118 lines
4.2 KiB
C++
118 lines
4.2 KiB
C++
|
/*
|
||
|
|
Bullet Continuous Collision Detection and Physics Library
|
||
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||
|
|
|
||
|
|
This software is provided 'as-is', without any express or implied warranty.
|
||
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
||
|
|
Permission is granted to anyone to use this software for any purpose,
|
||
|
|
including commercial applications, and to alter it and redistribute it freely,
|
||
|
|
subject to the following restrictions:
|
||
|
|
|
||
|
|
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.
|
||
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||
|
|
3. This notice may not be removed or altered from any source distribution.
|
||
|
|
*/
|
||
|
|
|
||
|
|
|
||
|
|
#include "btCollisionObject.h"
|
||
|
|
#include "LinearMath/btSerializer.h"
|
||
|
|
|
||
|
|
btCollisionObject::btCollisionObject()
|
||
|
|
: m_anisotropicFriction(1.f,1.f,1.f),
|
||
|
|
m_hasAnisotropicFriction(false),
|
||
|
|
m_contactProcessingThreshold(BT_LARGE_FLOAT),
|
||
|
|
m_broadphaseHandle(0),
|
||
|
|
m_collisionShape(0),
|
||
|
|
m_extensionPointer(0),
|
||
|
|
m_rootCollisionShape(0),
|
||
|
|
m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
|
||
|
|
m_islandTag1(-1),
|
||
|
|
m_companionId(-1),
|
||
|
|
m_activationState1(1),
|
||
|
|
m_deactivationTime(btScalar(0.)),
|
||
|
|
m_friction(btScalar(0.5)),
|
||
|
|
m_rollingFriction(0.0f),
|
||
|
|
m_restitution(btScalar(0.)),
|
||
|
|
m_internalType(CO_COLLISION_OBJECT),
|
||
|
|
m_userObjectPointer(0),
|
||
|
|
m_hitFraction(btScalar(1.)),
|
||
|
|
m_ccdSweptSphereRadius(btScalar(0.)),
|
||
|
|
m_ccdMotionThreshold(btScalar(0.)),
|
||
|
|
m_checkCollideWith(false),
|
||
|
|
m_updateRevision(0)
|
||
|
|
{
|
||
|
|
m_worldTransform.setIdentity();
|
||
|
|
}
|
||
|
|
|
||
|
|
btCollisionObject::~btCollisionObject()
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
void btCollisionObject::setActivationState(int newState) const
|
||
|
|
{
|
||
|
|
if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
|
||
|
|
m_activationState1 = newState;
|
||
|
|
}
|
||
|
|
|
||
|
|
void btCollisionObject::forceActivationState(int newState) const
|
||
|
|
{
|
||
|
|
m_activationState1 = newState;
|
||
|
|
}
|
||
|
|
|
||
|
|
void btCollisionObject::activate(bool forceActivation) const
|
||
|
|
{
|
||
|
|
if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
|
||
|
|
{
|
||
|
|
setActivationState(ACTIVE_TAG);
|
||
|
|
m_deactivationTime = btScalar(0.);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* serializer) const
|
||
|
|
{
|
||
|
|
|
||
|
|
btCollisionObjectData* dataOut = (btCollisionObjectData*)dataBuffer;
|
||
|
|
|
||
|
|
m_worldTransform.serialize(dataOut->m_worldTransform);
|
||
|
|
m_interpolationWorldTransform.serialize(dataOut->m_interpolationWorldTransform);
|
||
|
|
m_interpolationLinearVelocity.serialize(dataOut->m_interpolationLinearVelocity);
|
||
|
|
m_interpolationAngularVelocity.serialize(dataOut->m_interpolationAngularVelocity);
|
||
|
|
m_anisotropicFriction.serialize(dataOut->m_anisotropicFriction);
|
||
|
|
dataOut->m_hasAnisotropicFriction = m_hasAnisotropicFriction;
|
||
|
|
dataOut->m_contactProcessingThreshold = m_contactProcessingThreshold;
|
||
|
|
dataOut->m_broadphaseHandle = 0;
|
||
|
|
dataOut->m_collisionShape = serializer->getUniquePointer(m_collisionShape);
|
||
|
|
dataOut->m_rootCollisionShape = 0;//@todo
|
||
|
|
dataOut->m_collisionFlags = m_collisionFlags;
|
||
|
|
dataOut->m_islandTag1 = m_islandTag1;
|
||
|
|
dataOut->m_companionId = m_companionId;
|
||
|
|
dataOut->m_activationState1 = m_activationState1;
|
||
|
|
dataOut->m_deactivationTime = m_deactivationTime;
|
||
|
|
dataOut->m_friction = m_friction;
|
||
|
|
dataOut->m_rollingFriction = m_rollingFriction;
|
||
|
|
dataOut->m_restitution = m_restitution;
|
||
|
|
dataOut->m_internalType = m_internalType;
|
||
|
|
|
||
|
|
char* name = (char*) serializer->findNameForPointer(this);
|
||
|
|
dataOut->m_name = (char*)serializer->getUniquePointer(name);
|
||
|
|
if (dataOut->m_name)
|
||
|
|
{
|
||
|
|
serializer->serializeName(name);
|
||
|
|
}
|
||
|
|
dataOut->m_hitFraction = m_hitFraction;
|
||
|
|
dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
|
||
|
|
dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
|
||
|
|
dataOut->m_checkCollideWith = m_checkCollideWith;
|
||
|
|
|
||
|
|
return btCollisionObjectDataName;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
void btCollisionObject::serializeSingleObject(class btSerializer* serializer) const
|
||
|
|
{
|
||
|
|
int len = calculateSerializeBufferSize();
|
||
|
|
btChunk* chunk = serializer->allocate(len,1);
|
||
|
|
const char* structType = serialize(chunk->m_oldPtr, serializer);
|
||
|
|
serializer->finalizeChunk(chunk,structType,BT_COLLISIONOBJECT_CODE,(void*)this);
|
||
|
|
}
|