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

#include <btTriangleShape.h>

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

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
virtual int getNumVertices () const
 
btVector3 & getVertexPtr (int index)
 
const btVector3 & getVertexPtr (int index) const
 
virtual void getVertex (int index, btVector3 &vert) const
 
virtual int getNumEdges () const
 
virtual void getEdge (int i, btVector3 &pa, btVector3 &pb) 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
 
btVector3 localGetSupportingVertexWithoutMargin (const btVector3 &dir) const
 
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
 
 btTriangleShape ()
 
 btTriangleShape (const btVector3 &p0, const btVector3 &p1, const btVector3 &p2)
 
virtual void getPlane (btVector3 &planeNormal, btVector3 &planeSupport, int i) const
 
virtual int getNumPlanes () const
 
void calcNormal (btVector3 &normal) const
 
virtual void getPlaneEquation (int i, btVector3 &planeNormal, btVector3 &planeSupport) const
 
virtual void calculateLocalInertia (btScalar mass, btVector3 &inertia) const
 
virtual bool isInside (const btVector3 &pt, btScalar tolerance) const
 
virtual const char * getName () const
 
virtual int getNumPreferredPenetrationDirections () const
 
virtual void getPreferredPenetrationDirection (int index, btVector3 &penetrationVector) const
 
- 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
 
- 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)
 
virtual void getAabbSlow (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
 
virtual void setLocalScaling (const btVector3 &scaling)
 
virtual const btVector3 & getLocalScaling () const
 
const btVector3 & getLocalScalingNV () const
 
virtual void setMargin (btScalar margin)
 
virtual btScalar getMargin () const
 
btScalar getMarginNV () 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
 

Public Attributes

btVector3 m_vertices1 [3]
 

Additional Inherited Members

- 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

Definition at line 22 of file btTriangleShape.h.

Constructor & Destructor Documentation

◆ btTriangleShape() [1/2]

btTriangleShape::btTriangleShape ( )
inline

Definition at line 82 of file btTriangleShape.h.

◆ btTriangleShape() [2/2]

btTriangleShape::btTriangleShape ( const btVector3 &  p0,
const btVector3 &  p1,
const btVector3 &  p2 
)
inline

Definition at line 87 of file btTriangleShape.h.

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

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

Reimplemented from btPolyhedralConvexShape.

Definition at line 72 of file btTriangleShape.h.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btTriangleShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calcNormal()

void btTriangleShape::calcNormal ( btVector3 &  normal) const
inline

Definition at line 105 of file btTriangleShape.h.

◆ calculateLocalInertia()

virtual void btTriangleShape::calculateLocalInertia ( btScalar  mass,
btVector3 &  inertia 
) const
inlinevirtual

Reimplemented from btPolyhedralConvexShape.

Definition at line 118 of file btTriangleShape.h.

◆ getAabb()

virtual void btTriangleShape::getAabb ( const btTransform &  t,
btVector3 &  aabbMin,
btVector3 &  aabbMax 
) const
inlinevirtual

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

Reimplemented from btConvexInternalShape.

Reimplemented in btTriangleShapeEx.

Definition at line 60 of file btTriangleShape.h.

◆ getEdge()

virtual void btTriangleShape::getEdge ( int  i,
btVector3 &  pa,
btVector3 &  pb 
) const
inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 54 of file btTriangleShape.h.

◆ getName()

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

Implements btCollisionShape.

Definition at line 157 of file btTriangleShape.h.

◆ getNumEdges()

virtual int btTriangleShape::getNumEdges ( ) const
inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 49 of file btTriangleShape.h.

◆ getNumPlanes()

virtual int btTriangleShape::getNumPlanes ( ) const
inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 100 of file btTriangleShape.h.

◆ getNumPreferredPenetrationDirections()

virtual int btTriangleShape::getNumPreferredPenetrationDirections ( ) const
inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 162 of file btTriangleShape.h.

◆ getNumVertices()

virtual int btTriangleShape::getNumVertices ( ) const
inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 30 of file btTriangleShape.h.

◆ getPlane()

virtual void btTriangleShape::getPlane ( btVector3 &  planeNormal,
btVector3 &  planeSupport,
int  i 
) const
inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 95 of file btTriangleShape.h.

◆ getPlaneEquation()

virtual void btTriangleShape::getPlaneEquation ( int  i,
btVector3 &  planeNormal,
btVector3 &  planeSupport 
) const
inlinevirtual

Definition at line 111 of file btTriangleShape.h.

◆ getPreferredPenetrationDirection()

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

Reimplemented from btConvexInternalShape.

Definition at line 167 of file btTriangleShape.h.

◆ getVertex()

virtual void btTriangleShape::getVertex ( int  index,
btVector3 &  vert 
) const
inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 44 of file btTriangleShape.h.

◆ getVertexPtr() [1/2]

btVector3 & btTriangleShape::getVertexPtr ( int  index)
inline

Definition at line 35 of file btTriangleShape.h.

◆ getVertexPtr() [2/2]

const btVector3 & btTriangleShape::getVertexPtr ( int  index) const
inline

Definition at line 40 of file btTriangleShape.h.

◆ isInside()

virtual bool btTriangleShape::isInside ( const btVector3 &  pt,
btScalar  tolerance 
) const
inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 125 of file btTriangleShape.h.

◆ localGetSupportingVertexWithoutMargin()

btVector3 btTriangleShape::localGetSupportingVertexWithoutMargin ( const btVector3 &  dir) const
inlinevirtual

Reimplemented from btPolyhedralConvexShape.

Definition at line 66 of file btTriangleShape.h.

Member Data Documentation

◆ m_vertices1

btVector3 btTriangleShape::m_vertices1[3]

Definition at line 28 of file btTriangleShape.h.

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