btPolyhedralConvexShape.h File Reference

#include "LinearMath/btMatrix3x3.h"
#include "btConvexInternalShape.h"

Go to the source code of this file.

Classes
class	btPolyhedralConvexAabbCachingShape
	The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape. More...

Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btPolyhedralConvexShape ()
virtual	~btPolyhedralConvexShape ()
virtual bool	initializePolyhedralFeatures (int shiftVerticesByMargin=0)
virtual void	setPolyhedralFeatures (btConvexPolyhedron &polyhedron)
const btConvexPolyhedron *	getConvexPolyhedron () const
virtual btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &vec) const
	btConvexShape Interface
virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
virtual void	calculateLocalInertia (btScalar mass, btVector3 &inertia) const
	CollisionShape Interface.
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

Variables
btPolyhedralConvexShape	__pad0__
	The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.

Function Documentation

batchedUnitVectorGetSupportingVertexWithoutMargin()

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

virtual

Definition at line 71 of file btBox2dShape.h.

Referenced by btPolyhedralConvexAabbCachingShape::recalcLocalAabb().

BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR

(

)

btPolyhedralConvexShape()

btPolyhedralConvexShape::btPolyhedralConvexShape

(

)

Definition at line 26 of file btPolyhedralConvexShape.cpp.

calculateLocalInertia()

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

virtual

CollisionShape Interface.

Definition at line 54 of file btConeShape.h.

getConvexPolyhedron()

const btConvexPolyhedron * getConvexPolyhedron

(

)

const

Definition at line 43 of file btPolyhedralConvexShape.h.

getEdge()

virtual void getEdge ( int i, btVector3 & pa, btVector3 & pb ) const

pure virtual

Definition at line 218 of file btBox2dShape.h.

getNumEdges()

virtual int getNumEdges ( ) const

pure virtual

Definition at line 174 of file btBox2dShape.h.

getNumPlanes()

virtual int getNumPlanes ( ) const

pure virtual

Definition at line 169 of file btBox2dShape.h.

getNumVertices()

virtual int getNumVertices ( ) const

pure virtual

Definition at line 140 of file btBox2dShape.h.

getPlane()

virtual void getPlane ( btVector3 & planeNormal, btVector3 & planeSupport, int i ) const

pure virtual

Definition at line 155 of file btBox2dShape.h.

getVertex()

virtual void getVertex ( int i, btVector3 & vtx ) const

pure virtual

Definition at line 179 of file btBox2dShape.h.

initializePolyhedralFeatures()

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 53 of file btPolyhedralConvexShape.cpp.

References btAlignedAlloc, btAlignedFree, btAssert, btConvexPolyhedron, btConvexHullComputer::edges, btAlignedObjectArray< T >::expand(), btConvexHullComputer::faces, getMargin(), getNumVertices(), btGeometryUtil::getPlaneEquationsFromVertices(), btConvexHullComputer::Edge::getSourceVertex(), getVertex(), btGeometryUtil::getVerticesFromPlaneEquations(), getX(), GrahamScanConvexHull2D(), btFace::m_indices, btFace::m_plane, numVertices(), btAlignedObjectArray< T >::pop_back(), btAlignedObjectArray< T >::push_back(), btAlignedObjectArray< T >::remove(), btAlignedObjectArray< T >::resize(), btAlignedObjectArray< T >::size(), v, and btConvexHullComputer::vertices.

isInside()

virtual bool isInside ( const btVector3 & pt, btScalar tolerance ) const

pure virtual

Definition at line 284 of file btBox2dShape.h.

localGetSupportingVertexWithoutMargin()

virtual btVector3 localGetSupportingVertexWithoutMargin ( const btVector3 & vec ) const

virtual

btConvexShape Interface

Definition at line 62 of file btBox2dShape.h.

setPolyhedralFeatures()

void btPolyhedralConvexShape::setPolyhedralFeatures ( btConvexPolyhedron & polyhedron )

virtual

Definition at line 40 of file btPolyhedralConvexShape.cpp.

References btAlignedAlloc, and btConvexPolyhedron.

~btPolyhedralConvexShape()

btPolyhedralConvexShape::~btPolyhedralConvexShape ( )

virtual

Definition at line 31 of file btPolyhedralConvexShape.cpp.

References btAlignedFree.

Variable Documentation

__pad0__

btPolyhedralConvexShape __pad0__

The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.

Definition at line 25 of file btPolyhedralConvexShape.h.