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Diffstat (limited to 'thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h | 46 |
1 files changed, 46 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h new file mode 100644 index 0000000000..fb25165673 --- /dev/null +++ b/thirdparty/bullet/src/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h @@ -0,0 +1,46 @@ +/* +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 |