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

The btUniformScalingShape allows to re-use uniform scaled instances of btConvexShape in a memory efficient way. More...

#include <btUniformScalingShape.h>

Inheritance diagram for btUniformScalingShape:
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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btUniformScalingShape (btConvexShape *convexChildShape, btScalar uniformScalingFactor)
 
virtual ~btUniformScalingShape ()
 
virtual btVector3 localGetSupportingVertexWithoutMargin (const btVector3 &vec) const
 
virtual btVector3 localGetSupportingVertex (const btVector3 &vec) const
 
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
 
virtual void calculateLocalInertia (btScalar mass, btVector3 &inertia) const
 
btScalar getUniformScalingFactor () const
 
btConvexShape * getChildShape ()
 
const btConvexShape * getChildShape () const
 
virtual const char * getName () const
 
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 void setLocalScaling (const btVector3 &scaling)
 
virtual const btVector3 & getLocalScaling () const
 
virtual void setMargin (btScalar margin)
 
virtual btScalar getMargin () 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 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
 

Private Attributes

btConvexShape * m_childConvexShape
 
btScalar m_uniformScalingFactor
 

Additional Inherited Members

- Protected Attributes inherited from btCollisionShape
int m_shapeType
 
void * m_userPointer
 
int m_userIndex
 
int m_userIndex2
 

Detailed Description

The btUniformScalingShape allows to re-use uniform scaled instances of btConvexShape in a memory efficient way.

Istead of using btUniformScalingShape, it is better to use the non-uniform setLocalScaling method on convex shapes that implement it.

Definition at line 24 of file btUniformScalingShape.h.

Constructor & Destructor Documentation

◆ btUniformScalingShape()

btUniformScalingShape::btUniformScalingShape ( btConvexShape *  convexChildShape,
btScalar  uniformScalingFactor 
)

Definition at line 18 of file btUniformScalingShape.cpp.

◆ ~btUniformScalingShape()

btUniformScalingShape::~btUniformScalingShape ( )
virtual

Definition at line 23 of file btUniformScalingShape.cpp.

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

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

Implements btConvexShape.

Definition at line 34 of file btUniformScalingShape.cpp.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btUniformScalingShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calculateLocalInertia()

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

this linear upscaling is not realistic, but we don't deal with large mass ratios...

Implements btCollisionShape.

Definition at line 51 of file btUniformScalingShape.cpp.

◆ getAabb()

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

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

Implements btConvexShape.

Definition at line 60 of file btUniformScalingShape.cpp.

◆ getAabbSlow()

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

Implements btConvexShape.

Definition at line 65 of file btUniformScalingShape.cpp.

◆ getChildShape() [1/2]

btConvexShape * btUniformScalingShape::getChildShape ( )
inline

Definition at line 51 of file btUniformScalingShape.h.

◆ getChildShape() [2/2]

const btConvexShape * btUniformScalingShape::getChildShape ( ) const
inline

Definition at line 56 of file btUniformScalingShape.h.

◆ getLocalScaling()

const btVector3 & btUniformScalingShape::getLocalScaling ( ) const
virtual

Implements btConvexShape.

Definition at line 128 of file btUniformScalingShape.cpp.

◆ getMargin()

btScalar btUniformScalingShape::getMargin ( ) const
virtual

Implements btConvexShape.

Definition at line 137 of file btUniformScalingShape.cpp.

◆ getName()

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

Implements btCollisionShape.

Definition at line 61 of file btUniformScalingShape.h.

◆ getNumPreferredPenetrationDirections()

int btUniformScalingShape::getNumPreferredPenetrationDirections ( ) const
virtual

Implements btConvexShape.

Definition at line 142 of file btUniformScalingShape.cpp.

◆ getPreferredPenetrationDirection()

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

Implements btConvexShape.

Definition at line 147 of file btUniformScalingShape.cpp.

◆ getUniformScalingFactor()

btScalar btUniformScalingShape::getUniformScalingFactor ( ) const
inline

Definition at line 46 of file btUniformScalingShape.h.

◆ localGetSupportingVertex()

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

Implements btConvexShape.

Definition at line 44 of file btUniformScalingShape.cpp.

◆ localGetSupportingVertexWithoutMargin()

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

Implements btConvexShape.

Definition at line 27 of file btUniformScalingShape.cpp.

◆ setLocalScaling()

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

Implements btConvexShape.

Definition at line 123 of file btUniformScalingShape.cpp.

◆ setMargin()

void btUniformScalingShape::setMargin ( btScalar  margin)
virtual

Implements btConvexShape.

Definition at line 133 of file btUniformScalingShape.cpp.

Member Data Documentation

◆ m_childConvexShape

btConvexShape* btUniformScalingShape::m_childConvexShape
private

Definition at line 27 of file btUniformScalingShape.h.

◆ m_uniformScalingFactor

btScalar btUniformScalingShape::m_uniformScalingFactor
private

Definition at line 29 of file btUniformScalingShape.h.

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