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

The btMultiSphereShape represents the convex hull of a collection of spheres. More...

#include <btMultiSphereShape.h>

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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btMultiSphereShape (const btVector3 *positions, const btScalar *radi, int numSpheres)
 
virtual void calculateLocalInertia (btScalar mass, btVector3 &inertia) const
 CollisionShape Interface. More...
 
virtual btVector3 localGetSupportingVertexWithoutMargin (const btVector3 &vec) const
 btConvexShape Interface More...
 
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
 
int getSphereCount () const
 
const btVector3getSpherePosition (int index) const
 
btScalar getSphereRadius (int index) const
 
virtual const char * getName () 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 btConvexInternalAabbCachingShape
virtual void setLocalScaling (const btVector3 &scaling)
 
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 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)
 
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
 
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

btAlignedObjectArray< btVector3m_localPositionArray
 
btAlignedObjectArray< btScalarm_radiArray
 

Additional Inherited Members

- Protected Member Functions inherited from btConvexInternalAabbCachingShape
 btConvexInternalAabbCachingShape ()
 
void setCachedLocalAabb (const btVector3 &aabbMin, const btVector3 &aabbMax)
 
void getCachedLocalAabb (btVector3 &aabbMin, btVector3 &aabbMax) const
 
void getNonvirtualAabb (const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
 
- 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 btMultiSphereShape represents the convex hull of a collection of spheres.

You can create special capsules or other smooth volumes. It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius

Definition at line 28 of file btMultiSphereShape.h.

Constructor & Destructor Documentation

btMultiSphereShape::btMultiSphereShape ( const btVector3 positions,
const btScalar radi,
int  numSpheres 
)

Definition at line 25 of file btMultiSphereShape.cpp.

Member Function Documentation

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

Implements btConvexShape.

Definition at line 94 of file btMultiSphereShape.cpp.

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

CollisionShape Interface.

Implements btCollisionShape.

Definition at line 138 of file btMultiSphereShape.cpp.

int btMultiSphereShape::calculateSerializeBufferSize ( ) const
inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 94 of file btMultiSphereShape.h.

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

Implements btCollisionShape.

Definition at line 63 of file btMultiSphereShape.h.

int btMultiSphereShape::getSphereCount ( ) const
inline

Definition at line 47 of file btMultiSphereShape.h.

const btVector3& btMultiSphereShape::getSpherePosition ( int  index) const
inline

Definition at line 52 of file btMultiSphereShape.h.

btScalar btMultiSphereShape::getSphereRadius ( int  index) const
inline

Definition at line 57 of file btMultiSphereShape.h.

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

btConvexShape Interface

Implements btConvexShape.

Definition at line 47 of file btMultiSphereShape.cpp.

const char * btMultiSphereShape::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 158 of file btMultiSphereShape.cpp.

Member Data Documentation

btAlignedObjectArray<btVector3> btMultiSphereShape::m_localPositionArray
private

Definition at line 31 of file btMultiSphereShape.h.

btAlignedObjectArray<btScalar> btMultiSphereShape::m_radiArray
private

Definition at line 32 of file btMultiSphereShape.h.


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