47 lines
2.2 KiB
C++
47 lines
2.2 KiB
C++
|
/*
|
||
|
|
Bullet Continuous Collision Detection and Physics Library
|
||
|
|
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
|
||
|
|
|
||
|
|
This software is provided 'as-is', without any express or implied warranty.
|
||
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
||
|
|
Permission is granted to anyone to use this software for any purpose,
|
||
|
|
including commercial applications, and to alter it and redistribute it freely,
|
||
|
|
subject to the following restrictions:
|
||
|
|
|
||
|
|
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.
|
||
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||
|
|
3. This notice may not be removed or altered from any source distribution.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef B3_CONTACT4_H
|
||
|
|
#define B3_CONTACT4_H
|
||
|
|
|
||
|
|
#include "Bullet3Common/b3Vector3.h"
|
||
|
|
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
|
||
|
|
|
||
|
|
B3_ATTRIBUTE_ALIGNED16(struct) b3Contact4 : public b3Contact4Data
|
||
|
|
{
|
||
|
|
B3_DECLARE_ALIGNED_ALLOCATOR();
|
||
|
|
|
||
|
|
int getBodyA()const {return abs(m_bodyAPtrAndSignBit);}
|
||
|
|
int getBodyB()const {return abs(m_bodyBPtrAndSignBit);}
|
||
|
|
bool isBodyAFixed()const { return m_bodyAPtrAndSignBit<0;}
|
||
|
|
bool isBodyBFixed()const { return m_bodyBPtrAndSignBit<0;}
|
||
|
|
// todo. make it safer
|
||
|
|
int& getBatchIdx() { return m_batchIdx; }
|
||
|
|
const int& getBatchIdx() const { return m_batchIdx; }
|
||
|
|
float getRestituitionCoeff() const { return ((float)m_restituitionCoeffCmp/(float)0xffff); }
|
||
|
|
void setRestituitionCoeff( float c ) { b3Assert( c >= 0.f && c <= 1.f ); m_restituitionCoeffCmp = (unsigned short)(c*0xffff); }
|
||
|
|
float getFrictionCoeff() const { return ((float)m_frictionCoeffCmp/(float)0xffff); }
|
||
|
|
void setFrictionCoeff( float c ) { b3Assert( c >= 0.f && c <= 1.f ); m_frictionCoeffCmp = (unsigned short)(c*0xffff); }
|
||
|
|
|
||
|
|
//float& getNPoints() { return m_worldNormal[3]; }
|
||
|
|
int getNPoints() const { return (int) m_worldNormalOnB.w; }
|
||
|
|
|
||
|
|
float getPenetration(int idx) const { return m_worldPosB[idx].w; }
|
||
|
|
|
||
|
|
bool isInvalid() const { return (getBodyA()==0 || getBodyB()==0); }
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif //B3_CONTACT4_H
|