The btMultiSphereShape represents the convex hull of a collection of spheres. More...

#include <btMultiSphereShape.h>

Inheritance diagram for btMultiSphereShape:

Collaboration diagram for btMultiSphereShape:

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btMultiSphereShape (const btVector3 positions, const btScalar radi, int numSpheres)
virtual void	calculateLocalInertia (btScalar mass, btVector3 &inertia) const
	CollisionShape Interface.
virtual btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &vec) const
	btConvexShape Interface
virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 vectors, btVector3 supportVerticesOut, int numVectors) const
int	getSphereCount () const
const btVector3 &	getSpherePosition (int index) const
btScalar	getSphereRadius (int index) const
virtual const char *	getName () 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)
Public Member Functions inherited from btConvexInternalAabbCachingShape
virtual void	setLocalScaling (const btVector3 &scaling)
virtual 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
void	recalcLocalAabb ()
Public Member Functions inherited from btConvexInternalShape
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'
void	setSafeMargin (btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)
void	setSafeMargin (const btVector3 &halfExtents, btScalar defaultMarginMultiplier=0.1f)
virtual void	getAabbSlow (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
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
Public Member Functions inherited from btConvexShape
	btConvexShape ()
	not supported on IBM SDK, until we fix the alignment of btVector3
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
	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.
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
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)
int	getShapeType () const
virtual btVector3	getAnisotropicRollingFrictionDirection () const
	the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See Bullet/Demos/RollingFrictionDemo for an example
void	setUserPointer (void *userPtr)
	optional user data pointer
void *	getUserPointer () const
virtual void	serializeSingleShape (btSerializer *serializer) const

Private Attributes
btAlignedObjectArray< btVector3 >	m_localPositionArray
btAlignedObjectArray< btScalar >	m_radiArray

Additional Inherited Members
Protected Member Functions inherited from btConvexInternalAabbCachingShape
	btConvexInternalAabbCachingShape ()
void	setCachedLocalAabb (const btVector3 &aabbMin, const btVector3 &aabbMax)
void	getCachedLocalAabb (btVector3 &aabbMin, btVector3 &aabbMax) const
void	getNonvirtualAabb (const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
Protected Attributes inherited from btConvexInternalShape
btVector3	m_localScaling
btVector3	m_implicitShapeDimensions
btScalar	m_collisionMargin
btScalar	m_padding

Detailed Description

The btMultiSphereShape represents the convex hull of a collection of spheres.

You can create special capsules or other smooth volumes. It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius

Definition at line 28 of file btMultiSphereShape.h.

Constructor & Destructor Documentation

btMultiSphereShape::btMultiSphereShape	(	const btVector3 *	positions,
		const btScalar *	radi,
		int	numSpheres
	)

Definition at line 25 of file btMultiSphereShape.cpp.

Member Function Documentation

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