The btConvexHullShape implements an implicit convex hull of an array of vertices. More...

#include <btConvexHullShape.h>

Inheritance diagram for btConvexHullShape:

[legend]

Collaboration diagram for btConvexHullShape:

[legend]

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btConvexHullShape (const btScalar *points=0, int numPoints=0, int stride=sizeof(btVector3))
	this constructor optionally takes in a pointer to points. More...

void	addPoint (const btVector3 &point, bool recalculateLocalAabb=true)

btVector3 *	getUnscaledPoints ()

const btVector3 *	getUnscaledPoints () const

const btVector3 *	getPoints () const
	getPoints is obsolete, please use getUnscaledPoints More...

void	optimizeConvexHull ()

btVector3	getScaledPoint (int i) const

int	getNumPoints () const

virtual btVector3	localGetSupportingVertex (const btVector3 &vec) const

virtual btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &vec) const

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

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

virtual const char *	getName () const

virtual int	getNumVertices () const

virtual int	getNumEdges () const

virtual void	getEdge (int i, btVector3 &pa, btVector3 &pb) const

virtual void	getVertex (int i, btVector3 &vtx) const

virtual int	getNumPlanes () const

virtual void	getPlane (btVector3 &planeNormal, btVector3 &planeSupport, int i) const

virtual bool	isInside (const btVector3 &pt, btScalar tolerance) const

virtual void	setLocalScaling (const btVector3 &scaling)
	in case we receive negative scaling More...

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) More...

Public Member Functions inherited from btPolyhedralConvexAabbCachingShape
void	getNonvirtualAabb (const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const

virtual void	setLocalScaling (const btVector3 &scaling)

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 More...

void	recalcLocalAabb ()

Public Member Functions inherited from btPolyhedralConvexShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btPolyhedralConvexShape ()

virtual	~btPolyhedralConvexShape ()

virtual bool	initializePolyhedralFeatures (int shiftVerticesByMargin=0)
	optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges) experimental/work-in-progress More...

virtual void	setPolyhedralFeatures (btConvexPolyhedron &polyhedron)

const btConvexPolyhedron *	getConvexPolyhedron () const

virtual btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &vec) const

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

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

virtual int	getNumVertices () const =0

virtual int	getNumEdges () const =0

virtual void	getEdge (int i, btVector3 &pa, btVector3 &pb) const =0

virtual void	getVertex (int i, btVector3 &vtx) const =0

virtual int	getNumPlanes () const =0

virtual void	getPlane (btVector3 &planeNormal, btVector3 &planeSupport, int i) const =0

virtual bool	isInside (const btVector3 &pt, btScalar tolerance) const =0

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' More...

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 More...

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

virtual void	setLocalScaling (const btVector3 &scaling)

virtual const btVector3 &	getLocalScaling () const

const btVector3 &	getLocalScalingNV () const

virtual void	setMargin (btScalar margin)

virtual btScalar	getMargin () const

btScalar	getMarginNV () const

virtual int	getNumPreferredPenetrationDirections () const

virtual void	getPreferredPenetrationDirection (int index, btVector3 &penetrationVector) 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) More...

Public Member Functions inherited from btConvexShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()

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

virtual	~btConvexShape ()

virtual btVector3	localGetSupportingVertex (const btVector3 &vec) const =0

virtual btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &vec) const =0

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

virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 vectors, btVector3 supportVerticesOut, int numVectors) const =0

void	getAabb (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
	getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version More...

virtual void	getAabbSlow (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0

virtual void	setLocalScaling (const btVector3 &scaling)=0

virtual const btVector3 &	getLocalScaling () const =0

virtual void	setMargin (btScalar margin)=0

virtual btScalar	getMargin () const =0

virtual int	getNumPreferredPenetrationDirections () const =0

virtual void	getPreferredPenetrationDirection (int index, btVector3 &penetrationVector) const =0

Public Member Functions inherited from btCollisionShape
	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. More...

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. More...

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 More...

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) More...

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 More...

virtual void	setMargin (btScalar margin)=0

virtual btScalar	getMargin () const =0

void	setUserPointer (void *userPtr)
	optional user data pointer More...

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) More...

virtual void	serializeSingleShape (btSerializer *serializer) const

Protected Attributes
btAlignedObjectArray< btVector3 >	m_unscaledPoints

Protected Attributes inherited from btPolyhedralConvexShape
btConvexPolyhedron *	m_polyhedron

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

Additional Inherited Members
Protected Member Functions inherited from btPolyhedralConvexAabbCachingShape
void	setCachedLocalAabb (const btVector3 &aabbMin, const btVector3 &aabbMax)

void	getCachedLocalAabb (btVector3 &aabbMin, btVector3 &aabbMax) const

	btPolyhedralConvexAabbCachingShape ()

Protected Member Functions inherited from btConvexInternalShape
	btConvexInternalShape ()

Detailed Description

The btConvexHullShape implements an implicit convex hull of an array of vertices.

Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex.

Definition at line 25 of file btConvexHullShape.h.

Constructor & Destructor Documentation

◆ btConvexHullShape()

btConvexHullShape::btConvexHullShape	(	const btScalar *	points = `0`,
		int	numPoints = `0`,
		int	stride = `sizeof(btVector3)`
	)

this constructor optionally takes in a pointer to points.

Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory. It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint. btConvexHullShape make an internal copy of the points.

Definition at line 28 of file btConvexHullShape.cpp.

Member Function Documentation

◆ addPoint()

void btConvexHullShape::addPoint	(	const btVector3 &	point,
		bool	recalculateLocalAabb = `true`
	)

Definition at line 51 of file btConvexHullShape.cpp.

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

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

virtual

Reimplemented from btPolyhedralConvexShape.

Definition at line 74 of file btConvexHullShape.cpp.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btConvexHullShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calculateSerializeBufferSize()

int btConvexHullShape::calculateSerializeBufferSize ( ) const

inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 112 of file btConvexHullShape.h.

◆ getEdge()

void btConvexHullShape::getEdge	(	int	i,
		btVector3 &	pa,
		btVector3 &	pb
	)		const

virtual

Implements btPolyhedralConvexShape.

Definition at line 140 of file btConvexHullShape.cpp.

◆ getName()

virtual const char * btConvexHullShape::getName ( ) const

inlinevirtual

Implements btCollisionShape.

Definition at line 76 of file btConvexHullShape.h.

◆ getNumEdges()

int btConvexHullShape::getNumEdges ( ) const

virtual

Implements btPolyhedralConvexShape.

Definition at line 135 of file btConvexHullShape.cpp.

◆ getNumPlanes()

int btConvexHullShape::getNumPlanes ( ) const

virtual

Implements btPolyhedralConvexShape.

Definition at line 153 of file btConvexHullShape.cpp.

◆ getNumPoints()

int btConvexHullShape::getNumPoints ( ) const

inline

Definition at line 64 of file btConvexHullShape.h.

◆ getNumVertices()

int btConvexHullShape::getNumVertices ( ) const

virtual

Implements btPolyhedralConvexShape.

Definition at line 130 of file btConvexHullShape.cpp.

◆ getPlane()

void btConvexHullShape::getPlane	(	btVector3 &	planeNormal,
		btVector3 &	planeSupport,
		int	i
	)		const

virtual

Implements btPolyhedralConvexShape.

Definition at line 158 of file btConvexHullShape.cpp.

◆ getPoints()

const btVector3 * btConvexHullShape::getPoints ( ) const

inline

getPoints is obsolete, please use getUnscaledPoints

Definition at line 52 of file btConvexHullShape.h.

◆ getScaledPoint()

btVector3 btConvexHullShape::getScaledPoint ( int i ) const

inline

Definition at line 59 of file btConvexHullShape.h.

◆ getUnscaledPoints() [1/2]

btVector3 * btConvexHullShape::getUnscaledPoints ( )

inline

Definition at line 41 of file btConvexHullShape.h.

◆ getUnscaledPoints() [2/2]

const btVector3 * btConvexHullShape::getUnscaledPoints ( ) const

inline

Definition at line 46 of file btConvexHullShape.h.

◆ getVertex()

void btConvexHullShape::getVertex	(	int	i,
		btVector3 &	vtx
	)		const

virtual

Implements btPolyhedralConvexShape.

Definition at line 148 of file btConvexHullShape.cpp.

◆ isInside()

bool btConvexHullShape::isInside	(	const btVector3 &	pt,
		btScalar	tolerance
	)		const

virtual

Implements btPolyhedralConvexShape.

Definition at line 164 of file btConvexHullShape.cpp.

◆ localGetSupportingVertex()

btVector3 btConvexHullShape::localGetSupportingVertex ( const btVector3 & vec ) const

virtual

Reimplemented from btConvexInternalShape.

Definition at line 99 of file btConvexHullShape.cpp.

◆ localGetSupportingVertexWithoutMargin()

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

virtual

Reimplemented from btPolyhedralConvexShape.

Definition at line 58 of file btConvexHullShape.cpp.

◆ optimizeConvexHull()

void btConvexHullShape::optimizeConvexHull ( )

Definition at line 116 of file btConvexHullShape.cpp.

◆ project()

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

virtual

Reimplemented from btConvexShape.

Definition at line 207 of file btConvexHullShape.cpp.

◆ serialize()

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

virtual

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

Reimplemented from btConvexInternalShape.

Definition at line 171 of file btConvexHullShape.cpp.

◆ setLocalScaling()

void btConvexHullShape::setLocalScaling ( const btVector3 & scaling )

virtual

in case we receive negative scaling

Reimplemented from btPolyhedralConvexAabbCachingShape.

Definition at line 45 of file btConvexHullShape.cpp.

Member Data Documentation

◆ m_unscaledPoints

btAlignedObjectArray<btVector3> btConvexHullShape::m_unscaledPoints

protected

Definition at line 29 of file btConvexHullShape.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btConvexHullShape()

Member Function Documentation

◆ addPoint()

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ calculateSerializeBufferSize()

◆ getEdge()

◆ getName()

◆ getNumEdges()

◆ getNumPlanes()

◆ getNumPoints()

◆ getNumVertices()

◆ getPlane()

◆ getPoints()

◆ getScaledPoint()

◆ getUnscaledPoints() [1/2]

◆ getUnscaledPoints() [2/2]

◆ getVertex()

◆ isInside()

◆ localGetSupportingVertex()

◆ localGetSupportingVertexWithoutMargin()

◆ optimizeConvexHull()

◆ project()

◆ serialize()

◆ setLocalScaling()

Member Data Documentation

◆ m_unscaledPoints