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

The btConvexHullShape implements an implicit convex hull of an array of vertices. More...

#include <btConvexHullShape.h>

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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btConvexHullShape (const btScalar *points=0, int numPoints=0, int stride=sizeof(btVector3))
 this constructor optionally takes in a pointer to points. More...
 
void addPoint (const btVector3 &point, bool recalculateLocalAabb=true)
 
btVector3getUnscaledPoints ()
 
const btVector3getUnscaledPoints () const
 
const btVector3getPoints () const
 getPoints is obsolete, please use getUnscaledPoints More...
 
btVector3 getScaledPoint (int i) const
 
int getNumPoints () const
 
virtual btVector3 localGetSupportingVertex (const btVector3 &vec) const
 
virtual btVector3 localGetSupportingVertexWithoutMargin (const btVector3 &vec) const
 
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
 
virtual void project (const btTransform &trans, const btVector3 &dir, btScalar &minProj, btScalar &maxProj, btVector3 &witnesPtMin, btVector3 &witnesPtMax) const
 
virtual const char * getName () const
 
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 bool isInside (const btVector3 &pt, btScalar tolerance) const
 
virtual void setLocalScaling (const btVector3 &scaling)
 in case we receive negative scaling 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...
 
- Public Member Functions inherited from btPolyhedralConvexAabbCachingShape
 btPolyhedralConvexAabbCachingShape ()
 
void getNonvirtualAabb (const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
 
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 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 void calculateLocalInertia (btScalar mass, btVector3 &inertia) 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)
 
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
 
- 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
 
- 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

btAlignedObjectArray< btVector3m_unscaledPoints
 

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 ()
 
- 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 btConvexHullShape implements an implicit convex hull of an array of vertices.

Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex.

Definition at line 26 of file btConvexHullShape.h.

Constructor & Destructor Documentation

btConvexHullShape::btConvexHullShape ( const btScalar points = 0,
int  numPoints = 0,
int  stride = sizeof(btVector3) 
)

this constructor optionally takes in a pointer to points.

Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory. It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint. btConvexHullShape make an internal copy of the points.

Definition at line 26 of file btConvexHullShape.cpp.

Member Function Documentation

void btConvexHullShape::addPoint ( const btVector3 point,
bool  recalculateLocalAabb = true 
)

Definition at line 52 of file btConvexHullShape.cpp.

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

Reimplemented from btPolyhedralConvexShape.

Definition at line 76 of file btConvexHullShape.cpp.

btConvexHullShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )
int btConvexHullShape::calculateSerializeBufferSize ( ) const
inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 115 of file btConvexHullShape.h.

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

Implements btPolyhedralConvexShape.

Definition at line 143 of file btConvexHullShape.cpp.

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

Implements btCollisionShape.

Definition at line 80 of file btConvexHullShape.h.

int btConvexHullShape::getNumEdges ( ) const
virtual

Implements btPolyhedralConvexShape.

Definition at line 138 of file btConvexHullShape.cpp.

int btConvexHullShape::getNumPlanes ( ) const
virtual

Implements btPolyhedralConvexShape.

Definition at line 157 of file btConvexHullShape.cpp.

int btConvexHullShape::getNumPoints ( ) const
inline

Definition at line 66 of file btConvexHullShape.h.

int btConvexHullShape::getNumVertices ( ) const
virtual

Implements btPolyhedralConvexShape.

Definition at line 133 of file btConvexHullShape.cpp.

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

Implements btPolyhedralConvexShape.

Definition at line 162 of file btConvexHullShape.cpp.

const btVector3* btConvexHullShape::getPoints ( ) const
inline

getPoints is obsolete, please use getUnscaledPoints

Definition at line 53 of file btConvexHullShape.h.

btVector3 btConvexHullShape::getScaledPoint ( int  i) const
inline

Definition at line 61 of file btConvexHullShape.h.

btVector3* btConvexHullShape::getUnscaledPoints ( )
inline

Definition at line 42 of file btConvexHullShape.h.

const btVector3* btConvexHullShape::getUnscaledPoints ( ) const
inline

Definition at line 47 of file btConvexHullShape.h.

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

Implements btPolyhedralConvexShape.

Definition at line 152 of file btConvexHullShape.cpp.

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

Implements btPolyhedralConvexShape.

Definition at line 169 of file btConvexHullShape.cpp.

btVector3 btConvexHullShape::localGetSupportingVertex ( const btVector3 vec) const
virtual

Reimplemented from btConvexInternalShape.

Definition at line 106 of file btConvexHullShape.cpp.

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

Reimplemented from btPolyhedralConvexShape.

Definition at line 60 of file btConvexHullShape.cpp.

void btConvexHullShape::project ( const btTransform trans,
const btVector3 dir,
btScalar minProj,
btScalar maxProj,
btVector3 witnesPtMin,
btVector3 witnesPtMax 
) const
virtual

Reimplemented from btConvexShape.

Definition at line 209 of file btConvexHullShape.cpp.

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

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

Reimplemented from btConvexInternalShape.

Definition at line 176 of file btConvexHullShape.cpp.

void btConvexHullShape::setLocalScaling ( const btVector3 scaling)
virtual

in case we receive negative scaling

Reimplemented from btPolyhedralConvexAabbCachingShape.

Definition at line 46 of file btConvexHullShape.cpp.

Member Data Documentation

btAlignedObjectArray<btVector3> btConvexHullShape::m_unscaledPoints
private

Definition at line 28 of file btConvexHullShape.h.


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