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

The btUniformScalingShape allows to re-use uniform scaled instances of btConvexShape in a memory efficient way. More...

#include <btUniformScalingShape.h>

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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btUniformScalingShape (btConvexShape *convexChildShape, btScalar uniformScalingFactor)
 
virtual ~btUniformScalingShape ()
 
virtual btVector3 localGetSupportingVertexWithoutMargin (const btVector3 &vec) const
 
virtual btVector3 localGetSupportingVertex (const btVector3 &vec) const
 
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
 
virtual void calculateLocalInertia (btScalar mass, btVector3 &inertia) const
 
btScalar getUniformScalingFactor () const
 
btConvexShapegetChildShape ()
 
const btConvexShapegetChildShape () const
 
virtual const char * getName () const
 
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
 
virtual void setMargin (btScalar margin)
 
virtual btScalar getMargin () 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 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
 

Private Attributes

btConvexShapem_childConvexShape
 
btScalar m_uniformScalingFactor
 

Additional Inherited Members

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

Detailed Description

The btUniformScalingShape allows to re-use uniform scaled instances of btConvexShape in a memory efficient way.

Istead of using btUniformScalingShape, it is better to use the non-uniform setLocalScaling method on convex shapes that implement it.

Definition at line 24 of file btUniformScalingShape.h.

Constructor & Destructor Documentation

btUniformScalingShape::btUniformScalingShape ( btConvexShape convexChildShape,
btScalar  uniformScalingFactor 
)

Definition at line 18 of file btUniformScalingShape.cpp.

btUniformScalingShape::~btUniformScalingShape ( )
virtual

Definition at line 25 of file btUniformScalingShape.cpp.

Member Function Documentation

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

Implements btConvexShape.

Definition at line 37 of file btUniformScalingShape.cpp.

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

this linear upscaling is not realistic, but we don't deal with large mass ratios...

Implements btCollisionShape.

Definition at line 56 of file btUniformScalingShape.cpp.

void btUniformScalingShape::getAabb ( const btTransform t,
btVector3 aabbMin,
btVector3 aabbMax 
) const
virtual

getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version

Implements btConvexShape.

Definition at line 67 of file btUniformScalingShape.cpp.

void btUniformScalingShape::getAabbSlow ( const btTransform t,
btVector3 aabbMin,
btVector3 aabbMax 
) const
virtual

Implements btConvexShape.

Definition at line 73 of file btUniformScalingShape.cpp.

btConvexShape* btUniformScalingShape::getChildShape ( )
inline

Definition at line 51 of file btUniformScalingShape.h.

const btConvexShape* btUniformScalingShape::getChildShape ( ) const
inline

Definition at line 56 of file btUniformScalingShape.h.

const btVector3 & btUniformScalingShape::getLocalScaling ( ) const
virtual

Implements btConvexShape.

Definition at line 138 of file btUniformScalingShape.cpp.

btScalar btUniformScalingShape::getMargin ( ) const
virtual

Implements btConvexShape.

Definition at line 147 of file btUniformScalingShape.cpp.

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

Implements btCollisionShape.

Definition at line 61 of file btUniformScalingShape.h.

int btUniformScalingShape::getNumPreferredPenetrationDirections ( ) const
virtual

Implements btConvexShape.

Definition at line 152 of file btUniformScalingShape.cpp.

void btUniformScalingShape::getPreferredPenetrationDirection ( int  index,
btVector3 penetrationVector 
) const
virtual

Implements btConvexShape.

Definition at line 157 of file btUniformScalingShape.cpp.

btScalar btUniformScalingShape::getUniformScalingFactor ( ) const
inline

Definition at line 46 of file btUniformScalingShape.h.

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

Implements btConvexShape.

Definition at line 48 of file btUniformScalingShape.cpp.

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

Implements btConvexShape.

Definition at line 30 of file btUniformScalingShape.cpp.

void btUniformScalingShape::setLocalScaling ( const btVector3 scaling)
virtual

Implements btConvexShape.

Definition at line 133 of file btUniformScalingShape.cpp.

void btUniformScalingShape::setMargin ( btScalar  margin)
virtual

Implements btConvexShape.

Definition at line 143 of file btUniformScalingShape.cpp.

Member Data Documentation

btConvexShape* btUniformScalingShape::m_childConvexShape
private

Definition at line 26 of file btUniformScalingShape.h.

btScalar btUniformScalingShape::m_uniformScalingFactor
private

Definition at line 28 of file btUniformScalingShape.h.


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