The btMultiSphereShape represents the convex hull of a collection of spheres. More...

#include <btMultiSphereShape.h>

Inheritance diagram for btMultiSphereShape:

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Collaboration diagram for btMultiSphereShape:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btMultiSphereShape (const btVector3 positions, const btScalar radi, int numSpheres)

virtual void	calculateLocalInertia (btScalar mass, btVector3 &inertia) const
	CollisionShape Interface.

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

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

int	getSphereCount () const

const btVector3 &	getSpherePosition (int index) const

btScalar	getSphereRadius (int index) const

virtual const char *	getName () 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 btConvexInternalAabbCachingShape
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

void	recalcLocalAabb ()

Public Member Functions inherited from btConvexInternalShape
	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 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

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
btAlignedObjectArray< btVector3 >	m_localPositionArray

btAlignedObjectArray< btScalar >	m_radiArray

Additional Inherited Members
Protected Member Functions inherited from btConvexInternalAabbCachingShape
	btConvexInternalAabbCachingShape ()

void	setCachedLocalAabb (const btVector3 &aabbMin, const btVector3 &aabbMax)

void	getCachedLocalAabb (btVector3 &aabbMin, btVector3 &aabbMax) const

void	getNonvirtualAabb (const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const

Protected Member Functions inherited from btConvexInternalShape
	btConvexInternalShape ()

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 btMultiSphereShape represents the convex hull of a collection of spheres.

You can create special capsules or other smooth volumes. It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius

Definition at line 26 of file btMultiSphereShape.h.

Constructor & Destructor Documentation

◆ btMultiSphereShape()

btMultiSphereShape::btMultiSphereShape	(	const btVector3 *	positions,
		const btScalar *	radi,
		int	numSpheres
	)

Definition at line 25 of file btMultiSphereShape.cpp.

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

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

virtual

Implements btConvexShape.

Definition at line 91 of file btMultiSphereShape.cpp.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btMultiSphereShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calculateLocalInertia()

void btMultiSphereShape::calculateLocalInertia	(	btScalar	mass,
		btVector3 &	inertia
	)		const

virtual

CollisionShape Interface.

Implements btCollisionShape.

Definition at line 126 of file btMultiSphereShape.cpp.

◆ calculateSerializeBufferSize()

int btMultiSphereShape::calculateSerializeBufferSize ( ) const

inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 90 of file btMultiSphereShape.h.

◆ getName()

virtual const char * btMultiSphereShape::getName ( ) const

inlinevirtual

Implements btCollisionShape.

Definition at line 60 of file btMultiSphereShape.h.

◆ getSphereCount()

int btMultiSphereShape::getSphereCount ( ) const

inline

Definition at line 45 of file btMultiSphereShape.h.

◆ getSpherePosition()

const btVector3 & btMultiSphereShape::getSpherePosition ( int index ) const

inline

Definition at line 50 of file btMultiSphereShape.h.

◆ getSphereRadius()

btScalar btMultiSphereShape::getSphereRadius ( int index ) const

inline

Definition at line 55 of file btMultiSphereShape.h.

◆ localGetSupportingVertexWithoutMargin()

btVector3 btMultiSphereShape::localGetSupportingVertexWithoutMargin ( const btVector3 & vec ) const

virtual

btConvexShape Interface

Implements btConvexShape.

Definition at line 45 of file btMultiSphereShape.cpp.

◆ serialize()

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

virtual

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

Reimplemented from btConvexInternalShape.

Definition at line 144 of file btMultiSphereShape.cpp.

Member Data Documentation

◆ m_localPositionArray

btAlignedObjectArray<btVector3> btMultiSphereShape::m_localPositionArray

private

Definition at line 29 of file btMultiSphereShape.h.

◆ m_radiArray

btAlignedObjectArray<btScalar> btMultiSphereShape::m_radiArray

private

Definition at line 30 of file btMultiSphereShape.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btMultiSphereShape()

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ calculateLocalInertia()

◆ calculateSerializeBufferSize()

◆ getName()

◆ getSphereCount()

◆ getSpherePosition()

◆ getSphereRadius()

◆ localGetSupportingVertexWithoutMargin()

◆ serialize()

Member Data Documentation

◆ m_localPositionArray

◆ m_radiArray