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

The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes. More...

#include <btMinkowskiSumShape.h>

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

Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btMinkowskiSumShape (const btConvexShape *shapeA, const btConvexShape *shapeB)
 
virtual btVector3 localGetSupportingVertexWithoutMargin (const btVector3 &vec) const
 
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
 
virtual void calculateLocalInertia (btScalar mass, btVector3 &inertia) const
 
void setTransformA (const btTransform &transA)
 
void setTransformB (const btTransform &transB)
 
const btTransformgetTransformA () const
 
const btTransformGetTransformB () const
 
virtual btScalar getMargin () const
 
const btConvexShapegetShapeA () const
 
const btConvexShapegetShapeB () const
 
virtual const char * getName () const
 
- 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 void setLocalScaling (const btVector3 &scaling)
 
virtual const btVector3getLocalScaling () const
 
const btVector3getLocalScalingNV () const
 
virtual void setMargin (btScalar margin)
 
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

btTransform m_transA
 
btTransform m_transB
 
const btConvexShapem_shapeA
 
const btConvexShapem_shapeB
 

Additional Inherited Members

- Protected Member Functions inherited from btConvexInternalShape
 btConvexInternalShape ()
 
- 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 btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes.

Definition at line 23 of file btMinkowskiSumShape.h.

Constructor & Destructor Documentation

btMinkowskiSumShape::btMinkowskiSumShape ( const btConvexShape shapeA,
const btConvexShape shapeB 
)

Definition at line 20 of file btMinkowskiSumShape.cpp.

Member Function Documentation

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

Implements btConvexShape.

Definition at line 37 of file btMinkowskiSumShape.cpp.

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

Implements btCollisionShape.

Definition at line 55 of file btMinkowskiSumShape.cpp.

btScalar btMinkowskiSumShape::getMargin ( ) const
virtual

Reimplemented from btConvexInternalShape.

Definition at line 49 of file btMinkowskiSumShape.cpp.

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

Implements btCollisionShape.

Definition at line 56 of file btMinkowskiSumShape.h.

const btConvexShape* btMinkowskiSumShape::getShapeA ( ) const
inline

Definition at line 53 of file btMinkowskiSumShape.h.

const btConvexShape* btMinkowskiSumShape::getShapeB ( ) const
inline

Definition at line 54 of file btMinkowskiSumShape.h.

const btTransform& btMinkowskiSumShape::getTransformA ( ) const
inline

Definition at line 47 of file btMinkowskiSumShape.h.

const btTransform& btMinkowskiSumShape::GetTransformB ( ) const
inline

Definition at line 48 of file btMinkowskiSumShape.h.

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

Implements btConvexShape.

Definition at line 30 of file btMinkowskiSumShape.cpp.

void btMinkowskiSumShape::setTransformA ( const btTransform transA)
inline

Definition at line 44 of file btMinkowskiSumShape.h.

void btMinkowskiSumShape::setTransformB ( const btTransform transB)
inline

Definition at line 45 of file btMinkowskiSumShape.h.

Member Data Documentation

const btConvexShape* btMinkowskiSumShape::m_shapeA
private

Definition at line 28 of file btMinkowskiSumShape.h.

const btConvexShape* btMinkowskiSumShape::m_shapeB
private

Definition at line 29 of file btMinkowskiSumShape.h.

btTransform btMinkowskiSumShape::m_transA
private

Definition at line 26 of file btMinkowskiSumShape.h.

btTransform btMinkowskiSumShape::m_transB
private

Definition at line 27 of file btMinkowskiSumShape.h.


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