16 #ifndef BT_MANIFOLD_RESULT_H
17 #define BT_MANIFOLD_RESULT_H
62 #ifdef DEBUG_PART_INDEX
CalculateCombinedCallback gCalculateCombinedContactStiffnessCallback
CalculateCombinedCallback gCalculateCombinedContactDampingCallback
ContactAddedCallback gContactAddedCallback
This is to allow MaterialCombiner/Custom Friction/Restitution values.
CalculateCombinedCallback gCalculateCombinedSpinningFrictionCallback
CalculateCombinedCallback gCalculateCombinedFrictionCallback
CalculateCombinedCallback gCalculateCombinedRollingFrictionCallback
bool(* ContactAddedCallback)(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1)
btScalar(* CalculateCombinedCallback)(const btCollisionObject *body0, const btCollisionObject *body1)
These callbacks are used to customize the algorith that combine restitution, friction,...
CalculateCombinedCallback gCalculateCombinedRestitutionCallback
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define SIMD_FORCE_INLINE
btSequentialImpulseConstraintSolverMt int btPersistentManifold ** manifoldPtr
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
btManifoldResult is a helper class to manage contact results.
virtual void setShapeIdentifiersA(int partId0, int index0)
setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material comb...
void setBody0Wrap(const btCollisionObjectWrapper *obj0Wrap)
const btCollisionObject * getBody0Internal() const
const btCollisionObjectWrapper * m_body0Wrap
const btCollisionObjectWrapper * getBody1Wrap() const
static btScalar calculateCombinedFriction(const btCollisionObject *body0, const btCollisionObject *body1)
User can override this material combiner by implementing gContactAddedCallback and setting body0->m_c...
const btPersistentManifold * getPersistentManifold() const
static btScalar calculateCombinedContactDamping(const btCollisionObject *body0, const btCollisionObject *body1)
const btCollisionObjectWrapper * m_body1Wrap
static btScalar calculateCombinedContactStiffness(const btCollisionObject *body0, const btCollisionObject *body1)
const btCollisionObjectWrapper * getBody0Wrap() const
btPersistentManifold * getPersistentManifold()
static btScalar calculateCombinedSpinningFriction(const btCollisionObject *body0, const btCollisionObject *body1)
void setBody1Wrap(const btCollisionObjectWrapper *obj1Wrap)
static btScalar calculateCombinedRollingFriction(const btCollisionObject *body0, const btCollisionObject *body1)
void setPersistentManifold(btPersistentManifold *manifoldPtr)
virtual void setShapeIdentifiersB(int partId1, int index1)
virtual ~btManifoldResult()
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
btScalar m_closestPointDistanceThreshold
SIMD_FORCE_INLINE void refreshContactPoints()
btPersistentManifold * m_manifoldPtr
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
const btCollisionObject * getBody1Internal() const
SIMD_FORCE_INLINE const btCollisionObject * getCollisionObject() const