btCapsuleShape.h File Reference

#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"

Go to the source code of this file.

Classes
class	btCapsuleShapeX
class	btCapsuleShapeZ
struct	btCapsuleShapeData
	do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 More...

Functions
	btCapsuleShape ()
	only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btCapsuleShape (btScalar radius, btScalar height)
virtual void	calculateLocalInertia (btScalar mass, btVector3 &inertia) const
	CollisionShape Interface.
virtual btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &vec) const
	btConvexShape Interface
virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
virtual void	setMargin (btScalar collisionMargin)
virtual void	getAabb (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
	getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
virtual const char *	getName () const
int	getUpAxis () const
btScalar	getRadius () const
btScalar	getHalfHeight () const
virtual void	setLocalScaling (const btVector3 &scaling)
	in case we receive negative scaling
virtual btVector3	getAnisotropicRollingFrictionDirection () 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)
SIMD_FORCE_INLINE void	deSerializeFloat (struct btCapsuleShapeData *dataBuffer)

Variables
btCapsuleShape	__pad0__

Function Documentation

batchedUnitVectorGetSupportingVertexWithoutMargin()

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

virtual

Definition at line 71 of file btBox2dShape.h.

BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR

(

)

btCapsuleShape() [1/2]

btCapsuleShape ( )

protected

only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.

Definition at line 33 of file btCapsuleShape.h.

References CAPSULE_SHAPE_PROXYTYPE.

Referenced by btCollisionWorldImporter::createCapsuleShapeY().

btCapsuleShape() [2/2]

btCapsuleShape::btCapsuleShape	(	btScalar	radius,
		btScalar	height )

Definition at line 20 of file btCapsuleShape.cpp.

References CAPSULE_SHAPE_PROXYTYPE, m_collisionMargin, m_implicitShapeDimensions, and m_upAxis.

calculateLocalInertia()

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

virtual

CollisionShape Interface.

Definition at line 54 of file btConeShape.h.

calculateSerializeBufferSize()

virtual int calculateSerializeBufferSize ( ) const

virtual

deSerializeFloat()

SIMD_FORCE_INLINE void deSerializeFloat

(

struct btCapsuleShapeData *

dataBuffer

)

getAabb()

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

virtual

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

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

Definition at line 54 of file btCapsuleShape.h.

getAnisotropicRollingFrictionDirection()

virtual btVector3 getAnisotropicRollingFrictionDirection ( ) const

virtual

Definition at line 97 of file btCapsuleShape.h.

References getUpAxis().

getHalfHeight()

btScalar getHalfHeight

(

)

const

Definition at line 82 of file btCapsuleShape.h.

References m_implicitShapeDimensions, and m_upAxis.

Referenced by getAabb().

getName()

virtual const char * getName ( ) const

virtual

Definition at line 66 of file btCapsuleShape.h.

getRadius()

btScalar getRadius

(

)

const

Definition at line 76 of file btCapsuleShape.h.

References m_implicitShapeDimensions, and m_upAxis.

Referenced by getAabb().

getUpAxis()

int getUpAxis

(

)

const

Definition at line 71 of file btCapsuleShape.h.

References m_upAxis.

Referenced by getAnisotropicRollingFrictionDirection().

localGetSupportingVertexWithoutMargin()

virtual btVector3 localGetSupportingVertexWithoutMargin ( const btVector3 & vec ) const

virtual

btConvexShape Interface

Definition at line 62 of file btBox2dShape.h.

serialize()

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

virtual

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

setLocalScaling()

virtual void setLocalScaling ( const btVector3 & scaling )

virtual

in case we receive negative scaling

Definition at line 87 of file btCapsuleShape.h.

References m_collisionMargin, m_implicitShapeDimensions, m_localScaling, and m_upAxis.

setMargin()

virtual void setMargin ( btScalar collisionMargin )

virtual

Definition at line 48 of file btCapsuleShape.h.

Variable Documentation

__pad0__

btCapsuleShape __pad0__

The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis. The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.

Definition at line 26 of file btCapsuleShape.h.