Bullet Collision Detection & Physics Library
Public Member Functions | Private Attributes | List of all members
btConvexPointCloudShape Class Reference

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

#include <btConvexPointCloudShape.h>

Inheritance diagram for btConvexPointCloudShape:
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Collaboration diagram for btConvexPointCloudShape:
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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btConvexPointCloudShape ()
 
 btConvexPointCloudShape (btVector3 *points, int numPoints, const btVector3 &localScaling, bool computeAabb=true)
 
void setPoints (btVector3 *points, int numPoints, bool computeAabb=true, const btVector3 &localScaling=btVector3(1.f, 1.f, 1.f))
 
btVector3getUnscaledPoints ()
 
const btVector3getUnscaledPoints () const
 
int getNumPoints () const
 
btVector3 getScaledPoint (int index) 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 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...
 
- 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 btConvexPolyhedrongetConvexPolyhedron () 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 btVector3getImplicitShapeDimensions () 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 btVector3getLocalScaling () const
 
const btVector3getLocalScalingNV () 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 btVector3getLocalScaling () 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 btVector3getLocalScaling () 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
 

Private Attributes

btVector3m_unscaledPoints
 
int m_numPoints
 

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 ()
 
- Protected Attributes inherited from btPolyhedralConvexShape
btConvexPolyhedronm_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
 

Detailed Description

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

Definition at line 24 of file btConvexPointCloudShape.h.

Constructor & Destructor Documentation

◆ btConvexPointCloudShape() [1/2]

btConvexPointCloudShape::btConvexPointCloudShape ( )
inline

Definition at line 33 of file btConvexPointCloudShape.h.

◆ btConvexPointCloudShape() [2/2]

btConvexPointCloudShape::btConvexPointCloudShape ( btVector3 points,
int  numPoints,
const btVector3 localScaling,
bool  computeAabb = true 
)
inline

Definition at line 41 of file btConvexPointCloudShape.h.

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

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

Reimplemented from btPolyhedralConvexShape.

Definition at line 56 of file btConvexPointCloudShape.cpp.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btConvexPointCloudShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ getEdge()

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

Implements btPolyhedralConvexShape.

Definition at line 104 of file btConvexPointCloudShape.cpp.

◆ getName()

virtual const char * btConvexPointCloudShape::getName ( ) const
inlinevirtual

Implements btCollisionShape.

Definition at line 89 of file btConvexPointCloudShape.h.

◆ getNumEdges()

int btConvexPointCloudShape::getNumEdges ( ) const
virtual

Implements btPolyhedralConvexShape.

Definition at line 99 of file btConvexPointCloudShape.cpp.

◆ getNumPlanes()

int btConvexPointCloudShape::getNumPlanes ( ) const
virtual

Implements btPolyhedralConvexShape.

Definition at line 114 of file btConvexPointCloudShape.cpp.

◆ getNumPoints()

int btConvexPointCloudShape::getNumPoints ( ) const
inline

Definition at line 72 of file btConvexPointCloudShape.h.

◆ getNumVertices()

int btConvexPointCloudShape::getNumVertices ( ) const
virtual

Implements btPolyhedralConvexShape.

Definition at line 94 of file btConvexPointCloudShape.cpp.

◆ getPlane()

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

Implements btPolyhedralConvexShape.

Definition at line 119 of file btConvexPointCloudShape.cpp.

◆ getScaledPoint()

btVector3 btConvexPointCloudShape::getScaledPoint ( int  index) const
inline

Definition at line 77 of file btConvexPointCloudShape.h.

◆ getUnscaledPoints() [1/2]

btVector3 * btConvexPointCloudShape::getUnscaledPoints ( )
inline

Definition at line 62 of file btConvexPointCloudShape.h.

◆ getUnscaledPoints() [2/2]

const btVector3 * btConvexPointCloudShape::getUnscaledPoints ( ) const
inline

Definition at line 67 of file btConvexPointCloudShape.h.

◆ getVertex()

void btConvexPointCloudShape::getVertex ( int  i,
btVector3 vtx 
) const
virtual

Implements btPolyhedralConvexShape.

Definition at line 109 of file btConvexPointCloudShape.cpp.

◆ isInside()

bool btConvexPointCloudShape::isInside ( const btVector3 pt,
btScalar  tolerance 
) const
virtual

Implements btPolyhedralConvexShape.

Definition at line 125 of file btConvexPointCloudShape.cpp.

◆ localGetSupportingVertex()

btVector3 btConvexPointCloudShape::localGetSupportingVertex ( const btVector3 vec) const
virtual

Reimplemented from btConvexInternalShape.

Definition at line 73 of file btConvexPointCloudShape.cpp.

◆ localGetSupportingVertexWithoutMargin()

btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin ( const btVector3 vec) const
virtual

Reimplemented from btPolyhedralConvexShape.

Definition at line 28 of file btConvexPointCloudShape.cpp.

◆ setLocalScaling()

void btConvexPointCloudShape::setLocalScaling ( const btVector3 scaling)
virtual

in case we receive negative scaling

Reimplemented from btPolyhedralConvexAabbCachingShape.

Definition at line 21 of file btConvexPointCloudShape.cpp.

◆ setPoints()

void btConvexPointCloudShape::setPoints ( btVector3 points,
int  numPoints,
bool  computeAabb = true,
const btVector3 localScaling = btVector3(1.f, 1.f, 1.f) 
)
inline

Definition at line 52 of file btConvexPointCloudShape.h.

Member Data Documentation

◆ m_numPoints

int btConvexPointCloudShape::m_numPoints
private

Definition at line 28 of file btConvexPointCloudShape.h.

◆ m_unscaledPoints

btVector3* btConvexPointCloudShape::m_unscaledPoints
private

Definition at line 27 of file btConvexPointCloudShape.h.


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