Bullet Collision Detection & Physics Library
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The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave collision objects. More...
#include <btCompoundShape.h>
Protected Attributes | |
btAlignedObjectArray< btCompoundShapeChild > | m_children |
btVector3 | m_localAabbMin |
btVector3 | m_localAabbMax |
btDbvt * | m_dynamicAabbTree |
int | m_updateRevision |
increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated | |
btScalar | m_collisionMargin |
btVector3 | m_localScaling |
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int | m_shapeType |
void * | m_userPointer |
int | m_userIndex |
int | m_userIndex2 |
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave collision objects.
This is more general then the static concave btBvhTriangleMeshShape. It has an (optional) dynamic aabb tree to accelerate early rejection tests.
Definition at line 55 of file btCompoundShape.h.
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explicit |
Definition at line 21 of file btCompoundShape.cpp.
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Definition at line 41 of file btCompoundShape.cpp.
void btCompoundShape::addChildShape | ( | const btTransform & | localTransform, |
btCollisionShape * | shape | ||
) |
Definition at line 50 of file btCompoundShape.cpp.
btCompoundShape::BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
Implements btCollisionShape.
Definition at line 183 of file btCompoundShape.cpp.
void btCompoundShape::calculatePrincipalAxisTransform | ( | const btScalar * | masses, |
btTransform & | principal, | ||
btVector3 & | inertia | ||
) | const |
computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia and the center of mass to the current coordinate system.
"masses" points to an array of masses of the children. The resulting transform "principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform of the collision object by the principal transform.
Definition at line 202 of file btCompoundShape.cpp.
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inlinevirtual |
Reimplemented from btCollisionShape.
Definition at line 202 of file btCompoundShape.h.
void btCompoundShape::createAabbTreeFromChildren | ( | ) |
Definition at line 279 of file btCompoundShape.cpp.
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getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
Implements btCollisionShape.
Definition at line 161 of file btCompoundShape.cpp.
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Definition at line 112 of file btCompoundShape.h.
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Definition at line 91 of file btCompoundShape.h.
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Definition at line 95 of file btCompoundShape.h.
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Definition at line 100 of file btCompoundShape.h.
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Definition at line 104 of file btCompoundShape.h.
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Definition at line 151 of file btCompoundShape.h.
Definition at line 146 of file btCompoundShape.h.
Implements btCollisionShape.
Definition at line 126 of file btCompoundShape.h.
Implements btCollisionShape.
Definition at line 137 of file btCompoundShape.h.
Implements btCollisionShape.
Definition at line 141 of file btCompoundShape.h.
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Definition at line 86 of file btCompoundShape.h.
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Definition at line 165 of file btCompoundShape.h.
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Re-calculate the local Aabb.
Is called at the end of removeChildShapes. Use this yourself if you modify the children or their transforms.
Definition at line 137 of file btCompoundShape.cpp.
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Remove all children shapes that contain the specified shape.
Definition at line 121 of file btCompoundShape.cpp.
Definition at line 107 of file btCompoundShape.cpp.
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fills the dataBuffer and returns the struct name (and 0 on failure)
Reimplemented from btCollisionShape.
Definition at line 303 of file btCompoundShape.cpp.
Implements btCollisionShape.
Definition at line 262 of file btCompoundShape.cpp.
Implements btCollisionShape.
Definition at line 133 of file btCompoundShape.h.
void btCompoundShape::updateChildTransform | ( | int | childIndex, |
const btTransform & | newChildTransform, | ||
bool | shouldRecalculateLocalAabb = true |
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set a new transform for a child, and update internal data structures (local aabb and dynamic tree)
update the dynamic aabb tree
Definition at line 86 of file btCompoundShape.cpp.
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Definition at line 59 of file btCompoundShape.h.
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Definition at line 68 of file btCompoundShape.h.
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Definition at line 63 of file btCompoundShape.h.
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Definition at line 61 of file btCompoundShape.h.
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Definition at line 60 of file btCompoundShape.h.
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Definition at line 70 of file btCompoundShape.h.
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increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated
Definition at line 66 of file btCompoundShape.h.