Bullet Collision Detection & Physics Library
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btBox2dShape Class Reference

The btBox2dShape 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 <btBox2dShape.h>

Inheritance diagram for btBox2dShape:
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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
btVector3 getHalfExtentsWithMargin () const
 
const btVector3getHalfExtentsWithoutMargin () 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
 
 btBox2dShape (const btVector3 &boxHalfExtents)
 a btBox2dShape is a flat 2D box in the X-Y plane (Z extents are zero) More...
 
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
 
int getVertexCount () const
 
virtual int getNumVertices () const
 
const btVector3getVertices () const
 
const btVector3getNormals () const
 
virtual void getPlane (btVector3 &planeNormal, btVector3 &planeSupport, int i) const
 
const btVector3getCentroid () const
 
virtual int getNumPlanes () 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...
 
const btConvexPolyhedrongetConvexPolyhedron () const
 
- Public Member Functions inherited from btConvexInternalShape
 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
virtual ~btConvexInternalShape ()
 
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)
 
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 const btVector3getLocalScaling () const
 
const btVector3getLocalScalingNV () const
 
virtual btScalar getMargin () const
 
btScalar getMarginNV () 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
 

Private Attributes

btVector3 m_centroid
 
btVector3 m_vertices [4]
 
btVector3 m_normals [4]
 

Additional Inherited Members

- Protected Member Functions inherited from btConvexInternalShape
 btConvexInternalShape ()
 
- 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
 

Detailed Description

The btBox2dShape 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 btBox2dShape.h.

Constructor & Destructor Documentation

btBox2dShape::btBox2dShape ( const btVector3 boxHalfExtents)
inline

a btBox2dShape is a flat 2D box in the X-Y plane (Z extents are zero)

Definition at line 89 of file btBox2dShape.h.

Member Function Documentation

virtual void btBox2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin ( const btVector3 vectors,
btVector3 supportVerticesOut,
int  numVectors 
) const
inlinevirtual

Reimplemented from btPolyhedralConvexShape.

Definition at line 73 of file btBox2dShape.h.

btBox2dShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )
void btBox2dShape::calculateLocalInertia ( btScalar  mass,
btVector3 inertia 
) const
virtual

Reimplemented from btPolyhedralConvexShape.

Definition at line 28 of file btBox2dShape.cpp.

void btBox2dShape::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 22 of file btBox2dShape.cpp.

const btVector3& btBox2dShape::getCentroid ( ) const
inline

Definition at line 182 of file btBox2dShape.h.

virtual void btBox2dShape::getEdge ( int  i,
btVector3 pa,
btVector3 pb 
) const
inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 241 of file btBox2dShape.h.

btVector3 btBox2dShape::getHalfExtentsWithMargin ( ) const
inline

Definition at line 39 of file btBox2dShape.h.

const btVector3& btBox2dShape::getHalfExtentsWithoutMargin ( ) const
inline

Definition at line 47 of file btBox2dShape.h.

virtual const char* btBox2dShape::getName ( ) const
inlinevirtual

Implements btCollisionShape.

Definition at line 330 of file btBox2dShape.h.

const btVector3* btBox2dShape::getNormals ( ) const
inline

Definition at line 161 of file btBox2dShape.h.

virtual int btBox2dShape::getNumEdges ( ) const
inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 194 of file btBox2dShape.h.

virtual int btBox2dShape::getNumPlanes ( ) const
inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 187 of file btBox2dShape.h.

virtual int btBox2dShape::getNumPreferredPenetrationDirections ( ) const
inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 335 of file btBox2dShape.h.

virtual int btBox2dShape::getNumVertices ( ) const
inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 151 of file btBox2dShape.h.

virtual void btBox2dShape::getPlane ( btVector3 planeNormal,
btVector3 planeSupport,
int  i 
) const
inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 172 of file btBox2dShape.h.

virtual void btBox2dShape::getPlaneEquation ( btVector4 plane,
int  i 
) const
inlinevirtual

Definition at line 211 of file btBox2dShape.h.

virtual void btBox2dShape::getPreferredPenetrationDirection ( int  index,
btVector3 penetrationVector 
) const
inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 340 of file btBox2dShape.h.

virtual void btBox2dShape::getVertex ( int  i,
btVector3 vtx 
) const
inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 200 of file btBox2dShape.h.

int btBox2dShape::getVertexCount ( ) const
inline

Definition at line 146 of file btBox2dShape.h.

const btVector3* btBox2dShape::getVertices ( ) const
inline

Definition at line 156 of file btBox2dShape.h.

virtual bool btBox2dShape::isInside ( const btVector3 pt,
btScalar  tolerance 
) const
inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 312 of file btBox2dShape.h.

virtual btVector3 btBox2dShape::localGetSupportingVertex ( const btVector3 vec) const
inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 53 of file btBox2dShape.h.

btVector3 btBox2dShape::localGetSupportingVertexWithoutMargin ( const btVector3 vec) const
inlinevirtual

Reimplemented from btPolyhedralConvexShape.

Definition at line 64 of file btBox2dShape.h.

virtual void btBox2dShape::setLocalScaling ( const btVector3 scaling)
inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 124 of file btBox2dShape.h.

virtual void btBox2dShape::setMargin ( btScalar  collisionMargin)
inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 113 of file btBox2dShape.h.

Member Data Documentation

btVector3 btBox2dShape::m_centroid
private

Definition at line 31 of file btBox2dShape.h.

btVector3 btBox2dShape::m_normals[4]
private

Definition at line 33 of file btBox2dShape.h.

btVector3 btBox2dShape::m_vertices[4]
private

Definition at line 32 of file btBox2dShape.h.


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