btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase. More...

#include <btPersistentManifold.h>

Inheritance diagram for btPersistentManifold:

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Collaboration diagram for btPersistentManifold:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btPersistentManifold ()

	btPersistentManifold (const btCollisionObject body0, const btCollisionObject body1, int, btScalar contactBreakingThreshold, btScalar contactProcessingThreshold)

const btCollisionObject *	getBody0 () const

const btCollisionObject *	getBody1 () const

void	setBodies (const btCollisionObject body0, const btCollisionObject body1)

void	clearUserCache (btManifoldPoint &pt)

int	getNumContacts () const

void	setNumContacts (int cachedPoints)
	the setNumContacts API is usually not used, except when you gather/fill all contacts manually More...

const btManifoldPoint &	getContactPoint (int index) const

btManifoldPoint &	getContactPoint (int index)

btScalar	getContactBreakingThreshold () const

btScalar	getContactProcessingThreshold () const

void	setContactBreakingThreshold (btScalar contactBreakingThreshold)

void	setContactProcessingThreshold (btScalar contactProcessingThreshold)

int	getCacheEntry (const btManifoldPoint &newPoint) const

int	addManifoldPoint (const btManifoldPoint &newPoint, bool isPredictive=false)

void	removeContactPoint (int index)

void	replaceContactPoint (const btManifoldPoint &newPoint, int insertIndex)

bool	validContactDistance (const btManifoldPoint &pt) const

void	refreshContactPoints (const btTransform &trA, const btTransform &trB)
	calculated new worldspace coordinates and depth, and reject points that exceed the collision margin More...

void	clearManifold ()

int	calculateSerializeBufferSize () const

const char *	serialize (const class btPersistentManifold manifold, void dataBuffer, class btSerializer *serializer) const

void	deSerialize (const struct btPersistentManifoldDoubleData *manifoldDataPtr)

void	deSerialize (const struct btPersistentManifoldFloatData *manifoldDataPtr)

Public Member Functions inherited from btTypedObject
	btTypedObject (int objectType)

int	getObjectType () const

Public Attributes
int	m_companionIdA

int	m_companionIdB

int	m_index1a

Public Attributes inherited from btTypedObject
int	m_objectType

Private Member Functions
int	sortCachedPoints (const btManifoldPoint &pt)
	sort cached points so most isolated points come first More...

int	findContactPoint (const btManifoldPoint *unUsed, int numUnused, const btManifoldPoint &pt)

Private Attributes
btManifoldPoint	m_pointCache [MANIFOLD_CACHE_SIZE]

const btCollisionObject *	m_body0
	this two body pointers can point to the physics rigidbody class. More...

const btCollisionObject *	m_body1

int	m_cachedPoints

btScalar	m_contactBreakingThreshold

btScalar	m_contactProcessingThreshold

Detailed Description

btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase.

Those contact points are created by the collision narrow phase. The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time. updates/refreshes old contact points, and throw them away if necessary (distance becomes too large) reduces the cache to 4 points, when more then 4 points are added, using following rules: the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points note that some pairs of objects might have more then one contact manifold.

Definition at line 65 of file btPersistentManifold.h.

Constructor & Destructor Documentation

btPersistentManifold::btPersistentManifold ( )

Definition at line 37 of file btPersistentManifold.cpp.

btPersistentManifold::btPersistentManifold	(	const btCollisionObject *	body0,
		const btCollisionObject *	body1,
		int	,
		btScalar	contactBreakingThreshold,
		btScalar	contactProcessingThreshold
	)

inline

Definition at line 96 of file btPersistentManifold.h.

Member Function Documentation

int btPersistentManifold::addManifoldPoint	(	const btManifoldPoint &	newPoint,
		bool	isPredictive = `false`
	)

Definition at line 218 of file btPersistentManifold.cpp.

btPersistentManifold::BT_DECLARE_ALIGNED_ALLOCATOR ( )

int btPersistentManifold::calculateSerializeBufferSize ( ) const

Definition at line 314 of file btPersistentManifold.cpp.

void btPersistentManifold::clearManifold ( )

inline

Definition at line 249 of file btPersistentManifold.h.

void btPersistentManifold::clearUserCache ( btManifoldPoint & pt )

Definition at line 64 of file btPersistentManifold.cpp.

void btPersistentManifold::deSerialize ( const struct btPersistentManifoldDoubleData * manifoldDataPtr )

Definition at line 369 of file btPersistentManifold.cpp.

void btPersistentManifold::deSerialize ( const struct btPersistentManifoldFloatData * manifoldDataPtr )

Definition at line 415 of file btPersistentManifold.cpp.

int btPersistentManifold::findContactPoint	(	const btManifoldPoint *	unUsed,
		int	numUnused,
		const btManifoldPoint &	pt
	)

private

const btCollisionObject* btPersistentManifold::getBody0 ( ) const

inline

Definition at line 107 of file btPersistentManifold.h.

const btCollisionObject* btPersistentManifold::getBody1 ( ) const

inline

Definition at line 108 of file btPersistentManifold.h.

int btPersistentManifold::getCacheEntry ( const btManifoldPoint & newPoint ) const

Definition at line 198 of file btPersistentManifold.cpp.

btScalar btPersistentManifold::getContactBreakingThreshold ( ) const

Definition at line 250 of file btPersistentManifold.cpp.

const btManifoldPoint& btPersistentManifold::getContactPoint ( int index ) const

inline

Definition at line 130 of file btPersistentManifold.h.

btManifoldPoint& btPersistentManifold::getContactPoint ( int index )

inline

Definition at line 136 of file btPersistentManifold.h.

btScalar btPersistentManifold::getContactProcessingThreshold ( ) const

inline

Definition at line 145 of file btPersistentManifold.h.

int btPersistentManifold::getNumContacts ( ) const

inline

Definition at line 122 of file btPersistentManifold.h.

void btPersistentManifold::refreshContactPoints	(	const btTransform &	trA,
		const btTransform &	trB
	)

calculated new worldspace coordinates and depth, and reject points that exceed the collision margin

first refresh worldspace positions and distance

then

Definition at line 257 of file btPersistentManifold.cpp.

void btPersistentManifold::removeContactPoint ( int index )

inline

Definition at line 167 of file btPersistentManifold.h.

void btPersistentManifold::replaceContactPoint	(	const btManifoldPoint &	newPoint,
		int	insertIndex
	)

inline

we keep existing contact points for friction anchors if the friction force is within the Coulomb friction cone

Definition at line 193 of file btPersistentManifold.h.

const char * btPersistentManifold::serialize	(	const class btPersistentManifold *	manifold,
		void *	dataBuffer,
		class btSerializer *	serializer
	)		const

Definition at line 319 of file btPersistentManifold.cpp.

void btPersistentManifold::setBodies	(	const btCollisionObject *	body0,
		const btCollisionObject *	body1
	)

inline

Definition at line 110 of file btPersistentManifold.h.

void btPersistentManifold::setContactBreakingThreshold ( btScalar contactBreakingThreshold )

inline

Definition at line 150 of file btPersistentManifold.h.

void btPersistentManifold::setContactProcessingThreshold ( btScalar contactProcessingThreshold )

inline

Definition at line 155 of file btPersistentManifold.h.

void btPersistentManifold::setNumContacts ( int cachedPoints )

inline

the setNumContacts API is usually not used, except when you gather/fill all contacts manually

Definition at line 124 of file btPersistentManifold.h.

int btPersistentManifold::sortCachedPoints ( const btManifoldPoint & pt )

private

sort cached points so most isolated points come first

Definition at line 119 of file btPersistentManifold.cpp.

bool btPersistentManifold::validContactDistance ( const btManifoldPoint & pt ) const

inline

Definition at line 241 of file btPersistentManifold.h.

Member Data Documentation

const btCollisionObject* btPersistentManifold::m_body0

private

this two body pointers can point to the physics rigidbody class.

Definition at line 71 of file btPersistentManifold.h.

const btCollisionObject* btPersistentManifold::m_body1

private

Definition at line 72 of file btPersistentManifold.h.

int btPersistentManifold::m_cachedPoints

private

Definition at line 74 of file btPersistentManifold.h.

int btPersistentManifold::m_companionIdA

Definition at line 89 of file btPersistentManifold.h.

int btPersistentManifold::m_companionIdB

Definition at line 90 of file btPersistentManifold.h.

btScalar btPersistentManifold::m_contactBreakingThreshold

private

Definition at line 76 of file btPersistentManifold.h.

btScalar btPersistentManifold::m_contactProcessingThreshold

private

Definition at line 77 of file btPersistentManifold.h.

int btPersistentManifold::m_index1a

Definition at line 92 of file btPersistentManifold.h.

btManifoldPoint btPersistentManifold::m_pointCache[MANIFOLD_CACHE_SIZE]

private

Definition at line 68 of file btPersistentManifold.h.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation