The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis. More...

#include <btCapsuleShape.h>

Inheritance diagram for btCapsuleShape:

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Collaboration diagram for btCapsuleShape:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btCapsuleShape (btScalar radius, btScalar height)

virtual void	calculateLocalInertia (btScalar mass, btVector3 &inertia) const
	CollisionShape Interface.

virtual btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &vec) const
	btConvexShape Interface

virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 vectors, btVector3 supportVerticesOut, int numVectors) const

virtual void	setMargin (btScalar collisionMargin)

virtual void	getAabb (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
	getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version

virtual const char *	getName () const

int	getUpAxis () const

btScalar	getRadius () const

btScalar	getHalfHeight () const

virtual void	setLocalScaling (const btVector3 &scaling)

virtual btVector3	getAnisotropicRollingFrictionDirection () const
	the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See Bullet/Demos/RollingFrictionDemo for an example

virtual int	calculateSerializeBufferSize () const

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

void	deSerializeFloat (struct btCapsuleShapeData *dataBuffer)

Public Member Functions inherited from btConvexInternalShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()

virtual	~btConvexInternalShape ()

virtual btVector3	localGetSupportingVertex (const btVector3 &vec) const

const btVector3 &	getImplicitShapeDimensions () const

void	setImplicitShapeDimensions (const btVector3 &dimensions)
	warning: use setImplicitShapeDimensions with care changing a collision shape while the body is in the world is not recommended, it is best to remove the body from the world, then make the change, and re-add it alternatively flush the contact points, see documentation for 'cleanProxyFromPairs'

void	setSafeMargin (btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)

void	setSafeMargin (const btVector3 &halfExtents, btScalar defaultMarginMultiplier=0.1f)

void	getAabb (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
	getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version

virtual void	getAabbSlow (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const

virtual const btVector3 &	getLocalScaling () const

const btVector3 &	getLocalScalingNV () const

virtual btScalar	getMargin () const

btScalar	getMarginNV () const

virtual int	getNumPreferredPenetrationDirections () const

virtual void	getPreferredPenetrationDirection (int index, btVector3 &penetrationVector) const

Public Member Functions inherited from btConvexShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btConvexShape ()
	not supported on IBM SDK, until we fix the alignment of btVector3

virtual	~btConvexShape ()

btVector3	localGetSupportVertexWithoutMarginNonVirtual (const btVector3 &vec) const

btVector3	localGetSupportVertexNonVirtual (const btVector3 &vec) const

btScalar	getMarginNonVirtual () const

void	getAabbNonVirtual (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const

virtual void	project (const btTransform &trans, const btVector3 &dir, btScalar &minProj, btScalar &maxProj, btVector3 &witnesPtMin, btVector3 &witnesPtMax) const

Public Member Functions inherited from btCollisionShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btCollisionShape ()

virtual	~btCollisionShape ()

virtual void	getBoundingSphere (btVector3 &center, btScalar &radius) const

virtual btScalar	getAngularMotionDisc () const
	getAngularMotionDisc returns the maximum radius needed for Conservative Advancement to handle time-of-impact with rotations.

virtual btScalar	getContactBreakingThreshold (btScalar defaultContactThresholdFactor) const

void	calculateTemporalAabb (const btTransform &curTrans, const btVector3 &linvel, const btVector3 &angvel, btScalar timeStep, btVector3 &temporalAabbMin, btVector3 &temporalAabbMax) const
	calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep) result is conservative

bool	isPolyhedral () const

bool	isConvex2d () const

bool	isConvex () const

bool	isNonMoving () const

bool	isConcave () const

bool	isCompound () const

bool	isSoftBody () const

bool	isInfinite () const
	isInfinite is used to catch simulation error (aabb check)

int	getShapeType () const

void	setUserPointer (void *userPtr)
	optional user data pointer

void *	getUserPointer () const

void	setUserIndex (int index)

int	getUserIndex () const

void	setUserIndex2 (int index)

int	getUserIndex2 () const

virtual void	serializeSingleShape (btSerializer *serializer) const

Protected Member Functions
	btCapsuleShape ()
	only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.

Protected Member Functions inherited from btConvexInternalShape
	btConvexInternalShape ()

Protected Attributes
int	m_upAxis

Protected Attributes inherited from btConvexInternalShape
btVector3	m_localScaling

btVector3	m_implicitShapeDimensions

btScalar	m_collisionMargin

btScalar	m_padding

Protected Attributes inherited from btCollisionShape
int	m_shapeType

void *	m_userPointer

int	m_userIndex

int	m_userIndex2

Detailed Description

The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis.

The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.

Definition at line 25 of file btCapsuleShape.h.

Constructor & Destructor Documentation

◆ btCapsuleShape() [1/2]

btCapsuleShape::btCapsuleShape ( )

inlineprotected

only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.

Definition at line 33 of file btCapsuleShape.h.

◆ btCapsuleShape() [2/2]

btCapsuleShape::btCapsuleShape	(	btScalar	radius,
		btScalar	height
	)

Definition at line 20 of file btCapsuleShape.cpp.

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

void btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin	(	const btVector3 *	vectors,
		btVector3 *	supportVerticesOut,
		int	numVectors
	)		const

virtual

Implements btConvexShape.

Definition at line 77 of file btCapsuleShape.cpp.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btCapsuleShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calculateLocalInertia()

void btCapsuleShape::calculateLocalInertia	(	btScalar	mass,
		btVector3 &	inertia
	)		const

virtual

CollisionShape Interface.

Implements btCollisionShape.

Definition at line 111 of file btCapsuleShape.cpp.

◆ calculateSerializeBufferSize()

int btCapsuleShape::calculateSerializeBufferSize ( ) const

inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 150 of file btCapsuleShape.h.

◆ deSerializeFloat()

void btCapsuleShape::deSerializeFloat ( struct btCapsuleShapeData * dataBuffer )

inline

Definition at line 173 of file btCapsuleShape.h.

◆ getAabb()

virtual void btCapsuleShape::getAabb	(	const btTransform &	t,
		btVector3 &	aabbMin,
		btVector3 &	aabbMax
	)		const

inlinevirtual

getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version

Implements btConvexShape.

Definition at line 54 of file btCapsuleShape.h.

◆ getAnisotropicRollingFrictionDirection()

virtual btVector3 btCapsuleShape::getAnisotropicRollingFrictionDirection ( ) const

inlinevirtual

the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See Bullet/Demos/RollingFrictionDemo for an example

Reimplemented from btCollisionShape.

Definition at line 97 of file btCapsuleShape.h.

◆ getHalfHeight()

btScalar btCapsuleShape::getHalfHeight ( ) const

inline

Definition at line 82 of file btCapsuleShape.h.

◆ getName()

virtual const char * btCapsuleShape::getName ( ) const

inlinevirtual

Implements btCollisionShape.

Reimplemented in btCapsuleShapeX, and btCapsuleShapeZ.

Definition at line 66 of file btCapsuleShape.h.

◆ getRadius()

btScalar btCapsuleShape::getRadius ( ) const

inline

Definition at line 76 of file btCapsuleShape.h.

◆ getUpAxis()

int btCapsuleShape::getUpAxis ( ) const

inline

Definition at line 71 of file btCapsuleShape.h.

◆ localGetSupportingVertexWithoutMargin()

btVector3 btCapsuleShape::localGetSupportingVertexWithoutMargin ( const btVector3 & vec ) const

virtual

btConvexShape Interface

Implements btConvexShape.

Definition at line 28 of file btCapsuleShape.cpp.

◆ serialize()

const char * btCapsuleShape::serialize	(	void *	dataBuffer,
		btSerializer *	serializer
	)		const

inlinevirtual

fills the dataBuffer and returns the struct name (and 0 on failure)

Reimplemented from btConvexInternalShape.

Definition at line 156 of file btCapsuleShape.h.

◆ setLocalScaling()

virtual void btCapsuleShape::setLocalScaling ( const btVector3 & scaling )

inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 87 of file btCapsuleShape.h.

◆ setMargin()

virtual void btCapsuleShape::setMargin ( btScalar collisionMargin )

inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 48 of file btCapsuleShape.h.

Member Data Documentation

◆ m_upAxis

int btCapsuleShape::m_upAxis

protected

Definition at line 29 of file btCapsuleShape.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ btCapsuleShape() [1/2]

◆ btCapsuleShape() [2/2]

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ calculateLocalInertia()

◆ calculateSerializeBufferSize()

◆ deSerializeFloat()

◆ getAabb()

◆ getAnisotropicRollingFrictionDirection()

◆ getHalfHeight()

◆ getName()

◆ getRadius()

◆ getUpAxis()

◆ localGetSupportingVertexWithoutMargin()

◆ serialize()

◆ setLocalScaling()

◆ setMargin()

Member Data Documentation

◆ m_upAxis