Differential D1739 Diff 5899 extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h

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extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h

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#define btRigidBodyData btRigidBodyFloatData		#define btRigidBodyData btRigidBodyFloatData
#define btRigidBodyDataName "btRigidBodyFloatData"		#define btRigidBodyDataName "btRigidBodyFloatData"
#endif //BT_USE_DOUBLE_PRECISION		#endif //BT_USE_DOUBLE_PRECISION


enum btRigidBodyFlags		enum btRigidBodyFlags
{		{
BT_DISABLE_WORLD_GRAVITY = 1,		BT_DISABLE_WORLD_GRAVITY = 1,
///The BT_ENABLE_GYROPSCOPIC_FORCE can easily introduce instability		///BT_ENABLE_GYROPSCOPIC_FORCE flags is enabled by default in Bullet 2.83 and onwards.
///So generally it is best to not enable it.		///and it BT_ENABLE_GYROPSCOPIC_FORCE becomes equivalent to BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY
///If really needed, run at a high frequency like 1000 Hertz: ///See Demos/GyroscopicDemo for an example use		///See Demos/GyroscopicDemo and computeGyroscopicImpulseImplicit
BT_ENABLE_GYROPSCOPIC_FORCE = 2		BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT = 2,
		BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD=4,
		BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY=8,
		BT_ENABLE_GYROPSCOPIC_FORCE = BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY,
};		};


///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.		///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.		///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
///There are 3 types of rigid bodies:		///There are 3 types of rigid bodies:
///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.		///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
///- B) Fixed objects with zero mass. They are not moving (basically collision objects)		///- B) Fixed objects with zero mass. They are not moving (basically collision objects)
Show All 26 Lines	class btRigidBody : public btCollisionObject


btScalar m_linearSleepingThreshold;		btScalar m_linearSleepingThreshold;
btScalar m_angularSleepingThreshold;		btScalar m_angularSleepingThreshold;

//m_optionalMotionState allows to automatic synchronize the world transform for active objects		//m_optionalMotionState allows to automatic synchronize the world transform for active objects
btMotionState* m_optionalMotionState;		btMotionState* m_optionalMotionState;

//keep track of typed constraints referencing this rigid body		//keep track of typed constraints referencing this rigid body, to disable collision between linked bodies
btAlignedObjectArray<btTypedConstraint*> m_constraintRefs;		btAlignedObjectArray<btTypedConstraint*> m_constraintRefs;

int m_rigidbodyFlags;		int m_rigidbodyFlags;

int m_debugBodyId;		int m_debugBodyId;


protected:		protected:
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}		}

//is this rigidbody added to a btCollisionWorld/btDynamicsWorld/btBroadphase?		//is this rigidbody added to a btCollisionWorld/btDynamicsWorld/btBroadphase?
bool isInWorld() const		bool isInWorld() const
{		{
return (getBroadphaseProxy() != 0);		return (getBroadphaseProxy() != 0);
}		}

virtual bool checkCollideWithOverride(const btCollisionObject* co) const;

void addConstraintRef(btTypedConstraint* c);		void addConstraintRef(btTypedConstraint* c);
void removeConstraintRef(btTypedConstraint* c);		void removeConstraintRef(btTypedConstraint* c);

btTypedConstraint* getConstraintRef(int index)		btTypedConstraint* getConstraintRef(int index)
{		{
return m_constraintRefs[index];		return m_constraintRefs[index];
}		}

int getNumConstraintRefs() const		int getNumConstraintRefs() const
{		{
return m_constraintRefs.size();		return m_constraintRefs.size();
}		}

void setFlags(int flags)		void setFlags(int flags)
{		{
m_rigidbodyFlags = flags;		m_rigidbodyFlags = flags;
}		}

int getFlags() const		int getFlags() const
{		{
return m_rigidbodyFlags;		return m_rigidbodyFlags;
}		}

btVector3 computeGyroscopicForce(btScalar maxGyroscopicForce) const;


		///perform implicit force computation in world space
		btVector3 computeGyroscopicImpulseImplicit_World(btScalar dt) const;

		///perform implicit force computation in body space (inertial frame)
		btVector3 computeGyroscopicImpulseImplicit_Body(btScalar step) const;

		///explicit version is best avoided, it gains energy
		btVector3 computeGyroscopicForceExplicit(btScalar maxGyroscopicForce) const;
		btVector3 getLocalInertia() const;

///////////////////////////////////////////////		///////////////////////////////////////////////

virtual int calculateSerializeBufferSize() const;		virtual int calculateSerializeBufferSize() const;

///fills the dataBuffer and returns the struct name (and 0 on failure)		///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;		virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;

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