Bullet Collision Detection & Physics Library
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The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving objects. More...
#include <btBvhTriangleMeshShape.h>
Public Member Functions | |
BT_DECLARE_ALIGNED_ALLOCATOR () | |
btBvhTriangleMeshShape (btStridingMeshInterface *meshInterface, bool useQuantizedAabbCompression, bool buildBvh=true) | |
Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization. More... | |
btBvhTriangleMeshShape (btStridingMeshInterface *meshInterface, bool useQuantizedAabbCompression, const btVector3 &bvhAabbMin, const btVector3 &bvhAabbMax, bool buildBvh=true) | |
optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb More... | |
virtual | ~btBvhTriangleMeshShape () |
bool | getOwnsBvh () const |
void | performRaycast (btTriangleCallback *callback, const btVector3 &raySource, const btVector3 &rayTarget) |
void | performConvexcast (btTriangleCallback *callback, const btVector3 &boxSource, const btVector3 &boxTarget, const btVector3 &boxMin, const btVector3 &boxMax) |
virtual void | processAllTriangles (btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const |
void | refitTree (const btVector3 &aabbMin, const btVector3 &aabbMax) |
void | partialRefitTree (const btVector3 &aabbMin, const btVector3 &aabbMax) |
for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks More... | |
virtual const char * | getName () const |
virtual void | setLocalScaling (const btVector3 &scaling) |
btOptimizedBvh * | getOptimizedBvh () |
void | setOptimizedBvh (btOptimizedBvh *bvh, const btVector3 &localScaling=btVector3(1, 1, 1)) |
void | buildOptimizedBvh () |
bool | usesQuantizedAabbCompression () const |
void | setTriangleInfoMap (btTriangleInfoMap *triangleInfoMap) |
const btTriangleInfoMap * | getTriangleInfoMap () const |
btTriangleInfoMap * | getTriangleInfoMap () |
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 | serializeSingleBvh (btSerializer *serializer) const |
virtual void | serializeSingleTriangleInfoMap (btSerializer *serializer) const |
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BT_DECLARE_ALIGNED_ALLOCATOR () | |
virtual | ~btTriangleMeshShape () |
virtual btVector3 | localGetSupportingVertex (const btVector3 &vec) const |
virtual btVector3 | localGetSupportingVertexWithoutMargin (const btVector3 &vec) const |
void | recalcLocalAabb () |
virtual void | getAabb (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const |
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t. More... | |
virtual void | calculateLocalInertia (btScalar mass, btVector3 &inertia) const |
virtual const btVector3 & | getLocalScaling () const |
btStridingMeshInterface * | getMeshInterface () |
const btStridingMeshInterface * | getMeshInterface () const |
const btVector3 & | getLocalAabbMin () const |
const btVector3 & | getLocalAabbMax () const |
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BT_DECLARE_ALIGNED_ALLOCATOR () | |
btConcaveShape () | |
virtual | ~btConcaveShape () |
virtual btScalar | getMargin () const |
virtual void | setMargin (btScalar collisionMargin) |
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BT_DECLARE_ALIGNED_ALLOCATOR () | |
btCollisionShape () | |
virtual | ~btCollisionShape () |
virtual void | getBoundingSphere (btVector3 ¢er, 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 |
virtual void | serializeSingleShape (btSerializer *serializer) const |
Private Attributes | |
btOptimizedBvh * | m_bvh |
btTriangleInfoMap * | m_triangleInfoMap |
bool | m_useQuantizedAabbCompression |
bool | m_ownsBvh |
bool | m_pad [11] |
Additional Inherited Members | |
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btTriangleMeshShape (btStridingMeshInterface *meshInterface) | |
btTriangleMeshShape constructor has been disabled/protected, so that users will not mistakenly use this class. More... | |
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btVector3 | m_localAabbMin |
btVector3 | m_localAabbMax |
btStridingMeshInterface * | m_meshInterface |
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btScalar | m_collisionMargin |
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int | m_shapeType |
void * | m_userPointer |
The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving objects.
If you required moving concave triangle meshes, it is recommended to perform convex decomposition using HACD, see Bullet/Demos/ConvexDecompositionDemo. Alternatively, you can use btGimpactMeshShape for moving concave triangle meshes. btBvhTriangleMeshShape has several optimizations, such as bounding volume hierarchy and cache friendly traversal for PlayStation 3 Cell SPU. It is recommended to enable useQuantizedAabbCompression for better memory usage. It takes a triangle mesh as input, for example a btTriangleMesh or btTriangleIndexVertexArray. The btBvhTriangleMeshShape class allows for triangle mesh deformations by a refit or partialRefit method. Instead of building the bounding volume hierarchy acceleration structure, it is also possible to serialize (save) and deserialize (load) the structure from disk. See Demos\ConcaveDemo\ConcavePhysicsDemo.cpp for an example.
Definition at line 34 of file btBvhTriangleMeshShape.h.
btBvhTriangleMeshShape::btBvhTriangleMeshShape | ( | btStridingMeshInterface * | meshInterface, |
bool | useQuantizedAabbCompression, | ||
bool | buildBvh = true |
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Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
Definition at line 24 of file btBvhTriangleMeshShape.cpp.
btBvhTriangleMeshShape::btBvhTriangleMeshShape | ( | btStridingMeshInterface * | meshInterface, |
bool | useQuantizedAabbCompression, | ||
const btVector3 & | bvhAabbMin, | ||
const btVector3 & | bvhAabbMax, | ||
bool | buildBvh = true |
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optionally pass in a larger bvh aabb, used for quantization. This allows for deformations within this aabb
Definition at line 44 of file btBvhTriangleMeshShape.cpp.
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Definition at line 84 of file btBvhTriangleMeshShape.cpp.
btBvhTriangleMeshShape::BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
void btBvhTriangleMeshShape::buildOptimizedBvh | ( | ) |
m_localAabbMin/m_localAabbMax is already re-calculated in btTriangleMeshShape. We could just scale aabb, but this needs some more work
Definition at line 340 of file btBvhTriangleMeshShape.cpp.
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Reimplemented from btCollisionShape.
Definition at line 138 of file btBvhTriangleMeshShape.h.
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Reimplemented from btTriangleMeshShape.
Reimplemented in btMultimaterialTriangleMeshShape.
Definition at line 74 of file btBvhTriangleMeshShape.h.
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Definition at line 79 of file btBvhTriangleMeshShape.h.
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Definition at line 56 of file btBvhTriangleMeshShape.h.
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Definition at line 98 of file btBvhTriangleMeshShape.h.
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Definition at line 103 of file btBvhTriangleMeshShape.h.
void btBvhTriangleMeshShape::partialRefitTree | ( | const btVector3 & | aabbMin, |
const btVector3 & | aabbMax | ||
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for a fast incremental refit of parts of the tree. Note: the entire AABB of the tree will become more conservative, it never shrinks
Definition at line 68 of file btBvhTriangleMeshShape.cpp.
void btBvhTriangleMeshShape::performConvexcast | ( | btTriangleCallback * | callback, |
const btVector3 & | boxSource, | ||
const btVector3 & | boxTarget, | ||
const btVector3 & | boxMin, | ||
const btVector3 & | boxMax | ||
) |
Definition at line 162 of file btBvhTriangleMeshShape.cpp.
void btBvhTriangleMeshShape::performRaycast | ( | btTriangleCallback * | callback, |
const btVector3 & | raySource, | ||
const btVector3 & | rayTarget | ||
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Definition at line 93 of file btBvhTriangleMeshShape.cpp.
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Reimplemented from btTriangleMeshShape.
Definition at line 232 of file btBvhTriangleMeshShape.cpp.
Definition at line 77 of file btBvhTriangleMeshShape.cpp.
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fills the dataBuffer and returns the struct name (and 0 on failure)
Reimplemented from btCollisionShape.
Definition at line 372 of file btBvhTriangleMeshShape.cpp.
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Definition at line 442 of file btBvhTriangleMeshShape.cpp.
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Definition at line 453 of file btBvhTriangleMeshShape.cpp.
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Reimplemented from btTriangleMeshShape.
Definition at line 331 of file btBvhTriangleMeshShape.cpp.
void btBvhTriangleMeshShape::setOptimizedBvh | ( | btOptimizedBvh * | bvh, |
const btVector3 & | localScaling = btVector3(1,1,1) |
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Definition at line 355 of file btBvhTriangleMeshShape.cpp.
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Definition at line 93 of file btBvhTriangleMeshShape.h.
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Definition at line 88 of file btBvhTriangleMeshShape.h.
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Definition at line 37 of file btBvhTriangleMeshShape.h.
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Definition at line 41 of file btBvhTriangleMeshShape.h.
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Definition at line 42 of file btBvhTriangleMeshShape.h.
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Definition at line 38 of file btBvhTriangleMeshShape.h.
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Definition at line 40 of file btBvhTriangleMeshShape.h.