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

The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good as btConvexHullShape. More...

#include <btConvexTriangleMeshShape.h>

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

Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btConvexTriangleMeshShape (btStridingMeshInterface *meshInterface, bool calcAabb=true)
 
class btStridingMeshInterfacegetMeshInterface ()
 
const class btStridingMeshInterfacegetMeshInterface () 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 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)
 
virtual const btVector3getLocalScaling () const
 
void calculatePrincipalAxisTransform (btTransform &principal, btVector3 &inertia, btScalar &volume) const
 computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia and the center of mass to the current coordinate system. 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
 
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 ()
 
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

class btStridingMeshInterfacem_stridingMesh
 

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 btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good as btConvexHullShape.

A small benefit of this class is that it uses the btStridingMeshInterface, so you can avoid the duplication of the triangle mesh data. Nevertheless, most users should use the much better performing btConvexHullShape instead.

Definition at line 25 of file btConvexTriangleMeshShape.h.

Constructor & Destructor Documentation

btConvexTriangleMeshShape::btConvexTriangleMeshShape ( btStridingMeshInterface meshInterface,
bool  calcAabb = true 
)

Definition at line 23 of file btConvexTriangleMeshShape.cpp.

Member Function Documentation

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

Reimplemented from btPolyhedralConvexShape.

Definition at line 102 of file btConvexTriangleMeshShape.cpp.

btConvexTriangleMeshShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )
void btConvexTriangleMeshShape::calculatePrincipalAxisTransform ( btTransform principal,
btVector3 inertia,
btScalar volume 
) const

computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia and the center of mass to the current coordinate system.

A mass of 1 is assumed, for other masses just multiply the computed "inertia" by the mass. The resulting transform "principal" has to be applied inversely to the mesh in order for the local coordinate system of the shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform of the collision object by the principal transform. This method also computes the volume of the convex mesh.

Definition at line 210 of file btConvexTriangleMeshShape.cpp.

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

Implements btPolyhedralConvexShape.

Definition at line 167 of file btConvexTriangleMeshShape.cpp.

const btVector3 & btConvexTriangleMeshShape::getLocalScaling ( ) const
virtual

Reimplemented from btConvexInternalShape.

Definition at line 205 of file btConvexTriangleMeshShape.cpp.

class btStridingMeshInterface* btConvexTriangleMeshShape::getMeshInterface ( )
inline

Definition at line 35 of file btConvexTriangleMeshShape.h.

const class btStridingMeshInterface* btConvexTriangleMeshShape::getMeshInterface ( ) const
inline

Definition at line 39 of file btConvexTriangleMeshShape.h.

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

Implements btCollisionShape.

Definition at line 49 of file btConvexTriangleMeshShape.h.

int btConvexTriangleMeshShape::getNumEdges ( ) const
virtual

Implements btPolyhedralConvexShape.

Definition at line 162 of file btConvexTriangleMeshShape.cpp.

int btConvexTriangleMeshShape::getNumPlanes ( ) const
virtual

Implements btPolyhedralConvexShape.

Definition at line 177 of file btConvexTriangleMeshShape.cpp.

int btConvexTriangleMeshShape::getNumVertices ( ) const
virtual

Implements btPolyhedralConvexShape.

Definition at line 155 of file btConvexTriangleMeshShape.cpp.

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

Implements btPolyhedralConvexShape.

Definition at line 182 of file btConvexTriangleMeshShape.cpp.

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

Implements btPolyhedralConvexShape.

Definition at line 172 of file btConvexTriangleMeshShape.cpp.

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

Implements btPolyhedralConvexShape.

Definition at line 188 of file btConvexTriangleMeshShape.cpp.

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

Reimplemented from btConvexInternalShape.

Definition at line 128 of file btConvexTriangleMeshShape.cpp.

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

Reimplemented from btPolyhedralConvexShape.

Definition at line 79 of file btConvexTriangleMeshShape.cpp.

void btConvexTriangleMeshShape::setLocalScaling ( const btVector3 scaling)
virtual

Reimplemented from btPolyhedralConvexAabbCachingShape.

Definition at line 196 of file btConvexTriangleMeshShape.cpp.

Member Data Documentation

class btStridingMeshInterface* btConvexTriangleMeshShape::m_stridingMesh
private

Definition at line 28 of file btConvexTriangleMeshShape.h.


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