btConvexShape.h File Reference

#include "btCollisionShape.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btMatrix3x3.h"
#include "btCollisionMargin.h"
#include "LinearMath/btAlignedAllocator.h"

Go to the source code of this file.

Macros
#define	MAX_PREFERRED_PENETRATION_DIRECTIONS   10

Functions
	btConvexShape ()
	not supported on IBM SDK, until we fix the alignment of btVector3
virtual	~btConvexShape ()
virtual btVector3	localGetSupportingVertex (const btVector3 &vec) const =0
virtual btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &vec) const =0
	btConvexShape Interface
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 &minProj, btScalar &maxProj, btVector3 &witnesPtMin, btVector3 &witnesPtMax) const
virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const =0
void	getAabb (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
	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 =0
virtual void	setLocalScaling (const btVector3 &scaling)=0
	in case we receive negative scaling
virtual const btVector3 &	getLocalScaling () const =0
virtual void	setMargin (btScalar margin)=0
virtual btScalar	getMargin () const =0
virtual int	getNumPreferredPenetrationDirections () const =0
virtual void	getPreferredPenetrationDirection (int index, btVector3 &penetrationVector) const =0

Variables
btConvexShape	__pad0__

Macro Definition Documentation

MAX_PREFERRED_PENETRATION_DIRECTIONS

#define MAX_PREFERRED_PENETRATION_DIRECTIONS   10

Definition at line 27 of file btConvexShape.h.

Referenced by buildHull(), btMinkowskiPenetrationDepthSolver::calcPenDepth(), btMinkowskiPenetrationDepthSolver::getPenetrationDirections(), and getUnitSpherePoints().

Function Documentation

batchedUnitVectorGetSupportingVertexWithoutMargin()

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

pure virtual

Definition at line 71 of file btBox2dShape.h.

btConvexShape()

btConvexShape::btConvexShape

(

)

not supported on IBM SDK, until we fix the alignment of btVector3

Definition at line 41 of file btConvexShape.cpp.

Referenced by btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(), btConvexConvexAlgorithm::calculateTimeOfImpact(), btSoftBody::checkDeformableFaceContact(), btConvexPlaneCollisionAlgorithm::collideSingleContact(), btSparseSdf< CELLSIZE >::DistanceToShape(), btCollisionWorld::objectQuerySingleInternal(), btSoftColliders::CollideCL_RS::Process(), btConvex2dConvex2dAlgorithm::processCollision(), btConvexConvexAlgorithm::processCollision(), btConvexPlaneCollisionAlgorithm::processCollision(), btCollisionWorld::rayTestSingleInternal(), and RB_world_convex_sweep_test().

getAabb()

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

pure virtual

getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version

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 54 of file btCapsuleShape.h.

getAabbNonVirtual()

void btConvexShape::getAabbNonVirtual	(	const btTransform &	t,
		btVector3 &	aabbMin,
		btVector3 &	aabbMax ) const

Definition at line 374 of file btConvexShape.cpp.

References BOX_SHAPE_PROXYTYPE, btAssert, btBoxShape(), btMatrix3x3, btSphereShape(), btVector3, CAPSULE_SHAPE_PROXYTYPE, CONVEX_HULL_SHAPE_PROXYTYPE, CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE, CYLINDER_SHAPE_PROXYTYPE, getAabb(), btPolyhedralConvexAabbCachingShape::getNonvirtualAabb(), localGetSupportVertexWithoutMarginNonVirtual(), m_upAxis, SPHERE_SHAPE_PROXYTYPE, and TRIANGLE_SHAPE_PROXYTYPE.

getAabbSlow()

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

pure virtual

getLocalScaling()

virtual const btVector3 & getLocalScaling ( ) const

pure virtual

Definition at line 126 of file btCompoundShape.h.

getMargin()

virtual btScalar getMargin ( ) const

pure virtual

Definition at line 137 of file btCompoundShape.h.

getMarginNonVirtual()

btScalar btConvexShape::getMarginNonVirtual

(

)

const

Definition at line 320 of file btConvexShape.cpp.

References BOX_SHAPE_PROXYTYPE, btAssert, btBoxShape(), btSphereShape(), CAPSULE_SHAPE_PROXYTYPE, CONE_SHAPE_PROXYTYPE, CONVEX_HULL_SHAPE_PROXYTYPE, CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE, CYLINDER_SHAPE_PROXYTYPE, getMargin(), SPHERE_SHAPE_PROXYTYPE, and TRIANGLE_SHAPE_PROXYTYPE.

Referenced by localGetSupportVertexNonVirtual().

getNumPreferredPenetrationDirections()

virtual int getNumPreferredPenetrationDirections ( ) const

pure virtual

Definition at line 306 of file btBox2dShape.h.

getPreferredPenetrationDirection()

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

pure virtual

Definition at line 311 of file btBox2dShape.h.

localGetSupportingVertex()

virtual btVector3 localGetSupportingVertex ( const btVector3 & vec ) const

pure virtual

Definition at line 51 of file btBox2dShape.h.

localGetSupportingVertexWithoutMargin()

virtual btVector3 localGetSupportingVertexWithoutMargin ( const btVector3 & vec ) const

pure virtual

btConvexShape Interface

Definition at line 62 of file btBox2dShape.h.

localGetSupportVertexNonVirtual()

btVector3 btConvexShape::localGetSupportVertexNonVirtual

(

const btVector3 &

vec

)

const

Definition at line 307 of file btConvexShape.cpp.

References getMarginNonVirtual(), localGetSupportVertexWithoutMarginNonVirtual(), and SIMD_EPSILON.

localGetSupportVertexWithoutMarginNonVirtual()

btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual

(

const btVector3 &

vec

)

const

Definition at line 131 of file btConvexShape.cpp.

References BOX_SHAPE_PROXYTYPE, BT_LARGE_FLOAT, btAssert, btBoxShape(), btConvexHullShape(), btConvexPointCloudShape(), btFsels, btSqrt(), btVector3, CAPSULE_SHAPE_PROXYTYPE, CONVEX_HULL_SHAPE_PROXYTYPE, CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE, convexHullSupport(), CYLINDER_SHAPE_PROXYTYPE, localGetSupportingVertexWithoutMargin(), maxDot(), pos, SIMD_EPSILON, SPHERE_SHAPE_PROXYTYPE, TRIANGLE_SHAPE_PROXYTYPE, and v.

Referenced by getAabbNonVirtual(), and localGetSupportVertexNonVirtual().

project()

virtual void project ( const btTransform & trans, const btVector3 & dir, btScalar & minProj, btScalar & maxProj, btVector3 & witnesPtMin, btVector3 & witnesPtMax ) const

virtual

setLocalScaling()

virtual void setLocalScaling ( const btVector3 & scaling )

pure virtual

in case we receive negative scaling

Definition at line 120 of file btBox2dShape.h.

setMargin()

virtual void setMargin ( btScalar margin )

pure virtual

Definition at line 110 of file btBox2dShape.h.

~btConvexShape()

btConvexShape::~btConvexShape ( )

virtual

Definition at line 45 of file btConvexShape.cpp.

Variable Documentation

__pad0__

btConvexShape __pad0__

The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape, btConvexHullShape etc. It describes general convex shapes using the localGetSupportingVertex interface, used by collision detectors such as btGjkPairDetector.

Definition at line 32 of file btConvexShape.h.