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

#include <btPolyhedralConvexShape.h>

Inheritance diagram for btPolyhedralConvexShape:

Collaboration diagram for btPolyhedralConvexShape:

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	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 btConvexPolyhedron *	getConvexPolyhedron () 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
	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)

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
	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...

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

virtual void	serializeSingleShape (btSerializer *serializer) const

Protected Attributes
btConvexPolyhedron *	m_polyhedron

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

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 ( )

virtual

Definition at line 33 of file btPolyhedralConvexShape.cpp.

Member Function Documentation

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

virtual

Implements btConvexShape.

Reimplemented in btConvexPointCloudShape, btTriangleShape, btBox2dShape, btConvexHullShape, btBoxShape, and btConvexTriangleMeshShape.

Definition at line 367 of file btPolyhedralConvexShape.cpp.

btPolyhedralConvexShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

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

virtual

Implements btCollisionShape.

Reimplemented in btBox2dShape, btTriangleShape, and btBoxShape.

Definition at line 404 of file btPolyhedralConvexShape.cpp.

const btConvexPolyhedron* btPolyhedralConvexShape::getConvexPolyhedron ( ) const

inline

Definition at line 46 of file btPolyhedralConvexShape.h.

virtual void btPolyhedralConvexShape::getEdge	(	int	i,
		btVector3 &	pa,
		btVector3 &	pb
	)		const

pure virtual

Implemented in btBox2dShape, btBoxShape, btConvexPointCloudShape, btConvexHullShape, btBU_Simplex1to4, btTriangleShape, and btConvexTriangleMeshShape.

virtual int btPolyhedralConvexShape::getNumEdges ( ) const

pure virtual

Implemented in btBox2dShape, btBoxShape, btConvexPointCloudShape, btConvexHullShape, btBU_Simplex1to4, btConvexTriangleMeshShape, and btTriangleShape.

virtual int btPolyhedralConvexShape::getNumPlanes ( ) const

pure virtual

Implemented in btBox2dShape, btBoxShape, btTriangleShape, btConvexPointCloudShape, btConvexHullShape, btBU_Simplex1to4, and btConvexTriangleMeshShape.

virtual int btPolyhedralConvexShape::getNumVertices ( ) const

pure virtual

Implemented in btBox2dShape, btBoxShape, btConvexPointCloudShape, btConvexHullShape, btBU_Simplex1to4, btConvexTriangleMeshShape, and btTriangleShape.

virtual void btPolyhedralConvexShape::getPlane	(	btVector3 &	planeNormal,
		btVector3 &	planeSupport,
		int	i
	)		const

pure virtual

Implemented in btBox2dShape, btBoxShape, btTriangleShape, btConvexPointCloudShape, btConvexHullShape, btBU_Simplex1to4, and btConvexTriangleMeshShape.

virtual void btPolyhedralConvexShape::getVertex	(	int	i,
		btVector3 &	vtx
	)		const

pure virtual

Implemented in btBox2dShape, btBoxShape, btConvexPointCloudShape, btConvexHullShape, btBU_Simplex1to4, btConvexTriangleMeshShape, and btTriangleShape.

bool btPolyhedralConvexShape::initializePolyhedralFeatures ( int shiftVerticesByMargin = 0 )

virtual

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

Implemented in btBox2dShape, btBoxShape, btTriangleShape, btConvexPointCloudShape, btConvexHullShape, btBU_Simplex1to4, and btConvexTriangleMeshShape.

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

virtual

Implements btConvexShape.

Reimplemented in btConvexPointCloudShape, btConvexHullShape, btTriangleShape, btBox2dShape, btBoxShape, and btConvexTriangleMeshShape.

Definition at line 324 of file btPolyhedralConvexShape.cpp.

Member Data Documentation

btConvexPolyhedron* btPolyhedralConvexShape::m_polyhedron

protected

Definition at line 31 of file btPolyhedralConvexShape.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation