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      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 
     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 
     48 btCollisionObject::~btCollisionObject()
     49 {
     50 }
     51 
     52 void btCollisionObject::setActivationState(int newState) const
     53 {
     54 	if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
     55 		m_activationState1 = newState;
     56 }
     57 
     58 void btCollisionObject::forceActivationState(int newState) const
     59 {
     60 	m_activationState1 = newState;
     61 }
     62 
     63 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 
     72 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 
    112 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