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
17 #include "btCollisionObject.h"
18 #include "LinearMath/btSerializer.h"
19
btCollisionObject()20 btCollisionObject::btCollisionObject()
21 : m_anisotropicFriction(1.f,1.f,1.f),
22 m_hasAnisotropicFriction(false),
23 m_contactProcessingThreshold(BT_LARGE_FLOAT),
24 m_broadphaseHandle(0),
25 m_collisionShape(0),
26 m_extensionPointer(0),
27 m_rootCollisionShape(0),
28 m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
29 m_islandTag1(-1),
30 m_companionId(-1),
31 m_activationState1(1),
32 m_deactivationTime(btScalar(0.)),
33 m_friction(btScalar(0.5)),
34 m_restitution(btScalar(0.)),
35 m_rollingFriction(0.0f),
36 m_internalType(CO_COLLISION_OBJECT),
37 m_userObjectPointer(0),
38 m_userIndex(-1),
39 m_hitFraction(btScalar(1.)),
40 m_ccdSweptSphereRadius(btScalar(0.)),
41 m_ccdMotionThreshold(btScalar(0.)),
42 m_checkCollideWith(false),
43 m_updateRevision(0)
44 {
45 m_worldTransform.setIdentity();
46 }
47
~btCollisionObject()48 btCollisionObject::~btCollisionObject()
49 {
50 }
51
setActivationState(int newState) const52 void btCollisionObject::setActivationState(int newState) const
53 {
54 if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
55 m_activationState1 = newState;
56 }
57
forceActivationState(int newState) const58 void btCollisionObject::forceActivationState(int newState) const
59 {
60 m_activationState1 = newState;
61 }
62
activate(bool forceActivation) const63 void btCollisionObject::activate(bool forceActivation) const
64 {
65 if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
66 {
67 setActivationState(ACTIVE_TAG);
68 m_deactivationTime = btScalar(0.);
69 }
70 }
71
serialize(void * dataBuffer,btSerializer * serializer) const72 const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* serializer) const
73 {
74
75 btCollisionObjectData* dataOut = (btCollisionObjectData*)dataBuffer;
76
77 m_worldTransform.serialize(dataOut->m_worldTransform);
78 m_interpolationWorldTransform.serialize(dataOut->m_interpolationWorldTransform);
79 m_interpolationLinearVelocity.serialize(dataOut->m_interpolationLinearVelocity);
80 m_interpolationAngularVelocity.serialize(dataOut->m_interpolationAngularVelocity);
81 m_anisotropicFriction.serialize(dataOut->m_anisotropicFriction);
82 dataOut->m_hasAnisotropicFriction = m_hasAnisotropicFriction;
83 dataOut->m_contactProcessingThreshold = m_contactProcessingThreshold;
84 dataOut->m_broadphaseHandle = 0;
85 dataOut->m_collisionShape = serializer->getUniquePointer(m_collisionShape);
86 dataOut->m_rootCollisionShape = 0;//@todo
87 dataOut->m_collisionFlags = m_collisionFlags;
88 dataOut->m_islandTag1 = m_islandTag1;
89 dataOut->m_companionId = m_companionId;
90 dataOut->m_activationState1 = m_activationState1;
91 dataOut->m_deactivationTime = m_deactivationTime;
92 dataOut->m_friction = m_friction;
93 dataOut->m_rollingFriction = m_rollingFriction;
94 dataOut->m_restitution = m_restitution;
95 dataOut->m_internalType = m_internalType;
96
97 char* name = (char*) serializer->findNameForPointer(this);
98 dataOut->m_name = (char*)serializer->getUniquePointer(name);
99 if (dataOut->m_name)
100 {
101 serializer->serializeName(name);
102 }
103 dataOut->m_hitFraction = m_hitFraction;
104 dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
105 dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
106 dataOut->m_checkCollideWith = m_checkCollideWith;
107
108 return btCollisionObjectDataName;
109 }
110
111
serializeSingleObject(class btSerializer * serializer) const112 void btCollisionObject::serializeSingleObject(class btSerializer* serializer) const
113 {
114 int len = calculateSerializeBufferSize();
115 btChunk* chunk = serializer->allocate(len,1);
116 const char* structType = serialize(chunk->m_oldPtr, serializer);
117 serializer->finalizeChunk(chunk,structType,BT_COLLISIONOBJECT_CODE,(void*)this);
118 }
119