btCollisionShape.h File Reference

#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"

Go to the source code of this file.

Classes
struct	btCollisionShapeData
	do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 More...

Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
virtual	~btCollisionShape ()
virtual void	getAabb (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
	getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
virtual void	getBoundingSphere (btVector3 &center, btScalar &radius) const
virtual btScalar	getAngularMotionDisc () const
	getAngularMotionDisc returns the maximum 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
SIMD_FORCE_INLINE bool	isPolyhedral () const
SIMD_FORCE_INLINE bool	isConvex2d () const
SIMD_FORCE_INLINE bool	isConvex () const
SIMD_FORCE_INLINE bool	isNonMoving () const
SIMD_FORCE_INLINE bool	isConcave () const
SIMD_FORCE_INLINE bool	isCompound () const
SIMD_FORCE_INLINE bool	isSoftBody () const
SIMD_FORCE_INLINE bool	isInfinite () const
	isInfinite is used to catch simulation error (aabb check)
virtual void	setLocalScaling (const btVector3 &scaling)=0
virtual const btVector3 &	getLocalScaling () const =0
virtual void	calculateLocalInertia (btScalar mass, btVector3 &inertia) const =0
	CollisionShape Interface.
virtual const char *	getName () const =0
	getName is for debugging
int	getShapeType () const
virtual btVector3	getAnisotropicRollingFrictionDirection () const
virtual void	setMargin (btScalar margin)=0
virtual btScalar	getMargin () const =0
void	setUserPointer (void *userPtr)
	optional user data pointer
void *	getUserPointer () const
void	setUserIndex (int index)
int	getUserIndex () 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)
virtual void	serializeSingleShape (btSerializer *serializer) const

Variables
	btCollisionShape
	The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
void *	m_userPointer
int	m_userIndex

Function Documentation

BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR

(

)

References INVALID_SHAPE_PROXYTYPE, m_userIndex, and m_userPointer.

calculateLocalInertia()

virtual void calculateLocalInertia ( btScalar mass, btVector3 & inertia ) const

pure virtual

CollisionShape Interface.

Definition at line 54 of file btConeShape.h.

calculateSerializeBufferSize()

virtual int calculateSerializeBufferSize ( ) const

virtual

calculateTemporalAabb()

void btCollisionShape::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

Todo

: simd would have a vector max/min operation, instead of per-element access

Definition at line 57 of file btCollisionShape.cpp.

References btTransform, btVector3, getAabb(), and getAngularMotionDisc().

getAabb()

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

pure virtual

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

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

Definition at line 54 of file btCapsuleShape.h.

getAngularMotionDisc()

btScalar btCollisionShape::getAngularMotionDisc ( ) const

virtual

getAngularMotionDisc returns the maximum radius needed for Conservative Advancement to handle time-of-impact with rotations.

Todo

cache this value, to improve performance

Definition at line 47 of file btCollisionShape.cpp.

References btVector3, getBoundingSphere(), and length().

Referenced by btConvexConvexAlgorithm::btConvexConvexAlgorithm(), calculateTemporalAabb(), and getContactBreakingThreshold().

getAnisotropicRollingFrictionDirection()

virtual btVector3 getAnisotropicRollingFrictionDirection ( ) const

virtual

the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See Bullet/Demos/RollingFrictionDemo for an example

Definition at line 113 of file btCollisionShape.h.

References btVector3.

getBoundingSphere()

void btCollisionShape::getBoundingSphere ( btVector3 & center, btScalar & radius ) const

virtual

Definition at line 30 of file btCollisionShape.cpp.

References btTransform, btVector3, getAabb(), and length().

Referenced by getAngularMotionDisc().

getContactBreakingThreshold()

btScalar btCollisionShape::getContactBreakingThreshold ( btScalar defaultContactThresholdFactor ) const

virtual

Definition at line 42 of file btCollisionShape.cpp.

References getAngularMotionDisc().

getLocalScaling()

virtual const btVector3 & getLocalScaling ( ) const

pure virtual

Definition at line 126 of file btCompoundShape.h.

References btVector3, and m_localScaling.

Referenced by setOptimizedBvh().

getMargin()

virtual btScalar getMargin ( ) const

pure virtual

Definition at line 137 of file btCompoundShape.h.

References m_collisionMargin.

Referenced by btBox2dShape(), btBoxShape(), btCylinderShape(), btGjkPairDetector::btGjkPairDetector(), btPolyhedralConvexAabbCachingShape::getAabb(), getHalfExtentsWithMargin(), getMarginNonVirtual(), initializePolyhedralFeatures(), localGetSupportingVertex(), btTriangleShapeEx::overlap_test_conservative(), btSoftColliders::CollideCL_SS::ProcessSoftSoft(), setLocalScaling(), and setMargin().

getName()

virtual const char * getName ( ) const

pure virtual

getName is for debugging

Definition at line 301 of file btBox2dShape.h.

getShapeType()

int getShapeType

(

)

const

Definition at line 106 of file btCollisionShape.h.

Referenced by btGjkPairDetector::btGjkPairDetector(), isCompound(), isConcave(), isConvex(), isConvex2d(), isInfinite(), isNonMoving(), isPolyhedral(), and isSoftBody().

getUserIndex()

int getUserIndex

(

)

const

Definition at line 135 of file btCollisionShape.h.

References m_userIndex.

getUserPointer()

void * getUserPointer

(

)

const

Definition at line 126 of file btCollisionShape.h.

References m_userPointer.

isCompound()

SIMD_FORCE_INLINE bool isCompound

(

)

const

Definition at line 81 of file btCollisionShape.h.

References getShapeType(), and SIMD_FORCE_INLINE.

isConcave()

SIMD_FORCE_INLINE bool isConcave

(

)

const

Definition at line 77 of file btCollisionShape.h.

References getShapeType(), and SIMD_FORCE_INLINE.

Referenced by isNonMoving().

isConvex()

SIMD_FORCE_INLINE bool isConvex

(

)

const

Definition at line 69 of file btCollisionShape.h.

References getShapeType(), and SIMD_FORCE_INLINE.

isConvex2d()

SIMD_FORCE_INLINE bool isConvex2d

(

)

const

Definition at line 64 of file btCollisionShape.h.

References getShapeType(), and SIMD_FORCE_INLINE.

isInfinite()

SIMD_FORCE_INLINE bool isInfinite

(

)

const

isInfinite is used to catch simulation error (aabb check)

Definition at line 92 of file btCollisionShape.h.

References getShapeType(), and SIMD_FORCE_INLINE.

isNonMoving()

SIMD_FORCE_INLINE bool isNonMoving

(

)

const

Definition at line 73 of file btCollisionShape.h.

References getShapeType(), and SIMD_FORCE_INLINE.

isPolyhedral()

SIMD_FORCE_INLINE bool isPolyhedral

(

)

const

Definition at line 59 of file btCollisionShape.h.

References getShapeType(), and SIMD_FORCE_INLINE.

isSoftBody()

SIMD_FORCE_INLINE bool isSoftBody

(

)

const

Definition at line 86 of file btCollisionShape.h.

References getShapeType(), and SIMD_FORCE_INLINE.

serialize()

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

virtual

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

serializeSingleShape()

void btCollisionShape::serializeSingleShape ( btSerializer * serializer ) const

virtual

Definition at line 113 of file btCollisionShape.cpp.

References btSerializer::allocate(), BT_SHAPE_CODE, calculateSerializeBufferSize(), btSerializer::finalizeChunk(), len, btChunk::m_oldPtr, and serialize().

setLocalScaling()

virtual void setLocalScaling ( const btVector3 & scaling )

pure virtual

Definition at line 120 of file btBox2dShape.h.

setMargin()

virtual void setMargin ( btScalar margin )

pure virtual

Definition at line 110 of file btBox2dShape.h.

setUserIndex()

void setUserIndex

(

int

index

)

Definition at line 130 of file btCollisionShape.h.

References m_userIndex.

setUserPointer()

void setUserPointer

(

void *

userPtr

)

optional user data pointer

Definition at line 121 of file btCollisionShape.h.

References m_userPointer.

~btCollisionShape()

virtual ~btCollisionShape ( )

virtual

Definition at line 41 of file btCollisionShape.h.

Variable Documentation

btCollisionShape

btCollisionShape

Initial value:

{
protected:
    int m_shapeType

The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.

Definition at line 27 of file btCollisionShape.h.

Referenced by addChildShape(), btGImpactCompoundShape::addChildShape(), btGImpactCompoundShape::addChildShape(), btSoftBody::appendDeformableAnchor(), btSoftBody::appendDeformableAnchor(), btCollisionObjectWrapper::btCollisionObjectWrapper(), btCollisionObjectWrapper::btCollisionObjectWrapper(), btRigidBody::btRigidBody(), btRigidBody::btRigidBodyConstructionInfo::btRigidBodyConstructionInfo(), btTriIndex::btTriIndex(), btSoftBody::checkContact(), btSoftBody::checkDeformableContact(), btSoftBody::checkDeformableFaceContact(), btCollisionWorldImporter::convertAllObjects(), btCollisionWorldImporter::convertCollisionShape(), btGImpactCollisionAlgorithm::convex_vs_convex_collision(), btCollisionWorldImporter::createBoxShape(), btCollisionWorldImporter::createCapsuleShapeX(), btCollisionWorldImporter::createCapsuleShapeY(), btCollisionWorldImporter::createCapsuleShapeZ(), btCollisionWorldImporter::createCollisionObject(), btCollisionWorldImporter::createConeShapeX(), btCollisionWorldImporter::createConeShapeY(), btCollisionWorldImporter::createConeShapeZ(), btCollisionWorldImporter::createConvexTriangleMeshShape(), btCollisionWorldImporter::createCylinderShapeX(), btCollisionWorldImporter::createCylinderShapeY(), btCollisionWorldImporter::createCylinderShapeZ(), btCollisionWorldImporter::createPlaneShape(), btCollisionWorldImporter::createSphereShape(), btCollisionWorld::debugDrawObject(), btSparseSdf< CELLSIZE >::DistanceToShape(), btSparseSdf< CELLSIZE >::Evaluate(), btGImpactCompoundShape::CompoundPrimitiveManager::get_primitive_box(), btGImpactCompoundShape::getChildShape(), btGImpactCompoundShape::getChildShape(), btGImpactMeshShape::getChildShape(), btGImpactMeshShape::getChildShape(), btGImpactMeshShapePart::getChildShape(), btGImpactMeshShapePart::getChildShape(), btGImpactShapeInterface::getChildShape(), btGImpactShapeInterface::getChildShape(), getChildShape(), GIM_ShapeRetriever::ChildShapeRetriever::getChildShape(), GIM_ShapeRetriever::getChildShape(), GIM_ShapeRetriever::TetraShapeRetriever::getChildShape(), GIM_ShapeRetriever::TriangleShapeRetriever::getChildShape(), btCollisionObjectWrapper::getCollisionShape(), btRigidBody::getCollisionShape(), btRigidBody::getCollisionShape(), getCollisionShape(), btCollisionWorldImporter::getCollisionShapeByIndex(), btCollisionWorldImporter::getCollisionShapeByName(), btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(), btGImpactCollisionAlgorithm::gimpact_vs_gimpact(), btGImpactCollisionAlgorithm::gimpact_vs_shape(), btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs(), btSparseSdf< CELLSIZE >::Hash(), btDeformableMultiBodyDynamicsWorld::integrateTransforms(), btCollisionWorld::objectQuerySingle(), btCollisionWorld::objectQuerySingleInternal(), btCompoundCollisionAlgorithm::preallocateChildAlgorithms(), btCompoundCompoundLeafCallback::Process(), btCompoundLeafCallback::Process(), btCompoundLeafCallback::ProcessChildShape(), btCompoundCollisionAlgorithm::processCollision(), btCompoundCompoundCollisionAlgorithm::processCollision(), btSoftBodyTriangleCallback::processTriangle(), btCollisionWorld::rayTestSingle(), btDeformableMultiBodyDynamicsWorld::rayTestSingle(), btSoftMultiBodyDynamicsWorld::rayTestSingle(), btSoftRigidDynamicsWorld::rayTestSingle(), btCollisionWorld::rayTestSingleInternal(), RB_body_get_scale(), RB_body_set_mass(), RB_body_set_scale(), RB_world_convex_sweep_test(), removeChildShape(), btSparseSdf< CELLSIZE >::RemoveReferences(), btCollisionWorld::serializeCollisionObjects(), btSoftBody::setCollisionShape(), setCollisionShape(), btGImpactShapeInterface::setMargin(), and btGImpactCollisionAlgorithm::shape_vs_shape_collision().

m_userIndex

int m_userIndex

Definition at line 32 of file btCollisionShape.h.

m_userPointer

void* m_userPointer

Definition at line 31 of file btCollisionShape.h.

Referenced by BT_DECLARE_ALIGNED_ALLOCATOR(), btDefaultMotionState(), btCompoundCompoundCollisionAlgorithm::getAllContactManifolds(), getUserPointer(), btCompoundCompoundCollisionAlgorithm::processCollision(), and setUserPointer().