1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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
btCollisionObject()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
~btCollisionObject()57 btCollisionObject::~btCollisionObject()
58 {
59 }
60
setActivationState(int newState) const61 void btCollisionObject::setActivationState(int newState) const
62 {
63 if ((m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
64 m_activationState1 = newState;
65 }
66
forceActivationState(int newState) const67 void btCollisionObject::forceActivationState(int newState) const
68 {
69 m_activationState1 = newState;
70 }
71
activate(bool forceActivation) const72 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
serialize(void * dataBuffer,btSerializer * serializer) const81 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
serializeSingleObject(class btSerializer * serializer) const132 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 }
139