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

The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis. More...

#include <btCapsuleShape.h>

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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btCapsuleShape (btScalar radius, btScalar height)
 
virtual void calculateLocalInertia (btScalar mass, btVector3 &inertia) const
 CollisionShape Interface. More...
 
virtual btVector3 localGetSupportingVertexWithoutMargin (const btVector3 &vec) const
 btConvexShape Interface More...
 
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
 
virtual void setMargin (btScalar collisionMargin)
 
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 const char * getName () const
 
int getUpAxis () const
 
btScalar getRadius () const
 
btScalar getHalfHeight () const
 
virtual void setLocalScaling (const btVector3 &scaling)
 
virtual btVector3 getAnisotropicRollingFrictionDirection () const
 the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See Bullet/Demos/RollingFrictionDemo for an example More...
 
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...
 
void deSerializeFloat (struct btCapsuleShapeData *dataBuffer)
 
- 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)
 
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 getNumPreferredPenetrationDirections () const
 
virtual void getPreferredPenetrationDirection (int index, btVector3 &penetrationVector) const
 
- 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
 
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 Member Functions

 btCapsuleShape ()
 only used for btCapsuleShapeZ and btCapsuleShapeX subclasses. More...
 
- Protected Member Functions inherited from btConvexInternalShape
 btConvexInternalShape ()
 

Protected Attributes

int m_upAxis
 
- 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 btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis.

The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.

Definition at line 26 of file btCapsuleShape.h.

Constructor & Destructor Documentation

btCapsuleShape::btCapsuleShape ( )
inlineprotected

only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.

Definition at line 33 of file btCapsuleShape.h.

btCapsuleShape::btCapsuleShape ( btScalar  radius,
btScalar  height 
)

Definition at line 22 of file btCapsuleShape.cpp.

Member Function Documentation

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

Implements btConvexShape.

Definition at line 83 of file btCapsuleShape.cpp.

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

CollisionShape Interface.

Implements btCollisionShape.

Definition at line 123 of file btCapsuleShape.cpp.

int btCapsuleShape::calculateSerializeBufferSize ( ) const
inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 168 of file btCapsuleShape.h.

void btCapsuleShape::deSerializeFloat ( struct btCapsuleShapeData dataBuffer)
inline

Definition at line 185 of file btCapsuleShape.h.

virtual void btCapsuleShape::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.

Definition at line 61 of file btCapsuleShape.h.

virtual btVector3 btCapsuleShape::getAnisotropicRollingFrictionDirection ( ) const
inlinevirtual

the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See Bullet/Demos/RollingFrictionDemo for an example

Reimplemented from btCollisionShape.

Definition at line 107 of file btCapsuleShape.h.

btScalar btCapsuleShape::getHalfHeight ( ) const
inline

Definition at line 90 of file btCapsuleShape.h.

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

Implements btCollisionShape.

Reimplemented in btCapsuleShapeZ, and btCapsuleShapeX.

Definition at line 74 of file btCapsuleShape.h.

btScalar btCapsuleShape::getRadius ( ) const
inline

Definition at line 84 of file btCapsuleShape.h.

int btCapsuleShape::getUpAxis ( ) const
inline

Definition at line 79 of file btCapsuleShape.h.

btVector3 btCapsuleShape::localGetSupportingVertexWithoutMargin ( const btVector3 vec) const
virtual

btConvexShape Interface

Implements btConvexShape.

Definition at line 30 of file btCapsuleShape.cpp.

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

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

Reimplemented from btConvexInternalShape.

Definition at line 174 of file btCapsuleShape.h.

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

Reimplemented from btConvexInternalShape.

Definition at line 95 of file btCapsuleShape.h.

virtual void btCapsuleShape::setMargin ( btScalar  collisionMargin)
inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 49 of file btCapsuleShape.h.

Member Data Documentation

int btCapsuleShape::m_upAxis
protected

Definition at line 29 of file btCapsuleShape.h.


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