btConvexInternalShape.h File Reference

#include "btConvexShape.h"
#include "LinearMath/btAabbUtil2.h"

Go to the source code of this file.

Classes
struct	btConvexInternalShapeData
	do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 More...
class	btConvexInternalAabbCachingShape
	btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive bounding box calculations More...

Functions
	btConvexInternalShape ()
	BT_DECLARE_ALIGNED_ALLOCATOR ()
virtual	~btConvexInternalShape ()
virtual btVector3	localGetSupportingVertex (const btVector3 &vec) const
const btVector3 &	getImplicitShapeDimensions () const
void	setImplicitShapeDimensions (const btVector3 &dimensions)
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)
	in case we receive negative 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)

Variables
btConvexInternalShape	__pad0__
btVector3	m_implicitShapeDimensions
btScalar	m_collisionMargin
btScalar	m_padding

Function Documentation

BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR

(

)

btConvexInternalShape()

btConvexInternalShape::btConvexInternalShape

(

)

Definition at line 18 of file btConvexInternalShape.cpp.

References CONVEX_DISTANCE_MARGIN, m_collisionMargin, and m_localScaling.

Referenced by btCapsuleShape(), btCapsuleShape(), btConeShape(), btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape(), btCylinderShape(), btMinkowskiSumShape(), btPolyhedralConvexShape(), and btSphereShape().

calculateSerializeBufferSize()

virtual int calculateSerializeBufferSize ( ) const

virtual

getAabb()

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

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

Definition at line 84 of file btConvexInternalShape.h.

References btTransform, btVector3, and getAabbSlow().

getAabbSlow()

virtual void getAabbSlow ( const btTransform & t, btVector3 & aabbMin, btVector3 & aabbMax ) const

virtual

References btTransform, and btVector3.

Referenced by getAabb().

getImplicitShapeDimensions()

const btVector3 & getImplicitShapeDimensions

(

)

const

Definition at line 52 of file btConvexInternalShape.h.

References btVector3, and m_implicitShapeDimensions.

getLocalScaling()

virtual const btVector3 & getLocalScaling ( ) const

virtual

Definition at line 92 of file btConvexInternalShape.h.

References btVector3, and m_localScaling.

getLocalScalingNV()

const btVector3 & getLocalScalingNV

(

)

const

Definition at line 97 of file btConvexInternalShape.h.

References btVector3, and m_localScaling.

getMargin()

virtual btScalar getMargin ( ) const

virtual

Definition at line 106 of file btConvexInternalShape.h.

References m_collisionMargin.

Referenced by btConvexInternalAabbCachingShape::getAabb(), and setSafeMargin().

getMarginNV()

btScalar getMarginNV

(

)

const

Definition at line 111 of file btConvexInternalShape.h.

References m_collisionMargin.

getNumPreferredPenetrationDirections()

virtual int getNumPreferredPenetrationDirections ( ) const

virtual

Definition at line 116 of file btConvexInternalShape.h.

getPreferredPenetrationDirection()

virtual void getPreferredPenetrationDirection ( int index, btVector3 & penetrationVector ) const

virtual

Definition at line 121 of file btConvexInternalShape.h.

References btAssert, and btVector3.

localGetSupportingVertex()

virtual btVector3 localGetSupportingVertex ( const btVector3 & vec ) const

virtual

Definition at line 51 of file btBox2dShape.h.

Referenced by btConvexInternalAabbCachingShape::recalcLocalAabb().

serialize()

virtual const char * serialize ( void * dataBuffer, btSerializer * serializer ) const

virtual

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

setImplicitShapeDimensions()

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'

Definition at line 61 of file btConvexInternalShape.h.

References btVector3, and m_implicitShapeDimensions.

setLocalScaling()

virtual void setLocalScaling ( const btVector3 & scaling )

virtual

in case we receive negative scaling

Definition at line 120 of file btBox2dShape.h.

setMargin()

virtual void setMargin ( btScalar margin )

virtual

Definition at line 102 of file btConvexInternalShape.h.

References m_collisionMargin.

Referenced by setSafeMargin().

setSafeMargin() [1/2]

void setSafeMargin	(	btScalar	minDimension,
		btScalar	defaultMarginMultiplier = 0.1f )

Definition at line 66 of file btConvexInternalShape.h.

References getMargin(), and setMargin().

Referenced by btBox2dShape(), btBoxShape(), btCylinderShape(), and setSafeMargin().

setSafeMargin() [2/2]

void setSafeMargin	(	const btVector3 &	halfExtents,
		btScalar	defaultMarginMultiplier = 0.1f )

Definition at line 74 of file btConvexInternalShape.h.

References btVector3, and setSafeMargin().

~btConvexInternalShape()

virtual ~btConvexInternalShape ( )

virtual

Definition at line 46 of file btConvexInternalShape.h.

Variable Documentation

__pad0__

btConvexInternalShape __pad0__

The btConvexInternalShape is an internal base class, shared by most convex shape implementations. The btConvexInternalShape uses a default collision margin set to CONVEX_DISTANCE_MARGIN. This collision margin used by Gjk and some other algorithms, see also btCollisionMargin.h Note that when creating small shapes (derived from btConvexInternalShape), you need to make sure to set a smaller collision margin, using the 'setMargin' API There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape

Definition at line 29 of file btConvexInternalShape.h.

m_collisionMargin

btScalar m_collisionMargin

Definition at line 37 of file btConvexInternalShape.h.

m_implicitShapeDimensions

btVector3 m_implicitShapeDimensions

Definition at line 35 of file btConvexInternalShape.h.

Referenced by btBox2dShape(), btBoxShape(), btCapsuleShape(), btCapsuleShapeX::btCapsuleShapeX(), btCapsuleShapeZ::btCapsuleShapeZ(), btCylinderShape(), btSphereShape(), getHalfExtentsWithoutMargin(), getHalfHeight(), getImplicitShapeDimensions(), getRadius(), setConeUpIndex(), setImplicitShapeDimensions(), setLocalScaling(), setMargin(), and setUnscaledRadius().

m_padding

btScalar m_padding

Definition at line 39 of file btConvexInternalShape.h.