Base class for gimpact shapes. More...

#include <btGImpactShape.h>

Inheritance diagram for btGImpactShapeInterface:

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Collaboration diagram for btGImpactShapeInterface:

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Public Member Functions
	btGImpactShapeInterface ()

void	updateBound ()
	performs refit operation

void	getAabb (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
	If the Bounding box is not updated, then this class attemps to calculate it.

virtual void	postUpdate ()
	Tells to this object that is needed to refit the box set.

const btAABB &	getLocalBox ()
	Obtains the local box, which is the global calculated box of the total of subshapes.

virtual int	getShapeType () const

virtual void	setLocalScaling (const btVector3 &scaling)

virtual const btVector3 &	getLocalScaling () const

virtual void	setMargin (btScalar margin)

virtual void	rayTest (const btVector3 &rayFrom, const btVector3 &rayTo, btCollisionWorld::RayResultCallback &resultCallback) const
	virtual method for ray collision

virtual void	processAllTriangles (btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
	Function for retrieve triangles.

virtual void	processAllTrianglesRay (btTriangleCallback *, const btVector3 &, const btVector3 &) const
	Function for retrieve triangles.


virtual eGIMPACT_SHAPE_TYPE	getGImpactShapeType () const =0
	Subshape member functions.

const btGImpactBoxSet *	getBoxSet () const
	gets boxset

bool	hasBoxSet () const
	Determines if this class has a hierarchy structure for sorting its primitives.

virtual const btPrimitiveManagerBase *	getPrimitiveManager () const =0
	Obtains the primitive manager.

virtual int	getNumChildShapes () const =0
	Gets the number of children.

virtual bool	childrenHasTransform () const =0
	if true, then its children must get transforms.

virtual bool	needsRetrieveTriangles () const =0
	Determines if this shape has triangles.

virtual bool	needsRetrieveTetrahedrons () const =0
	Determines if this shape has tetrahedrons.

virtual void	getBulletTriangle (int prim_index, btTriangleShapeEx &triangle) const =0

virtual void	getBulletTetrahedron (int prim_index, btTetrahedronShapeEx &tetrahedron) const =0

virtual void	lockChildShapes () const
	call when reading child shapes

virtual void	unlockChildShapes () const

void	getPrimitiveTriangle (int index, btPrimitiveTriangle &triangle) const
	if this trimesh

virtual void	getChildAabb (int child_index, const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
	Retrieves the bound from a child.

virtual btCollisionShape *	getChildShape (int index)=0
	Gets the children.

virtual const btCollisionShape *	getChildShape (int index) const =0
	Gets the child.

virtual btTransform	getChildTransform (int index) const =0
	Gets the children transform.

virtual void	setChildTransform (int index, const btTransform &transform)=0
	Sets the children transform.

Public Member Functions inherited from btConcaveShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btConcaveShape ()

virtual	~btConcaveShape ()

virtual btScalar	getMargin () 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)

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

Protected Member Functions
virtual void	calcLocalAABB ()
	use this function for perfofm refit in bounding boxes use this function for perfofm refit in bounding boxes

Protected Attributes
btAABB	m_localAABB

bool	m_needs_update

btVector3	localScaling

btGImpactBoxSet	m_box_set

Protected Attributes inherited from btConcaveShape
btScalar	m_collisionMargin

Protected Attributes inherited from btCollisionShape
int	m_shapeType

void *	m_userPointer

int	m_userIndex

int	m_userIndex2

Detailed Description

Base class for gimpact shapes.

Definition at line 73 of file btGImpactShape.h.

Constructor & Destructor Documentation

◆ btGImpactShapeInterface()

btGImpactShapeInterface::btGImpactShapeInterface ( )

inline

Definition at line 100 of file btGImpactShape.h.

Member Function Documentation

◆ calcLocalAABB()

virtual void btGImpactShapeInterface::calcLocalAABB ( )

inlineprotectedvirtual

use this function for perfofm refit in bounding boxes use this function for perfofm refit in bounding boxes

Reimplemented in btGImpactMeshShape.

Definition at line 83 of file btGImpactShape.h.

◆ childrenHasTransform()

virtual bool btGImpactShapeInterface::childrenHasTransform ( ) const

pure virtual

if true, then its children must get transforms.

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ getAabb()

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

inlinevirtual

If the Bounding box is not updated, then this class attemps to calculate it.

Postcondition: Calls updateBound() for update the box set.

Implements btCollisionShape.

Definition at line 126 of file btGImpactShape.h.

◆ getBoxSet()

const btGImpactBoxSet * btGImpactShapeInterface::getBoxSet ( ) const

inline

gets boxset

Definition at line 185 of file btGImpactShape.h.

◆ getBulletTetrahedron()

virtual void btGImpactShapeInterface::getBulletTetrahedron	(	int	prim_index,
		btTetrahedronShapeEx &	tetrahedron
	)		const

pure virtual

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ getBulletTriangle()

virtual void btGImpactShapeInterface::getBulletTriangle	(	int	prim_index,
		btTriangleShapeEx &	triangle
	)		const

pure virtual

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ getChildAabb()

virtual void btGImpactShapeInterface::getChildAabb	(	int	child_index,
		const btTransform &	t,
		btVector3 &	aabbMin,
		btVector3 &	aabbMax
	)		const

inlinevirtual

Retrieves the bound from a child.

Reimplemented in btGImpactCompoundShape, and btGImpactMeshShape.

Definition at line 234 of file btGImpactShape.h.

◆ getChildShape() [1/2]

virtual const btCollisionShape * btGImpactShapeInterface::getChildShape ( int index ) const

pure virtual

Gets the child.

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ getChildShape() [2/2]

virtual btCollisionShape * btGImpactShapeInterface::getChildShape ( int index )

pure virtual

Gets the children.

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ getChildTransform()

virtual btTransform btGImpactShapeInterface::getChildTransform ( int index ) const

pure virtual

Gets the children transform.

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ getGImpactShapeType()

virtual eGIMPACT_SHAPE_TYPE btGImpactShapeInterface::getGImpactShapeType ( ) const

pure virtual

Subshape member functions.

Base method for determinig which kind of GIMPACT shape we get

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ getLocalBox()

const btAABB & btGImpactShapeInterface::getLocalBox ( )

inline

Obtains the local box, which is the global calculated box of the total of subshapes.

Definition at line 141 of file btGImpactShape.h.

◆ getLocalScaling()

virtual const btVector3 & btGImpactShapeInterface::getLocalScaling ( ) const

inlinevirtual

Implements btCollisionShape.

Reimplemented in btGImpactMeshShapePart.

Definition at line 160 of file btGImpactShape.h.

◆ getNumChildShapes()

virtual int btGImpactShapeInterface::getNumChildShapes ( ) const

pure virtual

Gets the number of children.

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ getPrimitiveManager()

virtual const btPrimitiveManagerBase * btGImpactShapeInterface::getPrimitiveManager ( ) const

pure virtual

Obtains the primitive manager.

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ getPrimitiveTriangle()

void btGImpactShapeInterface::getPrimitiveTriangle	(	int	index,
		btPrimitiveTriangle &	triangle
	)		const

inline

if this trimesh

Definition at line 226 of file btGImpactShape.h.

◆ getShapeType()

virtual int btGImpactShapeInterface::getShapeType ( ) const

inlinevirtual

Definition at line 146 of file btGImpactShape.h.

◆ hasBoxSet()

bool btGImpactShapeInterface::hasBoxSet ( ) const

inline

Determines if this class has a hierarchy structure for sorting its primitives.

Definition at line 191 of file btGImpactShape.h.

◆ lockChildShapes()

virtual void btGImpactShapeInterface::lockChildShapes ( ) const

inlinevirtual

call when reading child shapes

Reimplemented in btGImpactMeshShapePart, and btGImpactMeshShape.

Definition at line 217 of file btGImpactShape.h.

◆ needsRetrieveTetrahedrons()

virtual bool btGImpactShapeInterface::needsRetrieveTetrahedrons ( ) const

pure virtual

Determines if this shape has tetrahedrons.

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ needsRetrieveTriangles()

virtual bool btGImpactShapeInterface::needsRetrieveTriangles ( ) const

pure virtual

Determines if this shape has triangles.

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ postUpdate()

virtual void btGImpactShapeInterface::postUpdate ( )

inlinevirtual

Tells to this object that is needed to refit the box set.

Reimplemented in btGImpactMeshShape.

Definition at line 135 of file btGImpactShape.h.

◆ processAllTriangles()

virtual void btGImpactShapeInterface::processAllTriangles	(	btTriangleCallback *	callback,
		const btVector3 &	aabbMin,
		const btVector3 &	aabbMax
	)		const

inlinevirtual

Function for retrieve triangles.

It gives the triangles in local space

Implements btConcaveShape.

Reimplemented in btGImpactMeshShapePart, and btGImpactMeshShape.

Definition at line 272 of file btGImpactShape.h.

◆ processAllTrianglesRay()

virtual void btGImpactShapeInterface::processAllTrianglesRay	(	btTriangleCallback *	,
		const btVector3 &	,
		const btVector3 &
	)		const

inlinevirtual

Function for retrieve triangles.

It gives the triangles in local space

Reimplemented in btGImpactMeshShapePart, and btGImpactMeshShape.

Definition at line 283 of file btGImpactShape.h.

◆ rayTest()

virtual void btGImpactShapeInterface::rayTest	(	const btVector3 &	rayFrom,
		const btVector3 &	rayTo,
		btCollisionWorld::RayResultCallback &	resultCallback
	)		const

inlinevirtual

virtual method for ray collision

Reimplemented in btGImpactMeshShape.

Definition at line 261 of file btGImpactShape.h.

◆ setChildTransform()

virtual void btGImpactShapeInterface::setChildTransform	(	int	index,
		const btTransform &	transform
	)

pure virtual

Sets the children transform.

Postcondition: You must call updateBound() for update the box set.

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ setLocalScaling()

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

inlinevirtual

Postcondition: You must call updateBound() for update the box set.

Implements btCollisionShape.

Reimplemented in btGImpactMeshShapePart, and btGImpactMeshShape.

Definition at line 154 of file btGImpactShape.h.

◆ setMargin()

virtual void btGImpactShapeInterface::setMargin ( btScalar margin )

inlinevirtual

Reimplemented from btConcaveShape.

Reimplemented in btGImpactMeshShapePart, and btGImpactMeshShape.

Definition at line 165 of file btGImpactShape.h.

◆ unlockChildShapes()

virtual void btGImpactShapeInterface::unlockChildShapes ( ) const

inlinevirtual

Reimplemented in btGImpactMeshShapePart, and btGImpactMeshShape.

Definition at line 221 of file btGImpactShape.h.

◆ updateBound()

void btGImpactShapeInterface::updateBound ( )

inline

performs refit operation

Updates the entire Box set of this shape.

Precondition: postUpdate() must be called for attemps to calculating the box set, else this function will does nothing.

Postcondition: if m_needs_update == true, then it calls calcLocalAABB();

Definition at line 115 of file btGImpactShape.h.

Member Data Documentation

◆ localScaling

btVector3 btGImpactShapeInterface::localScaling

protected

Definition at line 78 of file btGImpactShape.h.

◆ m_box_set

btGImpactBoxSet btGImpactShapeInterface::m_box_set

protected

Definition at line 79 of file btGImpactShape.h.

◆ m_localAABB

btAABB btGImpactShapeInterface::m_localAABB

protected

Definition at line 76 of file btGImpactShape.h.

◆ m_needs_update

bool btGImpactShapeInterface::m_needs_update

protected

Definition at line 77 of file btGImpactShape.h.

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

btGImpactShape.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ btGImpactShapeInterface()

Member Function Documentation

◆ calcLocalAABB()

◆ childrenHasTransform()

◆ getAabb()

◆ getBoxSet()

◆ getBulletTetrahedron()

◆ getBulletTriangle()

◆ getChildAabb()

◆ getChildShape() [1/2]

◆ getChildShape() [2/2]

◆ getChildTransform()

◆ getGImpactShapeType()

◆ getLocalBox()

◆ getLocalScaling()

◆ getNumChildShapes()

◆ getPrimitiveManager()

◆ getPrimitiveTriangle()

◆ getShapeType()

◆ hasBoxSet()

◆ lockChildShapes()

◆ needsRetrieveTetrahedrons()

◆ needsRetrieveTriangles()

◆ postUpdate()

◆ processAllTriangles()

◆ processAllTrianglesRay()

◆ rayTest()

◆ setChildTransform()

◆ setLocalScaling()

◆ setMargin()

◆ unlockChildShapes()

◆ updateBound()

Member Data Documentation

◆ localScaling

◆ m_box_set

◆ m_localAABB

◆ m_needs_update