The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects. More...

#include <btCollisionShape.h>

Inheritance diagram for btCollisionShape:

[legend]

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btCollisionShape ()

virtual	~btCollisionShape ()

virtual void	getAabb (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
	getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t. More...

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 void	setLocalScaling (const btVector3 &scaling)=0

virtual const btVector3 &	getLocalScaling () const =0

virtual void	calculateLocalInertia (btScalar mass, btVector3 &inertia) const =0

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...

virtual void	setMargin (btScalar margin)=0

virtual btScalar	getMargin () const =0

void	setUserPointer (void *userPtr)
	optional user data pointer More...

void *	getUserPointer () 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

Protected Attributes
int	m_shapeType

void *	m_userPointer

Detailed Description

The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.

Definition at line 27 of file btCollisionShape.h.

Constructor & Destructor Documentation

btCollisionShape::btCollisionShape ( )

inline

Definition at line 37 of file btCollisionShape.h.

virtual btCollisionShape::~btCollisionShape ( )

inlinevirtual

Definition at line 41 of file btCollisionShape.h.

Member Function Documentation

btCollisionShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

virtual void btCollisionShape::calculateLocalInertia	(	btScalar	mass,
		btVector3 &	inertia
	)		const

pure virtual

int btCollisionShape::calculateSerializeBufferSize ( ) const

inlinevirtual

Reimplemented in btGImpactMeshShape, btCompoundShape, btConvexInternalShape, btCylinderShape, btCapsuleShape, btBvhTriangleMeshShape, btConeShape, btConvexHullShape, btMultiSphereShape, btStaticPlaneShape, and btScaledBvhTriangleMeshShape.

Definition at line 151 of file btCollisionShape.h.

void btCollisionShape::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

Definition at line 60 of file btCollisionShape.cpp.

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

pure virtual

getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.

Implemented in btConvexInternalAabbCachingShape, btHeightfieldTerrainShape, btTriangleShapeEx, btSoftClusterCollisionShape, btBox2dShape, btGImpactShapeInterface, btCompoundShape, btBoxShape, btPolyhedralConvexAabbCachingShape, btConvexInternalShape, btUniformScalingShape, btSoftBodyCollisionShape, btConvex2dShape, btTriangleShape, btConvexShape, btCapsuleShape, btCylinderShape, btTriangleMeshShape, btBU_Simplex1to4, btSphereShape, btEmptyShape, btScaledBvhTriangleMeshShape, and btStaticPlaneShape.

btScalar btCollisionShape::getAngularMotionDisc ( ) const

virtual

getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.

Definition at line 50 of file btCollisionShape.cpp.

virtual btVector3 btCollisionShape::getAnisotropicRollingFrictionDirection ( ) const

inlinevirtual

the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See Bullet/Demos/RollingFrictionDemo for an example

Reimplemented in btConeShapeZ, btConeShapeX, btCapsuleShape, btCylinderShape, and btConeShape.

Definition at line 115 of file btCollisionShape.h.

void btCollisionShape::getBoundingSphere	(	btVector3 &	center,
		btScalar &	radius
	)		const

virtual

Definition at line 32 of file btCollisionShape.cpp.

btScalar btCollisionShape::getContactBreakingThreshold ( btScalar defaultContactThresholdFactor ) const

virtual

Definition at line 45 of file btCollisionShape.cpp.

virtual const btVector3& btCollisionShape::getLocalScaling ( ) const

pure virtual

Implemented in btGImpactMeshShapePart, btGImpactShapeInterface, btHeightfieldTerrainShape, btCompoundShape, btConvexInternalShape, btSoftBodyCollisionShape, btUniformScalingShape, btConvex2dShape, btConvexShape, btConvexTriangleMeshShape, btTriangleMeshShape, btEmptyShape, btStaticPlaneShape, and btScaledBvhTriangleMeshShape.

virtual btScalar btCollisionShape::getMargin ( ) const

pure virtual

Implemented in btGImpactMeshShapePart, btSoftClusterCollisionShape, btCompoundShape, btConvexInternalShape, btUniformScalingShape, btConvex2dShape, btConvexShape, btSphereShape, btMinkowskiSumShape, and btConcaveShape.

virtual const char* btCollisionShape::getName ( ) const

pure virtual

int btCollisionShape::getShapeType ( ) const

inline

Definition at line 111 of file btCollisionShape.h.

void* btCollisionShape::getUserPointer ( ) const

inline

Definition at line 129 of file btCollisionShape.h.

bool btCollisionShape::isCompound ( ) const

inline

Definition at line 84 of file btCollisionShape.h.

bool btCollisionShape::isConcave ( ) const

inline

Definition at line 80 of file btCollisionShape.h.

bool btCollisionShape::isConvex ( ) const

inline

Definition at line 72 of file btCollisionShape.h.

bool btCollisionShape::isConvex2d ( ) const

inline

Definition at line 67 of file btCollisionShape.h.

bool btCollisionShape::isInfinite ( ) const

inline

isInfinite is used to catch simulation error (aabb check)

Definition at line 95 of file btCollisionShape.h.

bool btCollisionShape::isNonMoving ( ) const

inline

Definition at line 76 of file btCollisionShape.h.

bool btCollisionShape::isPolyhedral ( ) const

inline

Definition at line 62 of file btCollisionShape.h.

bool btCollisionShape::isSoftBody ( ) const

inline

Definition at line 89 of file btCollisionShape.h.

const char * btCollisionShape::serialize	(	void *	dataBuffer,
		btSerializer *	serializer
	)		const

virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

Reimplemented in btGImpactMeshShape, btCompoundShape, btConvexInternalShape, btCylinderShape, btCapsuleShape, btBvhTriangleMeshShape, btConeShape, btConvexHullShape, btMultiSphereShape, btStaticPlaneShape, and btScaledBvhTriangleMeshShape.

Definition at line 99 of file btCollisionShape.cpp.

void btCollisionShape::serializeSingleShape ( btSerializer * serializer ) const

virtual

Definition at line 113 of file btCollisionShape.cpp.

virtual void btCollisionShape::setLocalScaling ( const btVector3 & scaling )

pure virtual

virtual void btCollisionShape::setMargin ( btScalar margin )

pure virtual

Implemented in btGImpactMeshShape, btGImpactMeshShapePart, btGImpactShapeInterface, btSoftClusterCollisionShape, btCompoundShape, btBox2dShape, btConvexInternalShape, btBoxShape, btUniformScalingShape, btConvex2dShape, btConvexShape, btCylinderShape, btSphereShape, btConcaveShape, and btCapsuleShape.

void btCollisionShape::setUserPointer ( void * userPtr )

inline

optional user data pointer

Definition at line 124 of file btCollisionShape.h.

Member Data Documentation

int btCollisionShape::m_shapeType

protected

Definition at line 30 of file btCollisionShape.h.

void* btCollisionShape::m_userPointer

protected

Definition at line 31 of file btCollisionShape.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation