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

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 ( )

Reimplemented from btConvexInternalShape.

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

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