15 #include "bulletPersistentManifold.h" 16 #include "bulletManifoldPoint.h" 23 BulletPersistentManifold::
24 BulletPersistentManifold(btPersistentManifold *manifold) : _manifold(manifold) {
33 PN_stdfloat BulletPersistentManifold::
34 get_contact_breaking_threshold()
const {
36 return (PN_stdfloat)_manifold->getContactBreakingThreshold();
44 PN_stdfloat BulletPersistentManifold::
45 get_contact_processing_threshold()
const {
47 return (PN_stdfloat)_manifold->getContactProcessingThreshold();
55 void BulletPersistentManifold::
58 _manifold->clearManifold();
66 const PandaNode *BulletPersistentManifold::
69 #if BT_BULLET_VERSION >= 281 70 const btCollisionObject *obj = _manifold->getBody0();
72 const btCollisionObject *obj = (btCollisionObject *)_manifold->getBody0();
75 return (obj) ? (
const PandaNode *)obj->getUserPointer(): NULL;
83 const PandaNode *BulletPersistentManifold::
86 #if BT_BULLET_VERSION >= 281 87 const btCollisionObject *obj = _manifold->getBody1();
89 const btCollisionObject *obj = (btCollisionObject *)_manifold->getBody1();
92 return (obj) ? (
const PandaNode *)obj->getUserPointer(): NULL;
100 int BulletPersistentManifold::
101 get_num_manifold_points()
const {
103 return _manifold->getNumContacts();
112 get_manifold_point(
int idx)
const {
114 nassertr(idx < _manifold->getNumContacts(), NULL)
A basic node of the scene graph or data graph.