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

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

#include <btConvexInternalShape.h>

Inheritance diagram for btConvexInternalShape:
Inheritance graph
[legend]
Collaboration diagram for btConvexInternalShape:
Collaboration graph
[legend]

Public Member Functions

 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 void setLocalScaling (const btVector3 &scaling)
 
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 ()
 
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
 
- 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...
 
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...
 
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

 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
 

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 29 of file btConvexInternalShape.h.

Constructor & Destructor Documentation

btConvexInternalShape::btConvexInternalShape ( )
protected

Definition at line 21 of file btConvexInternalShape.cpp.

virtual btConvexInternalShape::~btConvexInternalShape ( )
inlinevirtual

Definition at line 49 of file btConvexInternalShape.h.

Member Function Documentation

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

Reimplemented from btCollisionShape.

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

Definition at line 160 of file btConvexInternalShape.h.

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, btTriangleShapeEx, btSoftClusterCollisionShape, btPolyhedralConvexAabbCachingShape, btTriangleShape, btCylinderShape, btBU_Simplex1to4, and btSphereShape.

Definition at line 88 of file btConvexInternalShape.h.

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

Implements btConvexShape.

Definition at line 35 of file btConvexInternalShape.cpp.

const btVector3& btConvexInternalShape::getImplicitShapeDimensions ( ) const
inline

Definition at line 56 of file btConvexInternalShape.h.

virtual const btVector3& btConvexInternalShape::getLocalScaling ( ) const
inlinevirtual

Implements btConvexShape.

Reimplemented in btConvexTriangleMeshShape.

Definition at line 99 of file btConvexInternalShape.h.

const btVector3& btConvexInternalShape::getLocalScalingNV ( ) const
inline

Definition at line 104 of file btConvexInternalShape.h.

virtual btScalar btConvexInternalShape::getMargin ( ) const
inlinevirtual

Implements btConvexShape.

Reimplemented in btSoftClusterCollisionShape, btSphereShape, and btMinkowskiSumShape.

Definition at line 113 of file btConvexInternalShape.h.

btScalar btConvexInternalShape::getMarginNV ( ) const
inline

Definition at line 118 of file btConvexInternalShape.h.

virtual int btConvexInternalShape::getNumPreferredPenetrationDirections ( ) const
inlinevirtual

Implements btConvexShape.

Reimplemented in btBox2dShape, btBoxShape, and btTriangleShape.

Definition at line 123 of file btConvexInternalShape.h.

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

Implements btConvexShape.

Reimplemented in btBox2dShape, btBoxShape, and btTriangleShape.

Definition at line 128 of file btConvexInternalShape.h.

btVector3 btConvexInternalShape::localGetSupportingVertex ( const btVector3 vec) const
virtual
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 btCylinderShape, btCapsuleShape, btConeShape, btConvexHullShape, and btMultiSphereShape.

Definition at line 166 of file btConvexInternalShape.h.

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 65 of file btConvexInternalShape.h.

void btConvexInternalShape::setLocalScaling ( const btVector3 scaling)
virtual
virtual void btConvexInternalShape::setMargin ( btScalar  margin)
inlinevirtual
void btConvexInternalShape::setSafeMargin ( btScalar  minDimension,
btScalar  defaultMarginMultiplier = 0.1f 
)
inline

Definition at line 70 of file btConvexInternalShape.h.

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

Definition at line 78 of file btConvexInternalShape.h.

Member Data Documentation

btScalar btConvexInternalShape::m_collisionMargin
protected

Definition at line 39 of file btConvexInternalShape.h.

btVector3 btConvexInternalShape::m_implicitShapeDimensions
protected

Definition at line 37 of file btConvexInternalShape.h.

btVector3 btConvexInternalShape::m_localScaling
protected

Definition at line 35 of file btConvexInternalShape.h.

btScalar btConvexInternalShape::m_padding
protected

Definition at line 41 of file btConvexInternalShape.h.


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