dali-physics/third-party/bullet3/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
   4
   5 This software is provided 'as-is', without any express or implied warranty.
   6 In no event will the authors be held liable for any damages arising from the use of this software.
   7 Permission is granted to anyone to use this software for any purpose,
   8 including commercial applications, and to alter it and redistribute it freely,
   9 subject to the following restrictions:
  10
  11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
  12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
  13 3. This notice may not be removed or altered from any source distribution.
  14 */
  15
  16 #include "btCollisionObject.h"
  17 #include "LinearMath/btSerializer.h"
  18 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
  19
  20 btCollisionObject::btCollisionObject()
  21         : m_interpolationLinearVelocity(0.f, 0.f, 0.f),
  22           m_interpolationAngularVelocity(0.f, 0.f, 0.f),
  23           m_anisotropicFriction(1.f, 1.f, 1.f),
  24           m_hasAnisotropicFriction(false),
  25           m_contactProcessingThreshold(BT_LARGE_FLOAT),
  26           m_broadphaseHandle(0),
  27           m_collisionShape(0),
  28           m_extensionPointer(0),
  29           m_rootCollisionShape(0),
  30           m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
  31           m_islandTag1(-1),
  32           m_companionId(-1),
  33           m_worldArrayIndex(-1),
  34           m_activationState1(1),
  35           m_deactivationTime(btScalar(0.)),
  36           m_friction(btScalar(0.5)),
  37           m_restitution(btScalar(0.)),
  38           m_rollingFriction(0.0f),
  39           m_spinningFriction(0.f),
  40           m_contactDamping(.1),
  41           m_contactStiffness(BT_LARGE_FLOAT),
  42           m_internalType(CO_COLLISION_OBJECT),
  43           m_userObjectPointer(0),
  44           m_userIndex2(-1),
  45           m_userIndex(-1),
  46           m_userIndex3(-1),
  47           m_hitFraction(btScalar(1.)),
  48           m_ccdSweptSphereRadius(btScalar(0.)),
  49           m_ccdMotionThreshold(btScalar(0.)),
  50           m_checkCollideWith(false),
  51           m_updateRevision(0)
  52 {
  53         m_worldTransform.setIdentity();
  54         m_interpolationWorldTransform.setIdentity();
  55 }
  56
  57 btCollisionObject::~btCollisionObject()
  58 {
  59 }
  60
  61 void btCollisionObject::setActivationState(int newState) const
  62 {
  63         if ((m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
  64                 m_activationState1 = newState;
  65 }
  66
  67 void btCollisionObject::forceActivationState(int newState) const
  68 {
  69         m_activationState1 = newState;
  70 }
  71
  72 void btCollisionObject::activate(bool forceActivation) const
  73 {
  74         if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT)))
  75         {
  76                 setActivationState(ACTIVE_TAG);
  77                 m_deactivationTime = btScalar(0.);
  78         }
  79 }
  80
  81 const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* serializer) const
  82 {
  83         btCollisionObjectData* dataOut = (btCollisionObjectData*)dataBuffer;
  84
  85         m_worldTransform.serialize(dataOut->m_worldTransform);
  86         m_interpolationWorldTransform.serialize(dataOut->m_interpolationWorldTransform);
  87         m_interpolationLinearVelocity.serialize(dataOut->m_interpolationLinearVelocity);
  88         m_interpolationAngularVelocity.serialize(dataOut->m_interpolationAngularVelocity);
  89         m_anisotropicFriction.serialize(dataOut->m_anisotropicFriction);
  90         dataOut->m_hasAnisotropicFriction = m_hasAnisotropicFriction;
  91         dataOut->m_contactProcessingThreshold = m_contactProcessingThreshold;
  92         dataOut->m_broadphaseHandle = 0;
  93         dataOut->m_collisionShape = serializer->getUniquePointer(m_collisionShape);
  94         dataOut->m_rootCollisionShape = 0;  //@todo
  95         dataOut->m_collisionFlags = m_collisionFlags;
  96         dataOut->m_islandTag1 = m_islandTag1;
  97         dataOut->m_companionId = m_companionId;
  98         dataOut->m_activationState1 = m_activationState1;
  99         dataOut->m_deactivationTime = m_deactivationTime;
 100         dataOut->m_friction = m_friction;
 101         dataOut->m_rollingFriction = m_rollingFriction;
 102         dataOut->m_contactDamping = m_contactDamping;
 103         dataOut->m_contactStiffness = m_contactStiffness;
 104         dataOut->m_restitution = m_restitution;
 105         dataOut->m_internalType = m_internalType;
 106
 107         char* name = (char*)serializer->findNameForPointer(this);
 108         dataOut->m_name = (char*)serializer->getUniquePointer(name);
 109         if (dataOut->m_name)
 110         {
 111                 serializer->serializeName(name);
 112         }
 113         dataOut->m_hitFraction = m_hitFraction;
 114         dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
 115         dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
 116         dataOut->m_checkCollideWith = m_checkCollideWith;
 117         if (m_broadphaseHandle)
 118         {
 119                 dataOut->m_collisionFilterGroup = m_broadphaseHandle->m_collisionFilterGroup;
 120                 dataOut->m_collisionFilterMask = m_broadphaseHandle->m_collisionFilterMask;
 121                 dataOut->m_uniqueId = m_broadphaseHandle->m_uniqueId;
 122         }
 123         else
 124         {
 125                 dataOut->m_collisionFilterGroup = 0;
 126                 dataOut->m_collisionFilterMask = 0;
 127                 dataOut->m_uniqueId = -1;
 128         }
 129         return btCollisionObjectDataName;
 130 }
 131
 132 void btCollisionObject::serializeSingleObject(class btSerializer* serializer) const
 133 {
 134         int len = calculateSerializeBufferSize();
 135         btChunk* chunk = serializer->allocate(len, 1);
 136         const char* structType = serialize(chunk->m_oldPtr, serializer);
 137         serializer->finalizeChunk(chunk, structType, BT_COLLISIONOBJECT_CODE, (void*)this);
 138 }