Bullet Collision Detection & Physics Library
Public Member Functions | List of all members
btConvexShape Class Referenceabstract

The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape, btConvexHullShape etc. More...

#include <btConvexShape.h>

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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btConvexShape ()
 not supported on IBM SDK, until we fix the alignment of btVector3 More...
 
virtual ~btConvexShape ()
 
virtual btVector3 localGetSupportingVertex (const btVector3 &vec) const =0
 
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
 
void getAabb (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
 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 =0
 
virtual void setLocalScaling (const btVector3 &scaling)=0
 
virtual const btVector3getLocalScaling () const =0
 
virtual void setMargin (btScalar margin)=0
 
virtual btScalar getMargin () const =0
 
virtual int getNumPreferredPenetrationDirections () const =0
 
virtual void getPreferredPenetrationDirection (int index, btVector3 &penetrationVector) 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 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...
 
virtual void serializeSingleShape (btSerializer *serializer) const
 

Additional Inherited Members

- Protected Attributes inherited from btCollisionShape
int m_shapeType
 
void * m_userPointer
 
int m_userIndex
 

Detailed Description

The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape, btConvexHullShape etc.

It describes general convex shapes using the localGetSupportingVertex interface, used by collision detectors such as btGjkPairDetector.

Definition at line 31 of file btConvexShape.h.

Constructor & Destructor Documentation

btConvexShape::btConvexShape ( )

not supported on IBM SDK, until we fix the alignment of btVector3

Definition at line 41 of file btConvexShape.cpp.

btConvexShape::~btConvexShape ( )
virtual

Definition at line 45 of file btConvexShape.cpp.

Member Function Documentation

virtual void btConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin ( const btVector3 vectors,
btVector3 supportVerticesOut,
int  numVectors 
) const
pure virtual
btConvexShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )
void btConvexShape::getAabb ( const btTransform t,
btVector3 aabbMin,
btVector3 aabbMax 
) const
pure virtual
void btConvexShape::getAabbNonVirtual ( const btTransform t,
btVector3 aabbMin,
btVector3 aabbMax 
) const

Definition at line 374 of file btConvexShape.cpp.

virtual void btConvexShape::getAabbSlow ( const btTransform t,
btVector3 aabbMin,
btVector3 aabbMax 
) const
pure virtual
virtual const btVector3& btConvexShape::getLocalScaling ( ) const
pure virtual
virtual btScalar btConvexShape::getMargin ( ) const
pure virtual
btScalar btConvexShape::getMarginNonVirtual ( ) const

Definition at line 320 of file btConvexShape.cpp.

virtual int btConvexShape::getNumPreferredPenetrationDirections ( ) const
pure virtual
virtual void btConvexShape::getPreferredPenetrationDirection ( int  index,
btVector3 penetrationVector 
) const
pure virtual
virtual btVector3 btConvexShape::localGetSupportingVertex ( const btVector3 vec) const
pure virtual
virtual btVector3 btConvexShape::localGetSupportingVertexWithoutMargin ( const btVector3 vec) const
pure virtual
btVector3 btConvexShape::localGetSupportVertexNonVirtual ( const btVector3 vec) const

Definition at line 307 of file btConvexShape.cpp.

btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual ( const btVector3 vec) const

Definition at line 129 of file btConvexShape.cpp.

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

Reimplemented in btConvexHullShape.

Definition at line 51 of file btConvexShape.cpp.

virtual void btConvexShape::setLocalScaling ( const btVector3 scaling)
pure virtual
virtual void btConvexShape::setMargin ( btScalar  margin)
pure virtual

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