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Viewing changes to tests/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp

  • Committer: Package Import Robot
  • Author(s): Sylvestre Ledru
  • Date: 2013-05-02 13:11:51 UTC
  • Revision ID: package-import@ubuntu.com-20130502131151-q8dvteqr1ef2x7xz
Tags: upstream-1.4.1~20130504~adb56cb
Import upstream version 1.4.1~20130504~adb56cb

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tests/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
 
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/*
 
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Bullet Continuous Collision Detection and Physics Library
 
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Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
 
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This software is provided 'as-is', without any express or implied warranty.
 
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In no event will the authors be held liable for any damages arising from the use of this software.
 
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Permission is granted to anyone to use this software for any purpose, 
 
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including commercial applications, and to alter it and redistribute it freely, 
 
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subject to the following restrictions:
 
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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.
 
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
 
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3. This notice may not be removed or altered from any source distribution.
 
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*/
 
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#include "btCollisionObject.h"
 
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#include "LinearMath/btSerializer.h"
 
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btCollisionObject::btCollisionObject()
 
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        :       m_anisotropicFriction(1.f,1.f,1.f),
 
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        m_hasAnisotropicFriction(false),
 
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        m_contactProcessingThreshold(BT_LARGE_FLOAT),
 
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                m_broadphaseHandle(0),
 
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                m_collisionShape(0),
 
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                m_extensionPointer(0),
 
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                m_rootCollisionShape(0),
 
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                m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
 
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                m_islandTag1(-1),
 
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                m_companionId(-1),
 
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                m_activationState1(1),
 
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                m_deactivationTime(btScalar(0.)),
 
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                m_friction(btScalar(0.5)),
 
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                m_restitution(btScalar(0.)),
 
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                m_internalType(CO_COLLISION_OBJECT),
 
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                m_userObjectPointer(0),
 
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                m_hitFraction(btScalar(1.)),
 
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                m_ccdSweptSphereRadius(btScalar(0.)),
 
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                m_ccdMotionThreshold(btScalar(0.)),
 
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                m_checkCollideWith(false)
 
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{
 
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        m_worldTransform.setIdentity();
 
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}
 
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btCollisionObject::~btCollisionObject()
 
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{
 
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}
 
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void btCollisionObject::setActivationState(int newState) 
 
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{ 
 
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        if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
 
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                m_activationState1 = newState;
 
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}
 
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void btCollisionObject::forceActivationState(int newState)
 
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{
 
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        m_activationState1 = newState;
 
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}
 
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void btCollisionObject::activate(bool forceActivation)
 
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{
 
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        if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
 
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        {
 
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                setActivationState(ACTIVE_TAG);
 
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                m_deactivationTime = btScalar(0.);
 
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        }
 
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}
 
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const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* serializer) const
 
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{
 
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        btCollisionObjectData* dataOut = (btCollisionObjectData*)dataBuffer;
 
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        m_worldTransform.serialize(dataOut->m_worldTransform);
 
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        m_interpolationWorldTransform.serialize(dataOut->m_interpolationWorldTransform);
 
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        m_interpolationLinearVelocity.serialize(dataOut->m_interpolationLinearVelocity);
 
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        m_interpolationAngularVelocity.serialize(dataOut->m_interpolationAngularVelocity);
 
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        m_anisotropicFriction.serialize(dataOut->m_anisotropicFriction);
 
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        dataOut->m_hasAnisotropicFriction = m_hasAnisotropicFriction;
 
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        dataOut->m_contactProcessingThreshold = m_contactProcessingThreshold;
 
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        dataOut->m_broadphaseHandle = 0;
 
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        dataOut->m_collisionShape = serializer->getUniquePointer(m_collisionShape);
 
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        dataOut->m_rootCollisionShape = 0;//@todo
 
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        dataOut->m_collisionFlags = m_collisionFlags;
 
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        dataOut->m_islandTag1 = m_islandTag1;
 
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        dataOut->m_companionId = m_companionId;
 
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        dataOut->m_activationState1 = m_activationState1;
 
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        dataOut->m_activationState1 = m_activationState1;
 
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        dataOut->m_deactivationTime = m_deactivationTime;
 
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        dataOut->m_friction = m_friction;
 
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        dataOut->m_restitution = m_restitution;
 
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        dataOut->m_internalType = m_internalType;
 
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        char* name = (char*) serializer->findNameForPointer(this);
 
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        dataOut->m_name = (char*)serializer->getUniquePointer(name);
 
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        if (dataOut->m_name)
 
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        {
 
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                serializer->serializeName(name);
 
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        }
 
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        dataOut->m_hitFraction = m_hitFraction;
 
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        dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
 
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        dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
 
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        dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
 
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        dataOut->m_checkCollideWith = m_checkCollideWith;
 
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        return btCollisionObjectDataName;
 
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}
 
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void btCollisionObject::serializeSingleObject(class btSerializer* serializer) const
 
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{
 
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        int len = calculateSerializeBufferSize();
 
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        btChunk* chunk = serializer->allocate(len,1);
 
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        const char* structType = serialize(chunk->m_oldPtr, serializer);
 
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        serializer->finalizeChunk(chunk,structType,BT_COLLISIONOBJECT_CODE,(void*)this);
 
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}