The btConvexInternalShape is an internal base class, shared by most convex shape implementations. More...

#include <btConvexInternalShape.h>

Inheritance diagram for btConvexInternalShape:

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Collaboration diagram for btConvexInternalShape:

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Public Member Functions
	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

Protected Member Functions
	btConvexInternalShape ()

Protected Attributes
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 btConvexInternalShape is an internal base class, shared by most convex shape implementations.

The btConvexInternalShape uses a default collision margin set to CONVEX_DISTANCE_MARGIN. This collision margin used by Gjk and some other algorithms, see also btCollisionMargin.h Note that when creating small shapes (derived from btConvexInternalShape), you need to make sure to set a smaller collision margin, using the 'setMargin' API There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape

Definition at line 28 of file btConvexInternalShape.h.

Constructor & Destructor Documentation

◆ btConvexInternalShape()

btConvexInternalShape::btConvexInternalShape ( )

protected

Definition at line 18 of file btConvexInternalShape.cpp.

◆ ~btConvexInternalShape()

virtual btConvexInternalShape::~btConvexInternalShape ( )

inlinevirtual

Definition at line 46 of file btConvexInternalShape.h.

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btConvexInternalShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calculateSerializeBufferSize()

int btConvexInternalShape::calculateSerializeBufferSize ( ) const

inlinevirtual

Reimplemented from btCollisionShape.

Reimplemented in btCapsuleShape, btConeShape, btConvexHullShape, btCylinderShape, and btMultiSphereShape.

Definition at line 148 of file btConvexInternalShape.h.

◆ getAabb()

void btConvexInternalShape::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

Implements btConvexShape.

Reimplemented in btConvexInternalAabbCachingShape, btCylinderShape, btPolyhedralConvexAabbCachingShape, btSphereShape, btBU_Simplex1to4, btTriangleShape, btTriangleShapeEx, and btSoftClusterCollisionShape.

Definition at line 84 of file btConvexInternalShape.h.

◆ getAabbSlow()

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

virtual

Implements btConvexShape.

Definition at line 29 of file btConvexInternalShape.cpp.

◆ getImplicitShapeDimensions()

const btVector3 & btConvexInternalShape::getImplicitShapeDimensions ( ) const

inline

Definition at line 52 of file btConvexInternalShape.h.

◆ getLocalScaling()

virtual const btVector3 & btConvexInternalShape::getLocalScaling ( ) const

inlinevirtual

Implements btConvexShape.

Reimplemented in btConvexTriangleMeshShape.

Definition at line 92 of file btConvexInternalShape.h.

◆ getLocalScalingNV()

const btVector3 & btConvexInternalShape::getLocalScalingNV ( ) const

inline

Definition at line 97 of file btConvexInternalShape.h.

◆ getMargin()

virtual btScalar btConvexInternalShape::getMargin ( ) const

inlinevirtual

Implements btConvexShape.

Reimplemented in btMinkowskiSumShape, btSphereShape, and btSoftClusterCollisionShape.

Definition at line 106 of file btConvexInternalShape.h.

◆ getMarginNV()

btScalar btConvexInternalShape::getMarginNV ( ) const

inline

Definition at line 111 of file btConvexInternalShape.h.

◆ getNumPreferredPenetrationDirections()

virtual int btConvexInternalShape::getNumPreferredPenetrationDirections ( ) const

inlinevirtual

Implements btConvexShape.

Reimplemented in btBox2dShape, btBoxShape, and btTriangleShape.

Definition at line 116 of file btConvexInternalShape.h.

◆ getPreferredPenetrationDirection()

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

inlinevirtual

Implements btConvexShape.

Reimplemented in btBox2dShape, btBoxShape, and btTriangleShape.

Definition at line 121 of file btConvexInternalShape.h.

◆ localGetSupportingVertex()

btVector3 btConvexInternalShape::localGetSupportingVertex ( const btVector3 & vec ) const

virtual

Implements btConvexShape.

Reimplemented in btBox2dShape, btBoxShape, btConeShape, btConvexHullShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btCylinderShape, btSphereShape, and btSoftClusterCollisionShape.

Definition at line 50 of file btConvexInternalShape.cpp.

◆ serialize()

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

inlinevirtual

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

Reimplemented from btCollisionShape.

Reimplemented in btCapsuleShape, btConeShape, btConvexHullShape, btCylinderShape, and btMultiSphereShape.

Definition at line 154 of file btConvexInternalShape.h.

◆ setImplicitShapeDimensions()

void btConvexInternalShape::setImplicitShapeDimensions ( const btVector3 & dimensions )

inline

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'

Definition at line 61 of file btConvexInternalShape.h.

◆ setLocalScaling()

void btConvexInternalShape::setLocalScaling ( const btVector3 & scaling )

virtual

Implements btConvexShape.

Reimplemented in btBox2dShape, btBoxShape, btCapsuleShape, btConeShape, btConvexHullShape, btConvexInternalAabbCachingShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btCylinderShape, and btPolyhedralConvexAabbCachingShape.

Definition at line 24 of file btConvexInternalShape.cpp.

◆ setMargin()

virtual void btConvexInternalShape::setMargin ( btScalar margin )

inlinevirtual

Implements btConvexShape.

Reimplemented in btBox2dShape, btBoxShape, btCapsuleShape, btCylinderShape, btSphereShape, and btSoftClusterCollisionShape.

Definition at line 102 of file btConvexInternalShape.h.

◆ setSafeMargin() [1/2]

void btConvexInternalShape::setSafeMargin	(	btScalar	minDimension,
		btScalar	defaultMarginMultiplier = `0.1f`
	)

inline

Definition at line 66 of file btConvexInternalShape.h.

◆ setSafeMargin() [2/2]

void btConvexInternalShape::setSafeMargin	(	const btVector3 &	halfExtents,
		btScalar	defaultMarginMultiplier = `0.1f`
	)

inline

Definition at line 74 of file btConvexInternalShape.h.

Member Data Documentation

◆ m_collisionMargin

btScalar btConvexInternalShape::m_collisionMargin

protected

Definition at line 37 of file btConvexInternalShape.h.

◆ m_implicitShapeDimensions

btVector3 btConvexInternalShape::m_implicitShapeDimensions

protected

Definition at line 35 of file btConvexInternalShape.h.

◆ m_localScaling

btVector3 btConvexInternalShape::m_localScaling

protected

Definition at line 33 of file btConvexInternalShape.h.

◆ m_padding

btScalar btConvexInternalShape::m_padding

protected

Definition at line 39 of file btConvexInternalShape.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ btConvexInternalShape()

◆ ~btConvexInternalShape()

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ calculateSerializeBufferSize()

◆ getAabb()

◆ getAabbSlow()

◆ getImplicitShapeDimensions()

◆ getLocalScaling()

◆ getLocalScalingNV()

◆ getMargin()

◆ getMarginNV()

◆ getNumPreferredPenetrationDirections()

◆ getPreferredPenetrationDirection()

◆ localGetSupportingVertex()

◆ serialize()

◆ setImplicitShapeDimensions()

◆ setLocalScaling()

◆ setMargin()

◆ setSafeMargin() [1/2]

◆ setSafeMargin() [2/2]

Member Data Documentation

◆ m_collisionMargin

◆ m_implicitShapeDimensions

◆ m_localScaling

◆ m_padding