2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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:
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.
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16 #ifndef BT_MANIFOLD_RESULT_H
17 #define BT_MANIFOLD_RESULT_H
19 class btCollisionObject;
20 struct btCollisionObjectWrapper;
22 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
23 class btManifoldPoint;
25 #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
27 #include "LinearMath/btTransform.h"
28 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
29 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
31 typedef bool (*ContactAddedCallback)(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1);
32 extern ContactAddedCallback gContactAddedCallback;
34 //#define DEBUG_PART_INDEX 1
36 /// These callbacks are used to customize the algorith that combine restitution, friction, damping, Stiffness
37 typedef btScalar (*CalculateCombinedCallback)(const btCollisionObject* body0, const btCollisionObject* body1);
39 extern CalculateCombinedCallback gCalculateCombinedRestitutionCallback;
40 extern CalculateCombinedCallback gCalculateCombinedFrictionCallback;
41 extern CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback;
42 extern CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback;
43 extern CalculateCombinedCallback gCalculateCombinedContactDampingCallback;
44 extern CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback;
46 ///btManifoldResult is a helper class to manage contact results.
47 class btManifoldResult : public btDiscreteCollisionDetectorInterface::Result
50 btPersistentManifold* m_manifoldPtr;
52 const btCollisionObjectWrapper* m_body0Wrap;
53 const btCollisionObjectWrapper* m_body1Wrap;
62 #ifdef DEBUG_PART_INDEX
68 #endif //DEBUG_PART_INDEX
69 m_closestPointDistanceThreshold(0)
73 btManifoldResult(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
75 virtual ~btManifoldResult(){};
77 void setPersistentManifold(btPersistentManifold* manifoldPtr)
79 m_manifoldPtr = manifoldPtr;
82 const btPersistentManifold* getPersistentManifold() const
86 btPersistentManifold* getPersistentManifold()
91 virtual void setShapeIdentifiersA(int partId0, int index0)
97 virtual void setShapeIdentifiersB(int partId1, int index1)
103 virtual void addContactPoint(const btVector3& normalOnBInWorld, const btVector3& pointInWorld, btScalar depth);
105 SIMD_FORCE_INLINE void refreshContactPoints()
107 btAssert(m_manifoldPtr);
108 if (!m_manifoldPtr->getNumContacts())
111 bool isSwapped = m_manifoldPtr->getBody0() != m_body0Wrap->getCollisionObject();
115 m_manifoldPtr->refreshContactPoints(m_body1Wrap->getCollisionObject()->getWorldTransform(), m_body0Wrap->getCollisionObject()->getWorldTransform());
119 m_manifoldPtr->refreshContactPoints(m_body0Wrap->getCollisionObject()->getWorldTransform(), m_body1Wrap->getCollisionObject()->getWorldTransform());
123 const btCollisionObjectWrapper* getBody0Wrap() const
127 const btCollisionObjectWrapper* getBody1Wrap() const
132 void setBody0Wrap(const btCollisionObjectWrapper* obj0Wrap)
134 m_body0Wrap = obj0Wrap;
137 void setBody1Wrap(const btCollisionObjectWrapper* obj1Wrap)
139 m_body1Wrap = obj1Wrap;
142 const btCollisionObject* getBody0Internal() const
144 return m_body0Wrap->getCollisionObject();
147 const btCollisionObject* getBody1Internal() const
149 return m_body1Wrap->getCollisionObject();
152 btScalar m_closestPointDistanceThreshold;
154 /// in the future we can let the user override the methods to combine restitution and friction
155 static btScalar calculateCombinedRestitution(const btCollisionObject* body0, const btCollisionObject* body1);
156 static btScalar calculateCombinedFriction(const btCollisionObject* body0, const btCollisionObject* body1);
157 static btScalar calculateCombinedRollingFriction(const btCollisionObject* body0, const btCollisionObject* body1);
158 static btScalar calculateCombinedSpinningFriction(const btCollisionObject* body0, const btCollisionObject* body1);
159 static btScalar calculateCombinedContactDamping(const btCollisionObject* body0, const btCollisionObject* body1);
160 static btScalar calculateCombinedContactStiffness(const btCollisionObject* body0, const btCollisionObject* body1);
163 #endif //BT_MANIFOLD_RESULT_H