Bullet Collision Detection & Physics Library
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btConvexInternalShape Class Reference

The btConvexInternalShape is an internal base class, shared by most convex shape implementations. More...

#include <btConvexInternalShape.h>

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Public Member Functions

 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 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)
 
- 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 ()
 
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
 
- 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)
 
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
 
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

 btConvexInternalShape ()
 

Protected Attributes

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 btConvexInternalShape is an internal base class, shared by most convex shape implementations.

The btConvexInternalShape uses a default collision margin set to CONVEX_DISTANCE_MARGIN. This collision margin used by Gjk and some other algorithms, see also btCollisionMargin.h Note that when creating small shapes (derived from btConvexInternalShape), you need to make sure to set a smaller collision margin, using the 'setMargin' API There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape

Definition at line 28 of file btConvexInternalShape.h.

Constructor & Destructor Documentation

◆ btConvexInternalShape()

btConvexInternalShape::btConvexInternalShape ( )
protected

Definition at line 18 of file btConvexInternalShape.cpp.

◆ ~btConvexInternalShape()

virtual btConvexInternalShape::~btConvexInternalShape ( )
inlinevirtual

Definition at line 46 of file btConvexInternalShape.h.

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btConvexInternalShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calculateSerializeBufferSize()

int btConvexInternalShape::calculateSerializeBufferSize ( ) const
inlinevirtual

Reimplemented from btCollisionShape.

Reimplemented in btCapsuleShape, btConeShape, btConvexHullShape, btCylinderShape, and btMultiSphereShape.

Definition at line 148 of file btConvexInternalShape.h.

◆ getAabb()

void btConvexInternalShape::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.

Reimplemented in btCylinderShape, btPolyhedralConvexAabbCachingShape, btSphereShape, btTriangleShape, btTriangleShapeEx, and btSoftClusterCollisionShape.

Definition at line 84 of file btConvexInternalShape.h.

◆ getAabbSlow()

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

Implements btConvexShape.

Definition at line 29 of file btConvexInternalShape.cpp.

◆ getImplicitShapeDimensions()

const btVector3 & btConvexInternalShape::getImplicitShapeDimensions ( ) const
inline

Definition at line 52 of file btConvexInternalShape.h.

◆ getLocalScaling()

virtual const btVector3 & btConvexInternalShape::getLocalScaling ( ) const
inlinevirtual

Implements btConvexShape.

Reimplemented in btConvexTriangleMeshShape.

Definition at line 92 of file btConvexInternalShape.h.

◆ getLocalScalingNV()

const btVector3 & btConvexInternalShape::getLocalScalingNV ( ) const
inline

Definition at line 97 of file btConvexInternalShape.h.

◆ getMargin()

virtual btScalar btConvexInternalShape::getMargin ( ) const
inlinevirtual

Implements btConvexShape.

Reimplemented in btMinkowskiSumShape, btSphereShape, and btSoftClusterCollisionShape.

Definition at line 106 of file btConvexInternalShape.h.

◆ getMarginNV()

btScalar btConvexInternalShape::getMarginNV ( ) const
inline

Definition at line 111 of file btConvexInternalShape.h.

◆ getNumPreferredPenetrationDirections()

virtual int btConvexInternalShape::getNumPreferredPenetrationDirections ( ) const
inlinevirtual

Implements btConvexShape.

Reimplemented in btBox2dShape, btBoxShape, and btTriangleShape.

Definition at line 116 of file btConvexInternalShape.h.

◆ getPreferredPenetrationDirection()

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

Implements btConvexShape.

Reimplemented in btBox2dShape, btBoxShape, and btTriangleShape.

Definition at line 121 of file btConvexInternalShape.h.

◆ localGetSupportingVertex()

btVector3 btConvexInternalShape::localGetSupportingVertex ( const btVector3 &  vec) const
virtual

Implements btConvexShape.

Reimplemented in btBox2dShape, btBoxShape, btConeShape, btConvexHullShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btCylinderShape, btSphereShape, and btSoftClusterCollisionShape.

Definition at line 50 of file btConvexInternalShape.cpp.

◆ serialize()

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

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

Reimplemented from btCollisionShape.

Reimplemented in btCapsuleShape, btConeShape, btConvexHullShape, btCylinderShape, and btMultiSphereShape.

Definition at line 154 of file btConvexInternalShape.h.

◆ setImplicitShapeDimensions()

void btConvexInternalShape::setImplicitShapeDimensions ( const btVector3 &  dimensions)
inline

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'

Definition at line 61 of file btConvexInternalShape.h.

◆ setLocalScaling()

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

Implements btConvexShape.

Reimplemented in btBox2dShape, btBoxShape, btCapsuleShape, btConeShape, btConvexHullShape, btConvexInternalAabbCachingShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btCylinderShape, and btPolyhedralConvexAabbCachingShape.

Definition at line 24 of file btConvexInternalShape.cpp.

◆ setMargin()

virtual void btConvexInternalShape::setMargin ( btScalar  margin)
inlinevirtual

Implements btConvexShape.

Reimplemented in btBox2dShape, btBoxShape, btCapsuleShape, btCylinderShape, btSphereShape, and btSoftClusterCollisionShape.

Definition at line 102 of file btConvexInternalShape.h.

◆ setSafeMargin() [1/2]

void btConvexInternalShape::setSafeMargin ( btScalar  minDimension,
btScalar  defaultMarginMultiplier = 0.1f 
)
inline

Definition at line 66 of file btConvexInternalShape.h.

◆ setSafeMargin() [2/2]

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

Definition at line 74 of file btConvexInternalShape.h.

Member Data Documentation

◆ m_collisionMargin

btScalar btConvexInternalShape::m_collisionMargin
protected

Definition at line 37 of file btConvexInternalShape.h.

◆ m_implicitShapeDimensions

btVector3 btConvexInternalShape::m_implicitShapeDimensions
protected

Definition at line 35 of file btConvexInternalShape.h.

◆ m_localScaling

btVector3 btConvexInternalShape::m_localScaling
protected

Definition at line 33 of file btConvexInternalShape.h.

◆ m_padding

btScalar btConvexInternalShape::m_padding
protected

Definition at line 39 of file btConvexInternalShape.h.

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