Bullet Collision Detection & Physics Library
Public Member Functions | Protected Attributes | List of all members
btBU_Simplex1to4 Class Reference

The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead. More...

#include <btTetrahedronShape.h>

Inheritance diagram for btBU_Simplex1to4:
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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btBU_Simplex1to4 ()
 
 btBU_Simplex1to4 (const btVector3 &pt0)
 
 btBU_Simplex1to4 (const btVector3 &pt0, const btVector3 &pt1)
 
 btBU_Simplex1to4 (const btVector3 &pt0, const btVector3 &pt1, const btVector3 &pt2)
 
 btBU_Simplex1to4 (const btVector3 &pt0, const btVector3 &pt1, const btVector3 &pt2, const btVector3 &pt3)
 
void reset ()
 
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...
 
void addVertex (const btVector3 &pt)
 
virtual int getNumVertices () const
 
virtual int getNumEdges () const
 
virtual void getEdge (int i, btVector3 &pa, btVector3 &pb) const
 
virtual void getVertex (int i, btVector3 &vtx) const
 
virtual int getNumPlanes () const
 
virtual void getPlane (btVector3 &planeNormal, btVector3 &planeSupport, int i) const
 
virtual int getIndex (int i) const
 
virtual bool isInside (const btVector3 &pt, btScalar tolerance) const
 
virtual const char * getName () const
 getName is for debugging More...
 
- Public Member Functions inherited from btPolyhedralConvexAabbCachingShape
 btPolyhedralConvexAabbCachingShape ()
 
void getNonvirtualAabb (const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
 
virtual void setLocalScaling (const btVector3 &scaling)
 
void recalcLocalAabb ()
 
- 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...
 
const btConvexPolyhedrongetConvexPolyhedron () 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
 
- Public Member Functions inherited from btConvexInternalShape
 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
virtual ~btConvexInternalShape ()
 
virtual btVector3 localGetSupportingVertex (const btVector3 &vec) const
 
const btVector3getImplicitShapeDimensions () 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)
 
virtual void getAabbSlow (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
 
virtual const btVector3getLocalScaling () const
 
const btVector3getLocalScalingNV () 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 ()
 
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 maximus 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...
 
int getShapeType () const
 
virtual btVector3 getAnisotropicRollingFrictionDirection () const
 the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See Bullet/Demos/RollingFrictionDemo for an example More...
 
void setUserPointer (void *userPtr)
 optional user data pointer More...
 
void * getUserPointer () const
 
void setUserIndex (int index)
 
int getUserIndex () const
 
virtual void serializeSingleShape (btSerializer *serializer) const
 

Protected Attributes

int m_numVertices
 
btVector3 m_vertices [4]
 
- Protected Attributes inherited from btPolyhedralConvexShape
btConvexPolyhedronm_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
 

Additional Inherited Members

- Protected Member Functions inherited from btPolyhedralConvexAabbCachingShape
void setCachedLocalAabb (const btVector3 &aabbMin, const btVector3 &aabbMax)
 
void getCachedLocalAabb (btVector3 &aabbMin, btVector3 &aabbMax) const
 
- Protected Member Functions inherited from btConvexInternalShape
 btConvexInternalShape ()
 

Detailed Description

The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead.

Definition at line 25 of file btTetrahedronShape.h.

Constructor & Destructor Documentation

btBU_Simplex1to4::btBU_Simplex1to4 ( )

Definition at line 19 of file btTetrahedronShape.cpp.

btBU_Simplex1to4::btBU_Simplex1to4 ( const btVector3 pt0)

Definition at line 25 of file btTetrahedronShape.cpp.

btBU_Simplex1to4::btBU_Simplex1to4 ( const btVector3 pt0,
const btVector3 pt1 
)

Definition at line 32 of file btTetrahedronShape.cpp.

btBU_Simplex1to4::btBU_Simplex1to4 ( const btVector3 pt0,
const btVector3 pt1,
const btVector3 pt2 
)

Definition at line 40 of file btTetrahedronShape.cpp.

btBU_Simplex1to4::btBU_Simplex1to4 ( const btVector3 pt0,
const btVector3 pt1,
const btVector3 pt2,
const btVector3 pt3 
)

Definition at line 49 of file btTetrahedronShape.cpp.

Member Function Documentation

void btBU_Simplex1to4::addVertex ( const btVector3 pt)

Definition at line 82 of file btTetrahedronShape.cpp.

btBU_Simplex1to4::BT_DECLARE_ALIGNED_ALLOCATOR ( )
void btBU_Simplex1to4::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

Reimplemented from btPolyhedralConvexAabbCachingShape.

Definition at line 60 of file btTetrahedronShape.cpp.

void btBU_Simplex1to4::getEdge ( int  i,
btVector3 pa,
btVector3 pb 
) const
virtual

Implements btPolyhedralConvexShape.

Definition at line 113 of file btTetrahedronShape.cpp.

int btBU_Simplex1to4::getIndex ( int  i) const
virtual

Definition at line 209 of file btTetrahedronShape.cpp.

virtual const char* btBU_Simplex1to4::getName ( ) const
inlinevirtual

getName is for debugging

Implements btCollisionShape.

Definition at line 72 of file btTetrahedronShape.h.

int btBU_Simplex1to4::getNumEdges ( ) const
virtual

Implements btPolyhedralConvexShape.

Definition at line 94 of file btTetrahedronShape.cpp.

int btBU_Simplex1to4::getNumPlanes ( ) const
virtual

Implements btPolyhedralConvexShape.

Definition at line 182 of file btTetrahedronShape.cpp.

int btBU_Simplex1to4::getNumVertices ( ) const
virtual

Implements btPolyhedralConvexShape.

Definition at line 89 of file btTetrahedronShape.cpp.

void btBU_Simplex1to4::getPlane ( btVector3 planeNormal,
btVector3 planeSupport,
int  i 
) const
virtual

Implements btPolyhedralConvexShape.

Definition at line 204 of file btTetrahedronShape.cpp.

void btBU_Simplex1to4::getVertex ( int  i,
btVector3 vtx 
) const
virtual

Implements btPolyhedralConvexShape.

Definition at line 177 of file btTetrahedronShape.cpp.

bool btBU_Simplex1to4::isInside ( const btVector3 pt,
btScalar  tolerance 
) const
virtual

Implements btPolyhedralConvexShape.

Definition at line 214 of file btTetrahedronShape.cpp.

void btBU_Simplex1to4::reset ( )
inline

Definition at line 43 of file btTetrahedronShape.h.

Member Data Documentation

int btBU_Simplex1to4::m_numVertices
protected

Definition at line 29 of file btTetrahedronShape.h.

btVector3 btBU_Simplex1to4::m_vertices[4]
protected

Definition at line 30 of file btTetrahedronShape.h.


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