bullet: Update to version 2.82 (bullet revision 2705)
[blender.git] / extern / bullet2 / src / BulletCollision / CollisionDispatch / btCollisionObject.cpp
1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose, 
8 including commercial applications, and to alter it and redistribute it freely, 
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16
17 #include "btCollisionObject.h"
18 #include "LinearMath/btSerializer.h"
19
20 btCollisionObject::btCollisionObject()
21         :       m_anisotropicFriction(1.f,1.f,1.f),
22         m_hasAnisotropicFriction(false),
23         m_contactProcessingThreshold(BT_LARGE_FLOAT),
24                 m_broadphaseHandle(0),
25                 m_collisionShape(0),
26                 m_extensionPointer(0),
27                 m_rootCollisionShape(0),
28                 m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
29                 m_islandTag1(-1),
30                 m_companionId(-1),
31                 m_activationState1(1),
32                 m_deactivationTime(btScalar(0.)),
33                 m_friction(btScalar(0.5)),
34                 m_rollingFriction(0.0f),
35                 m_restitution(btScalar(0.)),
36                 m_internalType(CO_COLLISION_OBJECT),
37                 m_userObjectPointer(0),
38                 m_hitFraction(btScalar(1.)),
39                 m_ccdSweptSphereRadius(btScalar(0.)),
40                 m_ccdMotionThreshold(btScalar(0.)),
41                 m_checkCollideWith(false),
42                 m_updateRevision(0)
43 {
44         m_worldTransform.setIdentity();
45 }
46
47 btCollisionObject::~btCollisionObject()
48 {
49 }
50
51 void btCollisionObject::setActivationState(int newState) const
52
53         if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
54                 m_activationState1 = newState;
55 }
56
57 void btCollisionObject::forceActivationState(int newState) const
58 {
59         m_activationState1 = newState;
60 }
61
62 void btCollisionObject::activate(bool forceActivation) const
63 {
64         if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
65         {
66                 setActivationState(ACTIVE_TAG);
67                 m_deactivationTime = btScalar(0.);
68         }
69 }
70
71 const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* serializer) const
72 {
73
74         btCollisionObjectData* dataOut = (btCollisionObjectData*)dataBuffer;
75
76         m_worldTransform.serialize(dataOut->m_worldTransform);
77         m_interpolationWorldTransform.serialize(dataOut->m_interpolationWorldTransform);
78         m_interpolationLinearVelocity.serialize(dataOut->m_interpolationLinearVelocity);
79         m_interpolationAngularVelocity.serialize(dataOut->m_interpolationAngularVelocity);
80         m_anisotropicFriction.serialize(dataOut->m_anisotropicFriction);
81         dataOut->m_hasAnisotropicFriction = m_hasAnisotropicFriction;
82         dataOut->m_contactProcessingThreshold = m_contactProcessingThreshold;
83         dataOut->m_broadphaseHandle = 0;
84         dataOut->m_collisionShape = serializer->getUniquePointer(m_collisionShape);
85         dataOut->m_rootCollisionShape = 0;//@todo
86         dataOut->m_collisionFlags = m_collisionFlags;
87         dataOut->m_islandTag1 = m_islandTag1;
88         dataOut->m_companionId = m_companionId;
89         dataOut->m_activationState1 = m_activationState1;
90         dataOut->m_deactivationTime = m_deactivationTime;
91         dataOut->m_friction = m_friction;
92         dataOut->m_rollingFriction = m_rollingFriction;
93         dataOut->m_restitution = m_restitution;
94         dataOut->m_internalType = m_internalType;
95         
96         char* name = (char*) serializer->findNameForPointer(this);
97         dataOut->m_name = (char*)serializer->getUniquePointer(name);
98         if (dataOut->m_name)
99         {
100                 serializer->serializeName(name);
101         }
102         dataOut->m_hitFraction = m_hitFraction;
103         dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
104         dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
105         dataOut->m_checkCollideWith = m_checkCollideWith;
106
107         return btCollisionObjectDataName;
108 }
109
110
111 void btCollisionObject::serializeSingleObject(class btSerializer* serializer) const
112 {
113         int len = calculateSerializeBufferSize();
114         btChunk* chunk = serializer->allocate(len,1);
115         const char* structType = serialize(chunk->m_oldPtr, serializer);
116         serializer->finalizeChunk(chunk,structType,BT_COLLISIONOBJECT_CODE,(void*)this);
117 }