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https://github.com/Relintai/pandemonium_engine.git
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56 lines
2.2 KiB
C++
56 lines
2.2 KiB
C++
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
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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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#ifndef B3_CONTACT4_H
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#define B3_CONTACT4_H
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
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B3_ATTRIBUTE_ALIGNED16(struct)
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b3Contact4 : public b3Contact4Data
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{
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B3_DECLARE_ALIGNED_ALLOCATOR();
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int getBodyA() const { return abs(m_bodyAPtrAndSignBit); }
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int getBodyB() const { return abs(m_bodyBPtrAndSignBit); }
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bool isBodyAFixed() const { return m_bodyAPtrAndSignBit < 0; }
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bool isBodyBFixed() const { return m_bodyBPtrAndSignBit < 0; }
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// todo. make it safer
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int& getBatchIdx() { return m_batchIdx; }
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const int& getBatchIdx() const { return m_batchIdx; }
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float getRestituitionCoeff() const { return ((float)m_restituitionCoeffCmp / (float)0xffff); }
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void setRestituitionCoeff(float c)
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{
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b3Assert(c >= 0.f && c <= 1.f);
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m_restituitionCoeffCmp = (unsigned short)(c * 0xffff);
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}
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float getFrictionCoeff() const { return ((float)m_frictionCoeffCmp / (float)0xffff); }
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void setFrictionCoeff(float c)
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{
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b3Assert(c >= 0.f && c <= 1.f);
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m_frictionCoeffCmp = (unsigned short)(c * 0xffff);
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}
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//float& getNPoints() { return m_worldNormal[3]; }
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int getNPoints() const { return (int)m_worldNormalOnB.w; }
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float getPenetration(int idx) const { return m_worldPosB[idx].w; }
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bool isInvalid() const { return (getBodyA() == 0 || getBodyB() == 0); }
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};
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#endif //B3_CONTACT4_H
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