Bullet Collision Detection & Physics Library
Public Member Functions | Static Public Member Functions | Public Attributes | Protected Attributes | List of all members
btManifoldResult Class Reference

btManifoldResult is a helper class to manage contact results. More...

#include <btManifoldResult.h>

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Public Member Functions

 btManifoldResult ()
 
 btManifoldResult (const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
 
virtual ~btManifoldResult ()
 
void setPersistentManifold (btPersistentManifold *manifoldPtr)
 
const btPersistentManifold * getPersistentManifold () const
 
btPersistentManifold * getPersistentManifold ()
 
virtual void setShapeIdentifiersA (int partId0, int index0)
 setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material combiner
 
virtual void setShapeIdentifiersB (int partId1, int index1)
 
virtual void addContactPoint (const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
 
void refreshContactPoints ()
 
const btCollisionObjectWrapper * getBody0Wrap () const
 
const btCollisionObjectWrapper * getBody1Wrap () const
 
void setBody0Wrap (const btCollisionObjectWrapper *obj0Wrap)
 
void setBody1Wrap (const btCollisionObjectWrapper *obj1Wrap)
 
const btCollisionObject * getBody0Internal () const
 
const btCollisionObject * getBody1Internal () const
 
- Public Member Functions inherited from btDiscreteCollisionDetectorInterface::Result
virtual ~Result ()
 

Static Public Member Functions

static btScalar calculateCombinedRestitution (const btCollisionObject *body0, const btCollisionObject *body1)
 in the future we can let the user override the methods to combine restitution and friction
 
static btScalar calculateCombinedFriction (const btCollisionObject *body0, const btCollisionObject *body1)
 User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;.
 
static btScalar calculateCombinedRollingFriction (const btCollisionObject *body0, const btCollisionObject *body1)
 
static btScalar calculateCombinedSpinningFriction (const btCollisionObject *body0, const btCollisionObject *body1)
 
static btScalar calculateCombinedContactDamping (const btCollisionObject *body0, const btCollisionObject *body1)
 
static btScalar calculateCombinedContactStiffness (const btCollisionObject *body0, const btCollisionObject *body1)
 

Public Attributes

btScalar m_closestPointDistanceThreshold
 

Protected Attributes

btPersistentManifold * m_manifoldPtr
 
const btCollisionObjectWrapper * m_body0Wrap
 
const btCollisionObjectWrapper * m_body1Wrap
 
int m_partId0
 
int m_partId1
 
int m_index0
 
int m_index1
 

Detailed Description

btManifoldResult is a helper class to manage contact results.

Definition at line 47 of file btManifoldResult.h.

Constructor & Destructor Documentation

◆ btManifoldResult() [1/2]

btManifoldResult::btManifoldResult ( )
inline

Definition at line 60 of file btManifoldResult.h.

◆ btManifoldResult() [2/2]

btManifoldResult::btManifoldResult ( const btCollisionObjectWrapper *  body0Wrap,
const btCollisionObjectWrapper *  body1Wrap 
)

Definition at line 89 of file btManifoldResult.cpp.

◆ ~btManifoldResult()

virtual btManifoldResult::~btManifoldResult ( )
inlinevirtual

Definition at line 75 of file btManifoldResult.h.

Member Function Documentation

◆ addContactPoint()

void btManifoldResult::addContactPoint ( const btVector3 &  normalOnBInWorld,
const btVector3 &  pointInWorld,
btScalar  depth 
)
virtual

Implements btDiscreteCollisionDetectorInterface::Result.

Reimplemented in btBridgedManifoldResult, and btPerturbedContactResult.

Definition at line 103 of file btManifoldResult.cpp.

◆ calculateCombinedContactDamping()

btScalar btManifoldResult::calculateCombinedContactDamping ( const btCollisionObject *  body0,
const btCollisionObject *  body1 
)
static

Definition at line 73 of file btManifoldResult.cpp.

◆ calculateCombinedContactStiffness()

btScalar btManifoldResult::calculateCombinedContactStiffness ( const btCollisionObject *  body0,
const btCollisionObject *  body1 
)
static

Definition at line 78 of file btManifoldResult.cpp.

◆ calculateCombinedFriction()

btScalar btManifoldResult::calculateCombinedFriction ( const btCollisionObject *  body0,
const btCollisionObject *  body1 
)
static

User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;.

Definition at line 56 of file btManifoldResult.cpp.

◆ calculateCombinedRestitution()

btScalar btManifoldResult::calculateCombinedRestitution ( const btCollisionObject *  body0,
const btCollisionObject *  body1 
)
static

in the future we can let the user override the methods to combine restitution and friction

Definition at line 68 of file btManifoldResult.cpp.

◆ calculateCombinedRollingFriction()

btScalar btManifoldResult::calculateCombinedRollingFriction ( const btCollisionObject *  body0,
const btCollisionObject *  body1 
)
static

Definition at line 31 of file btManifoldResult.cpp.

◆ calculateCombinedSpinningFriction()

btScalar btManifoldResult::calculateCombinedSpinningFriction ( const btCollisionObject *  body0,
const btCollisionObject *  body1 
)
static

Definition at line 43 of file btManifoldResult.cpp.

◆ getBody0Internal()

const btCollisionObject * btManifoldResult::getBody0Internal ( ) const
inline

Definition at line 142 of file btManifoldResult.h.

◆ getBody0Wrap()

const btCollisionObjectWrapper * btManifoldResult::getBody0Wrap ( ) const
inline

Definition at line 123 of file btManifoldResult.h.

◆ getBody1Internal()

const btCollisionObject * btManifoldResult::getBody1Internal ( ) const
inline

Definition at line 147 of file btManifoldResult.h.

◆ getBody1Wrap()

const btCollisionObjectWrapper * btManifoldResult::getBody1Wrap ( ) const
inline

Definition at line 127 of file btManifoldResult.h.

◆ getPersistentManifold() [1/2]

btPersistentManifold * btManifoldResult::getPersistentManifold ( )
inline

Definition at line 86 of file btManifoldResult.h.

◆ getPersistentManifold() [2/2]

const btPersistentManifold * btManifoldResult::getPersistentManifold ( ) const
inline

Definition at line 82 of file btManifoldResult.h.

◆ refreshContactPoints()

void btManifoldResult::refreshContactPoints ( )
inline

Definition at line 105 of file btManifoldResult.h.

◆ setBody0Wrap()

void btManifoldResult::setBody0Wrap ( const btCollisionObjectWrapper *  obj0Wrap)
inline

Definition at line 132 of file btManifoldResult.h.

◆ setBody1Wrap()

void btManifoldResult::setBody1Wrap ( const btCollisionObjectWrapper *  obj1Wrap)
inline

Definition at line 137 of file btManifoldResult.h.

◆ setPersistentManifold()

void btManifoldResult::setPersistentManifold ( btPersistentManifold *  manifoldPtr)
inline

Definition at line 77 of file btManifoldResult.h.

◆ setShapeIdentifiersA()

virtual void btManifoldResult::setShapeIdentifiersA ( int  partId0,
int  index0 
)
inlinevirtual

setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material combiner

Implements btDiscreteCollisionDetectorInterface::Result.

Definition at line 91 of file btManifoldResult.h.

◆ setShapeIdentifiersB()

virtual void btManifoldResult::setShapeIdentifiersB ( int  partId1,
int  index1 
)
inlinevirtual

Implements btDiscreteCollisionDetectorInterface::Result.

Definition at line 97 of file btManifoldResult.h.

Member Data Documentation

◆ m_body0Wrap

const btCollisionObjectWrapper* btManifoldResult::m_body0Wrap
protected

Definition at line 52 of file btManifoldResult.h.

◆ m_body1Wrap

const btCollisionObjectWrapper* btManifoldResult::m_body1Wrap
protected

Definition at line 53 of file btManifoldResult.h.

◆ m_closestPointDistanceThreshold

btScalar btManifoldResult::m_closestPointDistanceThreshold

Definition at line 152 of file btManifoldResult.h.

◆ m_index0

int btManifoldResult::m_index0
protected

Definition at line 56 of file btManifoldResult.h.

◆ m_index1

int btManifoldResult::m_index1
protected

Definition at line 57 of file btManifoldResult.h.

◆ m_manifoldPtr

btPersistentManifold* btManifoldResult::m_manifoldPtr
protected

Definition at line 50 of file btManifoldResult.h.

◆ m_partId0

int btManifoldResult::m_partId0
protected

Definition at line 54 of file btManifoldResult.h.

◆ m_partId1

int btManifoldResult::m_partId1
protected

Definition at line 55 of file btManifoldResult.h.

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