The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving objects. More...

#include <btBvhTriangleMeshShape.h>

Inheritance diagram for btBvhTriangleMeshShape:

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Collaboration diagram for btBvhTriangleMeshShape:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btBvhTriangleMeshShape (btStridingMeshInterface *meshInterface, bool useQuantizedAabbCompression, bool buildBvh=true)
	Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization. More...

	btBvhTriangleMeshShape (btStridingMeshInterface *meshInterface, bool useQuantizedAabbCompression, const btVector3 &bvhAabbMin, const btVector3 &bvhAabbMax, bool buildBvh=true)
	optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb More...

virtual	~btBvhTriangleMeshShape ()

bool	getOwnsBvh () const

void	performRaycast (btTriangleCallback *callback, const btVector3 &raySource, const btVector3 &rayTarget)

void	performConvexcast (btTriangleCallback *callback, const btVector3 &boxSource, const btVector3 &boxTarget, const btVector3 &boxMin, const btVector3 &boxMax)

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

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

void	partialRefitTree (const btVector3 &aabbMin, const btVector3 &aabbMax)
	for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks More...

virtual const char *	getName () const

virtual void	setLocalScaling (const btVector3 &scaling)

btOptimizedBvh *	getOptimizedBvh ()

void	setOptimizedBvh (btOptimizedBvh *bvh, const btVector3 &localScaling=btVector3(1, 1, 1))

void	buildOptimizedBvh ()

bool	usesQuantizedAabbCompression () const

void	setTriangleInfoMap (btTriangleInfoMap *triangleInfoMap)

const btTriangleInfoMap *	getTriangleInfoMap () const

btTriangleInfoMap *	getTriangleInfoMap ()

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	serializeSingleBvh (btSerializer *serializer) const

virtual void	serializeSingleTriangleInfoMap (btSerializer *serializer) const

Public Member Functions inherited from btTriangleMeshShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()

virtual	~btTriangleMeshShape ()

virtual btVector3	localGetSupportingVertex (const btVector3 &vec) const

virtual btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &vec) const

void	recalcLocalAabb ()

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

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

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

virtual void	setLocalScaling (const btVector3 &scaling)

virtual const btVector3 &	getLocalScaling () const

btStridingMeshInterface *	getMeshInterface ()

const btStridingMeshInterface *	getMeshInterface () const

const btVector3 &	getLocalAabbMin () const

const btVector3 &	getLocalAabbMax () const

virtual const char *	getName () const

Public Member Functions inherited from btConcaveShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btConcaveShape ()

virtual	~btConcaveShape ()

virtual void	processAllTriangles (btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const =0

virtual btScalar	getMargin () const

virtual void	setMargin (btScalar collisionMargin)

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

Private Attributes
btOptimizedBvh *	m_bvh

btTriangleInfoMap *	m_triangleInfoMap

bool	m_useQuantizedAabbCompression

bool	m_ownsBvh

bool	m_pad [11]

Additional Inherited Members
Protected Member Functions inherited from btTriangleMeshShape
	btTriangleMeshShape (btStridingMeshInterface *meshInterface)
	btTriangleMeshShape constructor has been disabled/protected, so that users will not mistakenly use this class. More...

Protected Attributes inherited from btTriangleMeshShape
btVector3	m_localAabbMin

btVector3	m_localAabbMax

btStridingMeshInterface *	m_meshInterface

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

The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving objects.

If you required moving concave triangle meshes, it is recommended to perform convex decomposition using HACD, see Bullet/Demos/ConvexDecompositionDemo. Alternatively, you can use btGimpactMeshShape for moving concave triangle meshes. btBvhTriangleMeshShape has several optimizations, such as bounding volume hierarchy and cache friendly traversal for PlayStation 3 Cell SPU. It is recommended to enable useQuantizedAabbCompression for better memory usage. It takes a triangle mesh as input, for example a btTriangleMesh or btTriangleIndexVertexArray. The btBvhTriangleMeshShape class allows for triangle mesh deformations by a refit or partialRefit method. Instead of building the bounding volume hierarchy acceleration structure, it is also possible to serialize (save) and deserialize (load) the structure from disk. See Demos\ConcaveDemo\ConcavePhysicsDemo.cpp for an example.

Definition at line 34 of file btBvhTriangleMeshShape.h.

Constructor & Destructor Documentation

◆ btBvhTriangleMeshShape() [1/2]

btBvhTriangleMeshShape::btBvhTriangleMeshShape	(	btStridingMeshInterface *	meshInterface,
		bool	useQuantizedAabbCompression,
		bool	buildBvh = `true`
	)

Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.

Uses an interface to access the triangles to allow for sharing graphics/physics triangles.

Definition at line 24 of file btBvhTriangleMeshShape.cpp.

◆ btBvhTriangleMeshShape() [2/2]

btBvhTriangleMeshShape::btBvhTriangleMeshShape	(	btStridingMeshInterface *	meshInterface,
		bool	useQuantizedAabbCompression,
		const btVector3 &	bvhAabbMin,
		const btVector3 &	bvhAabbMax,
		bool	buildBvh = `true`
	)

optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb

Definition at line 43 of file btBvhTriangleMeshShape.cpp.

◆ ~btBvhTriangleMeshShape()

btBvhTriangleMeshShape::~btBvhTriangleMeshShape ( )

virtual

Definition at line 81 of file btBvhTriangleMeshShape.cpp.

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btBvhTriangleMeshShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ buildOptimizedBvh()

void btBvhTriangleMeshShape::buildOptimizedBvh ( )

m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work

Definition at line 340 of file btBvhTriangleMeshShape.cpp.

◆ calculateSerializeBufferSize()

int btBvhTriangleMeshShape::calculateSerializeBufferSize ( ) const

inlinevirtual

Reimplemented from btCollisionShape.

Definition at line 139 of file btBvhTriangleMeshShape.h.

◆ getName()

virtual const char * btBvhTriangleMeshShape::getName ( ) const

inlinevirtual

Reimplemented from btTriangleMeshShape.

Reimplemented in btMultimaterialTriangleMeshShape.

Definition at line 74 of file btBvhTriangleMeshShape.h.

◆ getOptimizedBvh()

btOptimizedBvh * btBvhTriangleMeshShape::getOptimizedBvh ( )

inline

Definition at line 78 of file btBvhTriangleMeshShape.h.

◆ getOwnsBvh()

bool btBvhTriangleMeshShape::getOwnsBvh ( ) const

inline

Definition at line 58 of file btBvhTriangleMeshShape.h.

◆ getTriangleInfoMap() [1/2]

btTriangleInfoMap * btBvhTriangleMeshShape::getTriangleInfoMap ( )

inline

Definition at line 102 of file btBvhTriangleMeshShape.h.

◆ getTriangleInfoMap() [2/2]

const btTriangleInfoMap * btBvhTriangleMeshShape::getTriangleInfoMap ( ) const

inline

Definition at line 97 of file btBvhTriangleMeshShape.h.

◆ partialRefitTree()

void btBvhTriangleMeshShape::partialRefitTree	(	const btVector3 &	aabbMin,
		const btVector3 &	aabbMax
	)

for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks

Definition at line 66 of file btBvhTriangleMeshShape.cpp.

◆ performConvexcast()

void btBvhTriangleMeshShape::performConvexcast	(	btTriangleCallback *	callback,
		const btVector3 &	boxSource,
		const btVector3 &	boxTarget,
		const btVector3 &	boxMin,
		const btVector3 &	boxMax
	)

Definition at line 164 of file btBvhTriangleMeshShape.cpp.

◆ performRaycast()

void btBvhTriangleMeshShape::performRaycast	(	btTriangleCallback *	callback,
		const btVector3 &	raySource,
		const btVector3 &	rayTarget
	)

Definition at line 90 of file btBvhTriangleMeshShape.cpp.

◆ processAllTriangles()

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

virtual

Reimplemented from btTriangleMeshShape.

Definition at line 239 of file btBvhTriangleMeshShape.cpp.

◆ refitTree()

void btBvhTriangleMeshShape::refitTree	(	const btVector3 &	aabbMin,
		const btVector3 &	aabbMax
	)

Definition at line 74 of file btBvhTriangleMeshShape.cpp.

◆ serialize()

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

virtual

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

Reimplemented from btCollisionShape.

Definition at line 370 of file btBvhTriangleMeshShape.cpp.

◆ serializeSingleBvh()

void btBvhTriangleMeshShape::serializeSingleBvh ( btSerializer * serializer ) const

virtual

Definition at line 442 of file btBvhTriangleMeshShape.cpp.

◆ serializeSingleTriangleInfoMap()

void btBvhTriangleMeshShape::serializeSingleTriangleInfoMap ( btSerializer * serializer ) const

virtual

Definition at line 453 of file btBvhTriangleMeshShape.cpp.

◆ setLocalScaling()

void btBvhTriangleMeshShape::setLocalScaling ( const btVector3 & scaling )

virtual

Reimplemented from btTriangleMeshShape.

Definition at line 331 of file btBvhTriangleMeshShape.cpp.

◆ setOptimizedBvh()

void btBvhTriangleMeshShape::setOptimizedBvh	(	btOptimizedBvh *	bvh,
		const btVector3 &	localScaling = `btVector3(1, 1, 1)`
	)

Definition at line 355 of file btBvhTriangleMeshShape.cpp.

◆ setTriangleInfoMap()

void btBvhTriangleMeshShape::setTriangleInfoMap ( btTriangleInfoMap * triangleInfoMap )

inline

Definition at line 92 of file btBvhTriangleMeshShape.h.

◆ usesQuantizedAabbCompression()

bool btBvhTriangleMeshShape::usesQuantizedAabbCompression ( ) const

inline

Definition at line 87 of file btBvhTriangleMeshShape.h.

Member Data Documentation

◆ m_bvh

btOptimizedBvh* btBvhTriangleMeshShape::m_bvh

private

Definition at line 37 of file btBvhTriangleMeshShape.h.

◆ m_ownsBvh

bool btBvhTriangleMeshShape::m_ownsBvh

private

Definition at line 41 of file btBvhTriangleMeshShape.h.

◆ m_pad

bool btBvhTriangleMeshShape::m_pad[11]

private

Definition at line 45 of file btBvhTriangleMeshShape.h.

◆ m_triangleInfoMap

btTriangleInfoMap* btBvhTriangleMeshShape::m_triangleInfoMap

private

Definition at line 38 of file btBvhTriangleMeshShape.h.

◆ m_useQuantizedAabbCompression

bool btBvhTriangleMeshShape::m_useQuantizedAabbCompression

private

Definition at line 40 of file btBvhTriangleMeshShape.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

◆ btBvhTriangleMeshShape() [1/2]

◆ btBvhTriangleMeshShape() [2/2]

◆ ~btBvhTriangleMeshShape()

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ buildOptimizedBvh()

◆ calculateSerializeBufferSize()

◆ getName()

◆ getOptimizedBvh()

◆ getOwnsBvh()

◆ getTriangleInfoMap() [1/2]

◆ getTriangleInfoMap() [2/2]

◆ partialRefitTree()

◆ performConvexcast()

◆ performRaycast()

◆ processAllTriangles()

◆ refitTree()

◆ serialize()

◆ serializeSingleBvh()

◆ serializeSingleTriangleInfoMap()

◆ setLocalScaling()

◆ setOptimizedBvh()

◆ setTriangleInfoMap()

◆ usesQuantizedAabbCompression()

Member Data Documentation

◆ m_bvh

◆ m_ownsBvh

◆ m_pad

◆ m_triangleInfoMap

◆ m_useQuantizedAabbCompression