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btCollisionObject.h

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

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 COLLISION_OBJECT_H
#define COLLISION_OBJECT_H

#include "LinearMath/btTransform.h"

//island management, m_activationState1
#define ACTIVE_TAG 1
#define ISLAND_SLEEPING 2
#define WANTS_DEACTIVATION 3
#define DISABLE_DEACTIVATION 4
#define DISABLE_SIMULATION 5

struct      btBroadphaseProxy;
class btCollisionShape;
#include "LinearMath/btMotionState.h"



/// btCollisionObject can be used to manage collision detection objects. 
/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
/// They can be added to the btCollisionWorld.
00037 class btCollisionObject
{

protected:

      btTransform m_worldTransform;
      btBroadphaseProxy*      m_broadphaseHandle;
      btCollisionShape*       m_collisionShape;

      ///m_interpolationWorldTransform is used for CCD and interpolation
      ///it can be either previous or future (predicted) transform
00048       btTransform m_interpolationWorldTransform;
      //those two are experimental: just added for bullet time effect, so you can still apply impulses (directly modifying velocities) 
      //without destroying the continuous interpolated motion (which uses this interpolation velocities)
      btVector3   m_interpolationLinearVelocity;
      btVector3   m_interpolationAngularVelocity;

      int                     m_collisionFlags;

      int                     m_islandTag1;
      int                     m_activationState1;
      float             m_deactivationTime;

      btScalar          m_friction;
      btScalar          m_restitution;

      ///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
00064       void*             m_userObjectPointer;

      ///m_internalOwner is reserved to point to Bullet's btRigidBody. Don't use this, use m_userObjectPointer instead.
00067       void*             m_internalOwner;

      ///time of impact calculation
00070       float             m_hitFraction; 
      
      ///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
00073       float             m_ccdSweptSphereRadius;

      /// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold
00076       float             m_ccdSquareMotionThreshold;

public:

      enum CollisionFlags
      {
            CF_STATIC_OBJECT= 1,
            CF_KINEMATIC_OBJECT= 2,
            CF_NO_CONTACT_RESPONSE = 4,
            CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
      };


00089       inline bool mergesSimulationIslands() const
      {
            ///static objects, kinematic and object without contact response don't merge islands
            return  ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0);
      }


      inline bool       isStaticObject() const {
            return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
      }

      inline bool       isKinematicObject() const
      {
            return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
      }

      inline bool       isStaticOrKinematicObject() const
      {
            return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0 ;
      }

      inline bool       hasContactResponse() const {
            return (m_collisionFlags & CF_NO_CONTACT_RESPONSE)==0;
      }

      
      btCollisionObject();


      void  setCollisionShape(btCollisionShape* collisionShape)
      {
            m_collisionShape = collisionShape;
      }

      const btCollisionShape* getCollisionShape() const
      {
            return m_collisionShape;
      }

      btCollisionShape* getCollisionShape()
      {
            return m_collisionShape;
      }

      


      int   getActivationState() const { return m_activationState1;}
      
      void setActivationState(int newState);

      void  setDeactivationTime(float time)
      {
            m_deactivationTime = time;
      }
      float getDeactivationTime() const
      {
            return m_deactivationTime;
      }

      void forceActivationState(int newState);

      void  activate(bool forceActivation = false);

      inline bool isActive() const
      {
            return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
      }

            void  setRestitution(float rest)
      {
            m_restitution = rest;
      }
      float getRestitution() const
      {
            return m_restitution;
      }
      void  setFriction(float frict)
      {
            m_friction = frict;
      }
      float getFriction() const
      {
            return m_friction;
      }

      ///reserved for Bullet internal usage
00176       void* getInternalOwner()
      {
            return m_internalOwner;
      }

      const void* getInternalOwner() const
      {
            return m_internalOwner;
      }

      btTransform&      getWorldTransform()
      {
            return m_worldTransform;
      }

      const btTransform&      getWorldTransform() const
      {
            return m_worldTransform;
      }

      void  setWorldTransform(const btTransform& worldTrans)
      {
            m_worldTransform = worldTrans;
      }


      btBroadphaseProxy*      getBroadphaseHandle()
      {
            return m_broadphaseHandle;
      }

      const btBroadphaseProxy*      getBroadphaseHandle() const
      {
            return m_broadphaseHandle;
      }

      void  setBroadphaseHandle(btBroadphaseProxy* handle)
      {
            m_broadphaseHandle = handle;
      }


      const btTransform&      getInterpolationWorldTransform() const
      {
            return m_interpolationWorldTransform;
      }

      btTransform&      getInterpolationWorldTransform()
      {
            return m_interpolationWorldTransform;
      }

      void  setInterpolationWorldTransform(const btTransform&     trans)
      {
            m_interpolationWorldTransform = trans;
      }


      const btVector3&  getInterpolationLinearVelocity() const
      {
            return m_interpolationLinearVelocity;
      }

      const btVector3&  getInterpolationAngularVelocity() const
      {
            return m_interpolationAngularVelocity;
      }

      const int getIslandTag() const
      {
            return      m_islandTag1;
      }

      void  setIslandTag(int tag)
      {
            m_islandTag1 = tag;
      }

      const float             getHitFraction() const
      {
            return m_hitFraction; 
      }

      void  setHitFraction(float hitFraction)
      {
            m_hitFraction = hitFraction;
      }

      
      const int   getCollisionFlags() const
      {
            return m_collisionFlags;
      }

      void  setCollisionFlags(int flags)
      {
            m_collisionFlags = flags;
      }
      
      ///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
00276       float             getCcdSweptSphereRadius() const
      {
            return m_ccdSweptSphereRadius;
      }

      ///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
00282       void  setCcdSweptSphereRadius(float radius)
      {
            m_ccdSweptSphereRadius = radius;
      }

      float       getCcdSquareMotionThreshold() const
      {
            return m_ccdSquareMotionThreshold;
      }


      /// Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold
00294       void  setCcdSquareMotionThreshold(float ccdSquareMotionThreshold)
      {
            m_ccdSquareMotionThreshold = ccdSquareMotionThreshold;
      }

      ///users can point to their objects, userPointer is not used by Bullet
00300       void* getUserPointer() const
      {
            return m_userObjectPointer;
      }
      
      ///users can point to their objects, userPointer is not used by Bullet
00306       void  setUserPointer(void* userPointer)
      {
            m_userObjectPointer = userPointer;
      }

};

#endif //COLLISION_OBJECT_H

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