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

The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes. More...

#include <btPolyhedralConvexShape.h>

Inheritance diagram for btPolyhedralConvexShape:
Inheritance graph
Collaboration diagram for btPolyhedralConvexShape:
Collaboration graph

Public Member Functions

 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 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
virtual int getNumVertices () const =0
virtual int getNumEdges () const =0
virtual void getEdge (int i, btVector3 &pa, btVector3 &pb) const =0
virtual void getVertex (int i, btVector3 &vtx) const =0
virtual int getNumPlanes () const =0
virtual void getPlane (btVector3 &planeNormal, btVector3 &planeSupport, int i) const =0
virtual bool isInside (const btVector3 &pt, btScalar tolerance) const =0
- Public Member Functions inherited from btConvexInternalShape
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
 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
 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 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 Attributes

- 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

Additional Inherited Members

- Protected Member Functions inherited from btConvexInternalShape
 btConvexInternalShape ()

Detailed Description

The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.

Definition at line 25 of file btPolyhedralConvexShape.h.

Constructor & Destructor Documentation

btPolyhedralConvexShape::btPolyhedralConvexShape ( )

Definition at line 27 of file btPolyhedralConvexShape.cpp.

btPolyhedralConvexShape::~btPolyhedralConvexShape ( )

Definition at line 33 of file btPolyhedralConvexShape.cpp.

Member Function Documentation

void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin ( const btVector3 vectors,
btVector3 supportVerticesOut,
int  numVectors 
) const
btPolyhedralConvexShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )
void btPolyhedralConvexShape::calculateLocalInertia ( btScalar  mass,
btVector3 inertia 
) const

Implements btCollisionShape.

Reimplemented in btBox2dShape, btTriangleShape, and btBoxShape.

Definition at line 404 of file btPolyhedralConvexShape.cpp.

const btConvexPolyhedron* btPolyhedralConvexShape::getConvexPolyhedron ( ) const

Definition at line 46 of file btPolyhedralConvexShape.h.

virtual void btPolyhedralConvexShape::getEdge ( int  i,
btVector3 pa,
btVector3 pb 
) const
pure virtual
virtual int btPolyhedralConvexShape::getNumEdges ( ) const
pure virtual
virtual int btPolyhedralConvexShape::getNumPlanes ( ) const
pure virtual
virtual int btPolyhedralConvexShape::getNumVertices ( ) const
pure virtual
virtual void btPolyhedralConvexShape::getPlane ( btVector3 planeNormal,
btVector3 planeSupport,
int  i 
) const
pure virtual
virtual void btPolyhedralConvexShape::getVertex ( int  i,
btVector3 vtx 
) const
pure virtual
bool btPolyhedralConvexShape::initializePolyhedralFeatures ( int  shiftVerticesByMargin = 0)

optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges) experimental/work-in-progress

Definition at line 43 of file btPolyhedralConvexShape.cpp.

virtual bool btPolyhedralConvexShape::isInside ( const btVector3 pt,
btScalar  tolerance 
) const
pure virtual
btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin ( const btVector3 vec) const

Member Data Documentation

btConvexPolyhedron* btPolyhedralConvexShape::m_polyhedron

Definition at line 31 of file btPolyhedralConvexShape.h.

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