject::isStaticOrKinematicObject

(

)

const [inline]

Definition at line 176 of file btCollisionObject.h.

SIMD_FORCE_INLINE bool btCollisionObject::mergesSimulationIslands

(

)

const [inline]

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

Definition at line 136 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.

Definition at line 68 of file btCollisionObject.cpp.

void btCollisionObject::setActivationState

(

int

newState

)

Definition at line 48 of file btCollisionObject.cpp.

void btCollisionObject::setAnisotropicFriction

(

const btVector3 &

anisotropicFriction

)

[inline]

Definition at line 146 of file btCollisionObject.h.

void btCollisionObject::setBroadphaseHandle

(

btBroadphaseProxy *

handle

)

[inline]

Definition at line 294 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 401 of file btCollisionObject.h.

void btCollisionObject::setCcdSweptSphereRadius

(

btScalar

radius

)

[inline]

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

Definition at line 383 of file btCollisionObject.h.

void btCollisionObject::setCollisionFlags

(

int

flags

)

[inline]

Definition at line 371 of file btCollisionObject.h.

virtual void btCollisionObject::setCollisionShape

(

btCollisionShape *

collisionShape

)

[inline, virtual]

Reimplemented in btSoftBody.

Definition at line 190 of file btCollisionObject.h.

void btCollisionObject::setCompanionId

(

int

id

)

[inline]

Definition at line 350 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 158 of file btCollisionObject.h.

void btCollisionObject::setDeactivationTime

(

btScalar

time

)

[inline]

Definition at line 227 of file btCollisionObject.h.

void btCollisionObject::setFriction

(

btScalar

frict

)

[inline]

Definition at line 253 of file btCollisionObject.h.

void btCollisionObject::setHitFraction

(

btScalar

hitFraction

)

[inline]

Definition at line 360 of file btCollisionObject.h.

void btCollisionObject::setInterpolationAngularVelocity

(

const btVector3 &

angvel

)

[inline]

Definition at line 320 of file btCollisionObject.h.

void btCollisionObject::setInterpolationLinearVelocity

(

const btVector3 &

linvel

)

[inline]

Definition at line 315 of file btCollisionObject.h.

void btCollisionObject::setInterpolationWorldTransform

(

const btTransform &

trans

)

[inline]

Definition at line 310 of file btCollisionObject.h.

void btCollisionObject::setIslandTag

(

int

tag

)

[inline]

Definition at line 340 of file btCollisionObject.h.

void btCollisionObject::setRestitution

(

btScalar

rest

)

[inline]

Definition at line 245 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 413 of file btCollisionObject.h.

void btCollisionObject::setWorldTransform

(

const btTransform &

worldTrans

)

[inline]

Definition at line 278 of file btCollisionObject.h.

---

Member Data Documentation

int btCollisionObject::m_activationState1 [protected]

Definition at line 81 of file btCollisionObject.h.

btVector3 btCollisionObject::m_anisotropicFriction [protected]

Definition at line 64 of file btCollisionObject.h.

btBroadphaseProxy* btCollisionObject::m_broadphaseHandle [protected]

Definition at line 68 of file btCollisionObject.h.

btScalar btCollisionObject::m_ccdMotionThreshold [protected]

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

Definition at line 101 of file btCollisionObject.h.

btScalar btCollisionObject::m_ccdSweptSphereRadius [protected]

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

Definition at line 98 of file btCollisionObject.h.

int btCollisionObject::m_checkCollideWith [protected]

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

Definition at line 104 of file btCollisionObject.h.

int btCollisionObject::m_collisionFlags [protected]

Definition at line 76 of file btCollisionObject.h.

btCollisionShape* btCollisionObject::m_collisionShape [protected]

Definition at line 69 of file btCollisionObject.h.

int btCollisionObject::m_companionId [protected]

Definition at line 79 of file btCollisionObject.h.

btScalar btCollisionObject::m_contactProcessingThreshold [protected]

Definition at line 66 of file btCollisionObject.h.

btScalar btCollisionObject::m_deactivationTime [protected]

Definition at line 82 of file btCollisionObject.h.

btScalar btCollisionObject::m_friction [protected]

Definition at line 84 of file btCollisionObject.h.

int btCollisionObject::m_hasAnisotropicFriction [protected]

Definition at line 65 of file btCollisionObject.h.

btScalar btCollisionObject::m_hitFraction [protected]

time of impact calculation

Definition at line 95 of file btCollisionObject.h.

int btCollisionObject::m_internalType [protected]

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 89 of file btCollisionObject.h.

btVector3 btCollisionObject::m_interpolationAngularVelocity [protected]

Definition at line 62 of file btCollisionObject.h.

btVector3 btCollisionObject::m_interpolationLinearVelocity [protected]

Definition at line 61 of file btCollisionObject.h.

btTransform btCollisionObject::m_interpolationWorldTransform [protected]

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.

int btCollisionObject::m_islandTag1 [protected]

Definition at line 78 of file btCollisionObject.h.

btScalar btCollisionObject::m_restitution [protected]

Definition at line 85 of file btCollisionObject.h.

btCollisionShape* btCollisionObject::m_rootCollisionShape [protected]

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 74 of file btCollisionObject.h.

void* btCollisionObject::m_userObjectPointer [protected]

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

Definition at line 92 of file btCollisionObject.h.

btTransform btCollisionObject::m_worldTransform [protected]

Definition at line 54 of file btCollisionObject.h.

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

• btCollisionObject.h
• btCollisionObject.cpp