Bullet Collision Detection & Physics Library
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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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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))
 
btVector3 * getUnscaledPoints ()
 
const btVector3 * getUnscaledPoints () 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
 
- Public Member Functions inherited from btPolyhedralConvexAabbCachingShape
void getNonvirtualAabb (const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
 
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
 
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
 
virtual void setPolyhedralFeatures (btConvexPolyhedron &polyhedron)
 
const btConvexPolyhedron * getConvexPolyhedron () const
 
virtual void calculateLocalInertia (btScalar mass, btVector3 &inertia) const
 
- Public Member Functions inherited from btConvexInternalShape
 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
virtual ~btConvexInternalShape ()
 
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)
 
virtual void getAabbSlow (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
 
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 ()
 
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
 
- 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)
 
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
 

Private Attributes

btVector3 * m_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
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
 

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:
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