The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes. More...

#include <btMinkowskiSumShape.h>

Inheritance diagram for btMinkowskiSumShape:

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Collaboration diagram for btMinkowskiSumShape:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btMinkowskiSumShape (const btConvexShape shapeA, const btConvexShape shapeB)

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

void	setTransformA (const btTransform &transA)

void	setTransformB (const btTransform &transB)

const btTransform &	getTransformA () const

const btTransform &	GetTransformB () const

virtual btScalar	getMargin () const

const btConvexShape *	getShapeA () const

const btConvexShape *	getShapeB () const

virtual const char *	getName () const

Public Member Functions inherited from btConvexInternalShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()

virtual	~btConvexInternalShape ()

virtual btVector3	localGetSupportingVertex (const btVector3 &vec) const

const btVector3 &	getImplicitShapeDimensions () 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 btVector3 &	getLocalScaling () const

const btVector3 &	getLocalScalingNV () const

virtual void	setMargin (btScalar margin)

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
	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 &min, btScalar &max) 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

virtual void	serializeSingleShape (btSerializer *serializer) const

Private Attributes
btTransform	m_transA

btTransform	m_transB

const btConvexShape *	m_shapeA

const btConvexShape *	m_shapeB

Additional Inherited Members
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

Detailed Description

The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes.

Definition at line 23 of file btMinkowskiSumShape.h.

Constructor & Destructor Documentation

btMinkowskiSumShape::btMinkowskiSumShape	(	const btConvexShape *	shapeA,
		const btConvexShape *	shapeB
	)

Definition at line 20 of file btMinkowskiSumShape.cpp.

Member Function Documentation

void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin	(	const btVector3 *	vectors,
		btVector3 *	supportVerticesOut,
		int	numVectors
	)		const

virtual

Implements btConvexShape.

Definition at line 37 of file btMinkowskiSumShape.cpp.

btMinkowskiSumShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

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

virtual

Implements btCollisionShape.

Definition at line 55 of file btMinkowskiSumShape.cpp.

btScalar btMinkowskiSumShape::getMargin ( ) const

virtual

Reimplemented from btConvexInternalShape.

Definition at line 49 of file btMinkowskiSumShape.cpp.

virtual const char* btMinkowskiSumShape::getName ( ) const

inlinevirtual

Implements btCollisionShape.

Definition at line 56 of file btMinkowskiSumShape.h.

const btConvexShape* btMinkowskiSumShape::getShapeA ( ) const

inline

Definition at line 53 of file btMinkowskiSumShape.h.

const btConvexShape* btMinkowskiSumShape::getShapeB ( ) const

inline

Definition at line 54 of file btMinkowskiSumShape.h.

const btTransform& btMinkowskiSumShape::getTransformA ( ) const

inline

Definition at line 47 of file btMinkowskiSumShape.h.

const btTransform& btMinkowskiSumShape::GetTransformB ( ) const

inline

Definition at line 48 of file btMinkowskiSumShape.h.

btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin ( const btVector3 & vec ) const

virtual

Implements btConvexShape.

Definition at line 30 of file btMinkowskiSumShape.cpp.

void btMinkowskiSumShape::setTransformA ( const btTransform & transA )

inline

Definition at line 44 of file btMinkowskiSumShape.h.

void btMinkowskiSumShape::setTransformB ( const btTransform & transB )

inline

Definition at line 45 of file btMinkowskiSumShape.h.

Member Data Documentation

const btConvexShape* btMinkowskiSumShape::m_shapeA

private

Definition at line 28 of file btMinkowskiSumShape.h.

const btConvexShape* btMinkowskiSumShape::m_shapeB

private

Definition at line 29 of file btMinkowskiSumShape.h.

btTransform btMinkowskiSumShape::m_transA

private

Definition at line 26 of file btMinkowskiSumShape.h.

btTransform btMinkowskiSumShape::m_transB

private

Definition at line 27 of file btMinkowskiSumShape.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation