Bullet Collision Detection & Physics Library
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btPersistentManifold Class Reference

btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase. More...

#include <btPersistentManifold.h>

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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btPersistentManifold ()
 
 btPersistentManifold (const btCollisionObject *body0, const btCollisionObject *body1, int, btScalar contactBreakingThreshold, btScalar contactProcessingThreshold)
 
const btCollisionObjectgetBody0 () const
 
const btCollisionObjectgetBody1 () const
 
void setBodies (const btCollisionObject *body0, const btCollisionObject *body1)
 
void clearUserCache (btManifoldPoint &pt)
 
int getNumContacts () const
 
void setNumContacts (int cachedPoints)
 the setNumContacts API is usually not used, except when you gather/fill all contacts manually More...
 
const btManifoldPointgetContactPoint (int index) const
 
btManifoldPointgetContactPoint (int index)
 
btScalar getContactBreakingThreshold () const
 
btScalar getContactProcessingThreshold () const
 
void setContactBreakingThreshold (btScalar contactBreakingThreshold)
 
void setContactProcessingThreshold (btScalar contactProcessingThreshold)
 
int getCacheEntry (const btManifoldPoint &newPoint) const
 
int addManifoldPoint (const btManifoldPoint &newPoint, bool isPredictive=false)
 
void removeContactPoint (int index)
 
void replaceContactPoint (const btManifoldPoint &newPoint, int insertIndex)
 
bool validContactDistance (const btManifoldPoint &pt) const
 
void refreshContactPoints (const btTransform &trA, const btTransform &trB)
 calculated new worldspace coordinates and depth, and reject points that exceed the collision margin More...
 
void clearManifold ()
 
int calculateSerializeBufferSize () const
 
const char * serialize (const class btPersistentManifold *manifold, void *dataBuffer, class btSerializer *serializer) const
 
void deSerialize (const struct btPersistentManifoldDoubleData *manifoldDataPtr)
 
void deSerialize (const struct btPersistentManifoldFloatData *manifoldDataPtr)
 
- Public Member Functions inherited from btTypedObject
 btTypedObject (int objectType)
 
int getObjectType () const
 

Public Attributes

int m_companionIdA
 
int m_companionIdB
 
int m_index1a
 
- Public Attributes inherited from btTypedObject
int m_objectType
 

Private Member Functions

int sortCachedPoints (const btManifoldPoint &pt)
 sort cached points so most isolated points come first More...
 
int findContactPoint (const btManifoldPoint *unUsed, int numUnused, const btManifoldPoint &pt)
 

Private Attributes

btManifoldPoint m_pointCache [MANIFOLD_CACHE_SIZE]
 
const btCollisionObjectm_body0
 this two body pointers can point to the physics rigidbody class. More...
 
const btCollisionObjectm_body1
 
int m_cachedPoints
 
btScalar m_contactBreakingThreshold
 
btScalar m_contactProcessingThreshold
 

Detailed Description

btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase.

Those contact points are created by the collision narrow phase. The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time. updates/refreshes old contact points, and throw them away if necessary (distance becomes too large) reduces the cache to 4 points, when more then 4 points are added, using following rules: the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points note that some pairs of objects might have more then one contact manifold.

Definition at line 63 of file btPersistentManifold.h.

Constructor & Destructor Documentation

◆ btPersistentManifold() [1/2]

btPersistentManifold::btPersistentManifold ( )

Definition at line 35 of file btPersistentManifold.cpp.

◆ btPersistentManifold() [2/2]

btPersistentManifold::btPersistentManifold ( const btCollisionObject body0,
const btCollisionObject body1,
int  ,
btScalar  contactBreakingThreshold,
btScalar  contactProcessingThreshold 
)
inline

Definition at line 92 of file btPersistentManifold.h.

Member Function Documentation

◆ addManifoldPoint()

int btPersistentManifold::addManifoldPoint ( const btManifoldPoint newPoint,
bool  isPredictive = false 
)

Definition at line 212 of file btPersistentManifold.cpp.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btPersistentManifold::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calculateSerializeBufferSize()

int btPersistentManifold::calculateSerializeBufferSize ( ) const

Definition at line 304 of file btPersistentManifold.cpp.

◆ clearManifold()

void btPersistentManifold::clearManifold ( )
inline

Definition at line 248 of file btPersistentManifold.h.

◆ clearUserCache()

void btPersistentManifold::clearUserCache ( btManifoldPoint pt)

Definition at line 59 of file btPersistentManifold.cpp.

◆ deSerialize() [1/2]

void btPersistentManifold::deSerialize ( const struct btPersistentManifoldDoubleData manifoldDataPtr)

Definition at line 360 of file btPersistentManifold.cpp.

◆ deSerialize() [2/2]

void btPersistentManifold::deSerialize ( const struct btPersistentManifoldFloatData manifoldDataPtr)

Definition at line 406 of file btPersistentManifold.cpp.

◆ findContactPoint()

int btPersistentManifold::findContactPoint ( const btManifoldPoint unUsed,
int  numUnused,
const btManifoldPoint pt 
)
private

◆ getBody0()

const btCollisionObject * btPersistentManifold::getBody0 ( ) const
inline

Definition at line 105 of file btPersistentManifold.h.

◆ getBody1()

const btCollisionObject * btPersistentManifold::getBody1 ( ) const
inline

Definition at line 106 of file btPersistentManifold.h.

◆ getCacheEntry()

int btPersistentManifold::getCacheEntry ( const btManifoldPoint newPoint) const

Definition at line 192 of file btPersistentManifold.cpp.

◆ getContactBreakingThreshold()

btScalar btPersistentManifold::getContactBreakingThreshold ( ) const

Definition at line 242 of file btPersistentManifold.cpp.

◆ getContactPoint() [1/2]

btManifoldPoint & btPersistentManifold::getContactPoint ( int  index)
inline

Definition at line 136 of file btPersistentManifold.h.

◆ getContactPoint() [2/2]

const btManifoldPoint & btPersistentManifold::getContactPoint ( int  index) const
inline

Definition at line 130 of file btPersistentManifold.h.

◆ getContactProcessingThreshold()

btScalar btPersistentManifold::getContactProcessingThreshold ( ) const
inline

Definition at line 145 of file btPersistentManifold.h.

◆ getNumContacts()

int btPersistentManifold::getNumContacts ( ) const
inline

Definition at line 120 of file btPersistentManifold.h.

◆ refreshContactPoints()

void btPersistentManifold::refreshContactPoints ( const btTransform trA,
const btTransform trB 
)

calculated new worldspace coordinates and depth, and reject points that exceed the collision margin

first refresh worldspace positions and distance

then

Definition at line 247 of file btPersistentManifold.cpp.

◆ removeContactPoint()

void btPersistentManifold::removeContactPoint ( int  index)
inline

Definition at line 164 of file btPersistentManifold.h.

◆ replaceContactPoint()

void btPersistentManifold::replaceContactPoint ( const btManifoldPoint newPoint,
int  insertIndex 
)
inline

we keep existing contact points for friction anchors if the friction force is within the Coulomb friction cone

Definition at line 191 of file btPersistentManifold.h.

◆ serialize()

const char * btPersistentManifold::serialize ( const class btPersistentManifold manifold,
void *  dataBuffer,
class btSerializer serializer 
) const

Definition at line 309 of file btPersistentManifold.cpp.

◆ setBodies()

void btPersistentManifold::setBodies ( const btCollisionObject body0,
const btCollisionObject body1 
)
inline

Definition at line 108 of file btPersistentManifold.h.

◆ setContactBreakingThreshold()

void btPersistentManifold::setContactBreakingThreshold ( btScalar  contactBreakingThreshold)
inline

Definition at line 150 of file btPersistentManifold.h.

◆ setContactProcessingThreshold()

void btPersistentManifold::setContactProcessingThreshold ( btScalar  contactProcessingThreshold)
inline

Definition at line 155 of file btPersistentManifold.h.

◆ setNumContacts()

void btPersistentManifold::setNumContacts ( int  cachedPoints)
inline

the setNumContacts API is usually not used, except when you gather/fill all contacts manually

Definition at line 125 of file btPersistentManifold.h.

◆ sortCachedPoints()

int btPersistentManifold::sortCachedPoints ( const btManifoldPoint pt)
private

sort cached points so most isolated points come first

Definition at line 111 of file btPersistentManifold.cpp.

◆ validContactDistance()

bool btPersistentManifold::validContactDistance ( const btManifoldPoint pt) const
inline

Definition at line 241 of file btPersistentManifold.h.

Member Data Documentation

◆ m_body0

const btCollisionObject* btPersistentManifold::m_body0
private

this two body pointers can point to the physics rigidbody class.

Definition at line 69 of file btPersistentManifold.h.

◆ m_body1

const btCollisionObject* btPersistentManifold::m_body1
private

Definition at line 70 of file btPersistentManifold.h.

◆ m_cachedPoints

int btPersistentManifold::m_cachedPoints
private

Definition at line 72 of file btPersistentManifold.h.

◆ m_companionIdA

int btPersistentManifold::m_companionIdA

Definition at line 85 of file btPersistentManifold.h.

◆ m_companionIdB

int btPersistentManifold::m_companionIdB

Definition at line 86 of file btPersistentManifold.h.

◆ m_contactBreakingThreshold

btScalar btPersistentManifold::m_contactBreakingThreshold
private

Definition at line 74 of file btPersistentManifold.h.

◆ m_contactProcessingThreshold

btScalar btPersistentManifold::m_contactProcessingThreshold
private

Definition at line 75 of file btPersistentManifold.h.

◆ m_index1a

int btPersistentManifold::m_index1a

Definition at line 88 of file btPersistentManifold.h.

◆ m_pointCache

btManifoldPoint btPersistentManifold::m_pointCache[MANIFOLD_CACHE_SIZE]
private

Definition at line 66 of file btPersistentManifold.h.


The documentation for this class was generated from the following files: