Bullet Collision Detection & Physics Library
Public Member Functions | Protected Attributes | List of all members
btCollisionShape Class Referenceabstract

The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects. More...

#include <btCollisionShape.h>

Inheritance diagram for btCollisionShape:
Inheritance graph
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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btCollisionShape ()
 
virtual ~btCollisionShape ()
 
virtual void getAabb (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
 getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
 
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)
 
virtual void setLocalScaling (const btVector3 &scaling)=0
 
virtual const btVector3 & getLocalScaling () const =0
 
virtual void calculateLocalInertia (btScalar mass, btVector3 &inertia) const =0
 
virtual const char * getName () const =0
 
int getShapeType () const
 
virtual btVector3 getAnisotropicRollingFrictionDirection () const
 the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See Bullet/Demos/RollingFrictionDemo for an example
 
virtual void setMargin (btScalar margin)=0
 
virtual btScalar getMargin () const =0
 
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 int calculateSerializeBufferSize () const
 
virtual const char * serialize (void *dataBuffer, btSerializer *serializer) const
 fills the dataBuffer and returns the struct name (and 0 on failure)
 
virtual void serializeSingleShape (btSerializer *serializer) const
 

Protected Attributes

int m_shapeType
 
void * m_userPointer
 
int m_userIndex
 
int m_userIndex2
 

Detailed Description

The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.

Definition at line 26 of file btCollisionShape.h.

Constructor & Destructor Documentation

◆ btCollisionShape()

btCollisionShape::btCollisionShape ( )
inline

Definition at line 38 of file btCollisionShape.h.

◆ ~btCollisionShape()

virtual btCollisionShape::~btCollisionShape ( )
inlinevirtual

Definition at line 42 of file btCollisionShape.h.

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btCollisionShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calculateLocalInertia()

virtual void btCollisionShape::calculateLocalInertia ( btScalar  mass,
btVector3 &  inertia 
) const
pure virtual

Implemented in btBox2dShape, btBoxShape, btCapsuleShape, btCompoundShape, btConeShape, btConvex2dShape, btCylinderShape, btEmptyShape, btHeightfieldTerrainShape, btMinkowskiSumShape, btMultiSphereShape, btPolyhedralConvexShape, btScaledBvhTriangleMeshShape, btSdfCollisionShape, btSphereShape, btStaticPlaneShape, btTriangleMeshShape, btTriangleShape, btUniformScalingShape, btGImpactCompoundShape, btGImpactMeshShapePart, btGImpactMeshShape, btSoftClusterCollisionShape, and btSoftBodyCollisionShape.

◆ calculateSerializeBufferSize()

int btCollisionShape::calculateSerializeBufferSize ( ) const
inlinevirtual

Reimplemented in btBvhTriangleMeshShape, btCapsuleShape, btCompoundShape, btConeShape, btConvexHullShape, btConvexInternalShape, btCylinderShape, btMultiSphereShape, btScaledBvhTriangleMeshShape, btStaticPlaneShape, and btGImpactMeshShape.

Definition at line 169 of file btCollisionShape.h.

◆ calculateTemporalAabb()

void btCollisionShape::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

Definition at line 57 of file btCollisionShape.cpp.

◆ getAabb()

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

getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.

Implemented in btBox2dShape, btBoxShape, btCapsuleShape, btCompoundShape, btConvex2dShape, btConvexInternalShape, btConvexInternalAabbCachingShape, btCylinderShape, btEmptyShape, btHeightfieldTerrainShape, btPolyhedralConvexAabbCachingShape, btScaledBvhTriangleMeshShape, btSdfCollisionShape, btSphereShape, btStaticPlaneShape, btBU_Simplex1to4, btTriangleMeshShape, btTriangleShape, btUniformScalingShape, btGImpactShapeInterface, btTriangleShapeEx, btSoftBodyCollisionShape, btSoftClusterCollisionShape, and btConvexShape.

◆ getAngularMotionDisc()

btScalar btCollisionShape::getAngularMotionDisc ( ) const
virtual

getAngularMotionDisc returns the maximum radius needed for Conservative Advancement to handle time-of-impact with rotations.

Definition at line 47 of file btCollisionShape.cpp.

◆ getAnisotropicRollingFrictionDirection()

virtual btVector3 btCollisionShape::getAnisotropicRollingFrictionDirection ( ) const
inlinevirtual

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

Reimplemented in btCapsuleShape, btConeShape, btConeShapeX, btConeShapeZ, and btCylinderShape.

Definition at line 114 of file btCollisionShape.h.

◆ getBoundingSphere()

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

Definition at line 30 of file btCollisionShape.cpp.

◆ getContactBreakingThreshold()

btScalar btCollisionShape::getContactBreakingThreshold ( btScalar  defaultContactThresholdFactor) const
virtual

Definition at line 42 of file btCollisionShape.cpp.

◆ getLocalScaling()

virtual const btVector3 & btCollisionShape::getLocalScaling ( ) const
pure virtual

Implemented in btCompoundShape, btConvex2dShape, btConvexInternalShape, btConvexTriangleMeshShape, btEmptyShape, btHeightfieldTerrainShape, btScaledBvhTriangleMeshShape, btSdfCollisionShape, btStaticPlaneShape, btTriangleMeshShape, btUniformScalingShape, btGImpactShapeInterface, btGImpactMeshShapePart, btSoftBodyCollisionShape, and btConvexShape.

◆ getMargin()

virtual btScalar btCollisionShape::getMargin ( ) const
pure virtual

Implemented in btCompoundShape, btConcaveShape, btConvex2dShape, btConvexInternalShape, btMinkowskiSumShape, btSdfCollisionShape, btSphereShape, btUniformScalingShape, btGImpactMeshShapePart, btSoftClusterCollisionShape, and btConvexShape.

◆ getName()

virtual const char * btCollisionShape::getName ( ) const
pure virtual

Implemented in btBox2dShape, btBoxShape, btBvhTriangleMeshShape, btCapsuleShape, btCapsuleShapeX, btCapsuleShapeZ, btCompoundShape, btConeShape, btConeShapeX, btConeShapeZ, btConvex2dShape, btConvexHullShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btCylinderShape, btCylinderShapeX, btCylinderShapeZ, btEmptyShape, btHeightfieldTerrainShape, btMinkowskiSumShape, btMultimaterialTriangleMeshShape, btMultiSphereShape, btScaledBvhTriangleMeshShape, btSdfCollisionShape, btSphereShape, btStaticPlaneShape, btBU_Simplex1to4, btTriangleMeshShape, btTriangleShape, btUniformScalingShape, btGImpactCompoundShape, btGImpactMeshShapePart, btGImpactMeshShape, btSoftBodyCollisionShape, and btSoftClusterCollisionShape.

◆ getShapeType()

int btCollisionShape::getShapeType ( ) const
inline

Definition at line 107 of file btCollisionShape.h.

◆ getUserIndex()

int btCollisionShape::getUserIndex ( ) const
inline

Definition at line 136 of file btCollisionShape.h.

◆ getUserIndex2()

int btCollisionShape::getUserIndex2 ( ) const
inline

Definition at line 146 of file btCollisionShape.h.

◆ getUserPointer()

void * btCollisionShape::getUserPointer ( ) const
inline

Definition at line 127 of file btCollisionShape.h.

◆ isCompound()

bool btCollisionShape::isCompound ( ) const
inline

Definition at line 82 of file btCollisionShape.h.

◆ isConcave()

bool btCollisionShape::isConcave ( ) const
inline

Definition at line 78 of file btCollisionShape.h.

◆ isConvex()

bool btCollisionShape::isConvex ( ) const
inline

Definition at line 70 of file btCollisionShape.h.

◆ isConvex2d()

bool btCollisionShape::isConvex2d ( ) const
inline

Definition at line 65 of file btCollisionShape.h.

◆ isInfinite()

bool btCollisionShape::isInfinite ( ) const
inline

isInfinite is used to catch simulation error (aabb check)

Definition at line 93 of file btCollisionShape.h.

◆ isNonMoving()

bool btCollisionShape::isNonMoving ( ) const
inline

Definition at line 74 of file btCollisionShape.h.

◆ isPolyhedral()

bool btCollisionShape::isPolyhedral ( ) const
inline

Definition at line 60 of file btCollisionShape.h.

◆ isSoftBody()

bool btCollisionShape::isSoftBody ( ) const
inline

Definition at line 87 of file btCollisionShape.h.

◆ serialize()

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

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

Reimplemented in btBvhTriangleMeshShape, btCapsuleShape, btCompoundShape, btConeShape, btConvexHullShape, btConvexInternalShape, btCylinderShape, btMultiSphereShape, btScaledBvhTriangleMeshShape, btStaticPlaneShape, and btGImpactMeshShape.

Definition at line 96 of file btCollisionShape.cpp.

◆ serializeSingleShape()

void btCollisionShape::serializeSingleShape ( btSerializer *  serializer) const
virtual

Definition at line 113 of file btCollisionShape.cpp.

◆ setLocalScaling()

virtual void btCollisionShape::setLocalScaling ( const btVector3 &  scaling)
pure virtual

Implemented in btSoftBodyCollisionShape, btBox2dShape, btBoxShape, btBvhTriangleMeshShape, btCapsuleShape, btCompoundShape, btConeShape, btConvex2dShape, btConvexHullShape, btConvexInternalShape, btConvexInternalAabbCachingShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btCylinderShape, btEmptyShape, btHeightfieldTerrainShape, btPolyhedralConvexAabbCachingShape, btScaledBvhTriangleMeshShape, btSdfCollisionShape, btStaticPlaneShape, btTriangleMeshShape, btUniformScalingShape, btGImpactShapeInterface, btGImpactMeshShapePart, btGImpactMeshShape, and btConvexShape.

◆ setMargin()

virtual void btCollisionShape::setMargin ( btScalar  margin)
pure virtual

Implemented in btBox2dShape, btBoxShape, btCapsuleShape, btConcaveShape, btCylinderShape, btCompoundShape, btConvex2dShape, btConvexInternalShape, btSdfCollisionShape, btSphereShape, btUniformScalingShape, btGImpactShapeInterface, btGImpactMeshShapePart, btGImpactMeshShape, btSoftClusterCollisionShape, and btConvexShape.

◆ setUserIndex()

void btCollisionShape::setUserIndex ( int  index)
inline

Definition at line 131 of file btCollisionShape.h.

◆ setUserIndex2()

void btCollisionShape::setUserIndex2 ( int  index)
inline

Definition at line 141 of file btCollisionShape.h.

◆ setUserPointer()

void btCollisionShape::setUserPointer ( void *  userPtr)
inline

optional user data pointer

Definition at line 122 of file btCollisionShape.h.

Member Data Documentation

◆ m_shapeType

int btCollisionShape::m_shapeType
protected

Definition at line 30 of file btCollisionShape.h.

◆ m_userIndex

int btCollisionShape::m_userIndex
protected

Definition at line 32 of file btCollisionShape.h.

◆ m_userIndex2

int btCollisionShape::m_userIndex2
protected

Definition at line 33 of file btCollisionShape.h.

◆ m_userPointer

void* btCollisionShape::m_userPointer
protected

Definition at line 31 of file btCollisionShape.h.

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