The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space. More...

#include <btBoxShape.h>

Inheritance diagram for btBoxShape:

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Collaboration diagram for btBoxShape:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

btVector3	getHalfExtentsWithMargin () const

const btVector3 &	getHalfExtentsWithoutMargin () const

virtual btVector3	localGetSupportingVertex (const btVector3 &vec) const

btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &vec) const

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

	btBoxShape (const btVector3 &boxHalfExtents)

virtual void	setMargin (btScalar collisionMargin)

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 More...

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

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

virtual int	getNumPlanes () const

virtual int	getNumVertices () const

virtual int	getNumEdges () const

virtual void	getVertex (int i, btVector3 &vtx) const

virtual void	getPlaneEquation (btVector4 &plane, int i) const

virtual void	getEdge (int i, btVector3 &pa, btVector3 &pb) 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 More...

virtual void	setPolyhedralFeatures (btConvexPolyhedron &polyhedron)

const btConvexPolyhedron *	getConvexPolyhedron () const

virtual btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &vec) const

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

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

virtual int	getNumVertices () const =0

virtual int	getNumEdges () const =0

virtual void	getEdge (int i, btVector3 &pa, btVector3 &pb) const =0

virtual void	getVertex (int i, btVector3 &vtx) const =0

virtual int	getNumPlanes () const =0

virtual void	getPlane (btVector3 &planeNormal, btVector3 &planeSupport, int i) const =0

virtual bool	isInside (const btVector3 &pt, btScalar tolerance) const =0

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' More...

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 More...

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	getNumPreferredPenetrationDirections () const

virtual void	getPreferredPenetrationDirection (int index, btVector3 &penetrationVector) 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) More...

Public Member Functions inherited from btConvexShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btConvexShape ()
	not supported on IBM SDK, until we fix the alignment of btVector3 More...

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 More...

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	getAabb (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
	getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t. More...

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. More...

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 More...

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) More...

virtual void	setLocalScaling (const btVector3 &scaling)=0

virtual const btVector3 &	getLocalScaling () const =0

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 More...

virtual void	setMargin (btScalar margin)=0

virtual btScalar	getMargin () const =0

void	setUserPointer (void *userPtr)
	optional user data pointer More...

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) More...

virtual void	serializeSingleShape (btSerializer *serializer) const

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

The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.

Definition at line 26 of file btBoxShape.h.

Constructor & Destructor Documentation

◆ btBoxShape()

btBoxShape::btBoxShape ( const btVector3 & boxHalfExtents )

Definition at line 17 of file btBoxShape.cpp.

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

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

inlinevirtual

Reimplemented from btPolyhedralConvexShape.

Definition at line 67 of file btBoxShape.h.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btBoxShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calculateLocalInertia()

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

virtual

Reimplemented from btPolyhedralConvexShape.

Definition at line 33 of file btBoxShape.cpp.

◆ getAabb()

void btBoxShape::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 28 of file btBoxShape.cpp.

◆ getEdge()

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

inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 170 of file btBoxShape.h.

◆ getHalfExtentsWithMargin()

btVector3 btBoxShape::getHalfExtentsWithMargin ( ) const

inline

Definition at line 34 of file btBoxShape.h.

◆ getHalfExtentsWithoutMargin()

const btVector3 & btBoxShape::getHalfExtentsWithoutMargin ( ) const

inline

Definition at line 42 of file btBoxShape.h.

◆ getName()

virtual const char * btBoxShape::getName ( ) const

inlinevirtual

Implements btCollisionShape.

Definition at line 253 of file btBoxShape.h.

◆ getNumEdges()

virtual int btBoxShape::getNumEdges ( ) const

inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 126 of file btBoxShape.h.

◆ getNumPlanes()

virtual int btBoxShape::getNumPlanes ( ) const

inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 116 of file btBoxShape.h.

◆ getNumPreferredPenetrationDirections()

virtual int btBoxShape::getNumPreferredPenetrationDirections ( ) const

inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 258 of file btBoxShape.h.

◆ getNumVertices()

virtual int btBoxShape::getNumVertices ( ) const

inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 121 of file btBoxShape.h.

◆ getPlane()

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

inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 107 of file btBoxShape.h.

◆ getPlaneEquation()

virtual void btBoxShape::getPlaneEquation	(	btVector4 &	plane,
		int	i
	)		const

inlinevirtual

Definition at line 141 of file btBoxShape.h.

◆ getPreferredPenetrationDirection()

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

inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 263 of file btBoxShape.h.

◆ getVertex()

virtual void btBoxShape::getVertex	(	int	i,
		btVector3 &	vtx
	)		const

inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 131 of file btBoxShape.h.

◆ isInside()

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

inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 236 of file btBoxShape.h.

◆ localGetSupportingVertex()

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

inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 47 of file btBoxShape.h.

◆ localGetSupportingVertexWithoutMargin()

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

inlinevirtual

Reimplemented from btPolyhedralConvexShape.

Definition at line 58 of file btBoxShape.h.

◆ setLocalScaling()

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

inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 92 of file btBoxShape.h.

◆ setMargin()

virtual void btBoxShape::setMargin ( btScalar collisionMargin )

inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 82 of file btBoxShape.h.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btBoxShape()

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ calculateLocalInertia()

◆ getAabb()

◆ getEdge()

◆ getHalfExtentsWithMargin()

◆ getHalfExtentsWithoutMargin()

◆ getName()

◆ getNumEdges()

◆ getNumPlanes()

◆ getNumPreferredPenetrationDirections()

◆ getNumVertices()

◆ getPlane()

◆ getPlaneEquation()

◆ getPreferredPenetrationDirection()

◆ getVertex()

◆ isInside()

◆ localGetSupportingVertex()

◆ localGetSupportingVertexWithoutMargin()

◆ setLocalScaling()

◆ setMargin()