diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h | 33 |
1 files changed, 21 insertions, 12 deletions
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h index fb25165673..c2cd3c729b 100644 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h +++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h @@ -19,28 +19,37 @@ subject to the following restrictions: #include "Bullet3Common/b3Vector3.h" #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h" -B3_ATTRIBUTE_ALIGNED16(struct) b3Contact4 : public b3Contact4Data +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;} + 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 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; } + 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); } + bool isInvalid() const { return (getBodyA() == 0 || getBodyB() == 0); } }; -#endif //B3_CONTACT4_H +#endif //B3_CONTACT4_H |