btConvexShape Class Reference

The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape, btConvexHullShape etc. More...

#include <btConvexShape.h>

Inheritance diagram for btConvexShape:

Collaboration diagram for btConvexShape:

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btConvexShape ()
	not supported on IBM SDK, until we fix the alignment of btVector3
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
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	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 int	calculateSerializeBufferSize () const
virtual const char *	serialize (void *dataBuffer, btSerializer *serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure)
virtual void	serializeSingleShape (btSerializer *serializer) const

Additional Inherited Members
Protected Attributes inherited from btCollisionShape
int	m_shapeType
void *	m_userPointer
int	m_userIndex
int	m_userIndex2

Detailed Description

The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape, btConvexHullShape etc.

It describes general convex shapes using the localGetSupportingVertex interface, used by collision detectors such as btGjkPairDetector.

Definition at line 31 of file btConvexShape.h.

Constructor & Destructor Documentation

btConvexShape()

btConvexShape::btConvexShape

(

)

not supported on IBM SDK, until we fix the alignment of btVector3

Definition at line 41 of file btConvexShape.cpp.

~btConvexShape()

btConvexShape::~btConvexShape ( )

virtual

Definition at line 45 of file btConvexShape.cpp.

Member Function Documentation

batchedUnitVectorGetSupportingVertexWithoutMargin()

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

pure virtual

Implemented in btBox2dShape, btBoxShape, btCapsuleShape, btConeShape, btConvex2dShape, btConvexHullShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btCylinderShape, btCylinderShapeX, btCylinderShapeZ, btMinkowskiSumShape, btMultiSphereShape, btPolyhedralConvexShape, btSphereShape, btTriangleShape, btUniformScalingShape, and btSoftClusterCollisionShape.

BT_DECLARE_ALIGNED_ALLOCATOR()

btConvexShape::BT_DECLARE_ALIGNED_ALLOCATOR

(

)

getAabb()

void btConvexShape::getAabb ( const btTransform &  t, btVector3 &  aabbMin, btVector3 &  aabbMax  ) const

pure virtual

getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version

Implements btCollisionShape.

Implemented in btBox2dShape, btBoxShape, btCapsuleShape, btConvex2dShape, btConvexInternalShape, btConvexInternalAabbCachingShape, btCylinderShape, btPolyhedralConvexAabbCachingShape, btSphereShape, btBU_Simplex1to4, btTriangleShape, btUniformScalingShape, btTriangleShapeEx, and btSoftClusterCollisionShape.

getAabbNonVirtual()

void btConvexShape::getAabbNonVirtual	(	const btTransform &	t,
		btVector3 &	aabbMin,
		btVector3 &	aabbMax
	)		const

Definition at line 374 of file btConvexShape.cpp.

getAabbSlow()

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

pure virtual

Implemented in btConvex2dShape, btConvexInternalShape, and btUniformScalingShape.

getLocalScaling()

virtual const btVector3 & btConvexShape::getLocalScaling ( ) const

pure virtual

Implements btCollisionShape.

Implemented in btConvex2dShape, btConvexInternalShape, btConvexTriangleMeshShape, and btUniformScalingShape.

getMargin()

virtual btScalar btConvexShape::getMargin ( ) const

pure virtual

Implements btCollisionShape.

Implemented in btConvex2dShape, btConvexInternalShape, btMinkowskiSumShape, btSphereShape, btUniformScalingShape, and btSoftClusterCollisionShape.

getMarginNonVirtual()

btScalar btConvexShape::getMarginNonVirtual

(

)

const

Definition at line 320 of file btConvexShape.cpp.

getNumPreferredPenetrationDirections()

virtual int btConvexShape::getNumPreferredPenetrationDirections ( ) const

pure virtual

Implemented in btBox2dShape, btBoxShape, btConvex2dShape, btConvexInternalShape, btTriangleShape, and btUniformScalingShape.

getPreferredPenetrationDirection()

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

pure virtual

Implemented in btBox2dShape, btBoxShape, btConvex2dShape, btConvexInternalShape, btTriangleShape, and btUniformScalingShape.

localGetSupportingVertex()

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

pure virtual

Implemented in btBox2dShape, btBoxShape, btConeShape, btConvex2dShape, btConvexHullShape, btConvexInternalShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btCylinderShape, btSphereShape, btUniformScalingShape, and btSoftClusterCollisionShape.

localGetSupportingVertexWithoutMargin()

virtual btVector3 btConvexShape::localGetSupportingVertexWithoutMargin ( const btVector3 &  vec ) const

pure virtual

Implemented in btTriangleShape, btBox2dShape, btBoxShape, btCapsuleShape, btConeShape, btConvex2dShape, btConvexHullShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btCylinderShape, btCylinderShapeX, btCylinderShapeZ, btMinkowskiSumShape, btMultiSphereShape, btPolyhedralConvexShape, btSphereShape, btUniformScalingShape, and btSoftClusterCollisionShape.

localGetSupportVertexNonVirtual()

btVector3 btConvexShape::localGetSupportVertexNonVirtual

(

const btVector3 &

vec

)

const

Definition at line 307 of file btConvexShape.cpp.

localGetSupportVertexWithoutMarginNonVirtual()

btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual

(

const btVector3 &

vec

)

const

Definition at line 131 of file btConvexShape.cpp.

project()

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

virtual

Reimplemented in btConvexHullShape.

Definition at line 49 of file btConvexShape.cpp.

setLocalScaling()

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

pure virtual

Implements btCollisionShape.

Implemented in btBox2dShape, btBoxShape, btCapsuleShape, btConeShape, btConvex2dShape, btConvexHullShape, btConvexInternalShape, btConvexInternalAabbCachingShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btCylinderShape, btPolyhedralConvexAabbCachingShape, and btUniformScalingShape.

setMargin()

virtual void btConvexShape::setMargin ( btScalar  margin )

pure virtual

Implements btCollisionShape.

Implemented in btBox2dShape, btBoxShape, btCapsuleShape, btCylinderShape, btConvex2dShape, btConvexInternalShape, btSphereShape, btUniformScalingShape, and btSoftClusterCollisionShape.

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

• btConvexShape.h
• btConvexShape.cpp