btPolyhedralConvexShape Class Reference

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

#include <btPolyhedralConvexShape.h>

Inheritance diagram for btPolyhedralConvexShape:

List of all members.

Public Member Functions
	btPolyhedralConvexShape ()
virtual btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &vec) const
virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
virtual void	calculateLocalInertia (btScalar mass, btVector3 &inertia) const
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

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Detailed Description

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

Definition at line 24 of file btPolyhedralConvexShape.h.

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Constructor & Destructor Documentation

btPolyhedralConvexShape::btPolyhedralConvexShape

(

)

Definition at line 18 of file btPolyhedralConvexShape.cpp.

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Member Function Documentation

void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin	(	const btVector3 *	vectors,
		btVector3 *	supportVerticesOut,
		int	numVectors
	)		const [virtual]

Reimplemented in btBox2dShape, btBoxShape, and btConvexTriangleMeshShape.

Definition at line 65 of file btPolyhedralConvexShape.cpp.

References BT_LARGE_FLOAT, getNumVertices(), getVertex(), and i.

Referenced by btPolyhedralConvexAabbCachingShape::recalcLocalAabb().

void btPolyhedralConvexShape::calculateLocalInertia	(	btScalar	mass,
		btVector3 &	inertia
	)		const [virtual]

Reimplemented in btBox2dShape, and btBoxShape.

Definition at line 100 of file btPolyhedralConvexShape.cpp.

References btConvexInternalShape::getAabb(), btConvexInternalShape::getMargin(), and btTransform::setIdentity().

virtual void btPolyhedralConvexShape::getEdge	(	int	i,
		btVector3 &	pa,
		btVector3 &	pb
	)		const [pure virtual]

Implemented in btBox2dShape, btBoxShape, btConvexTriangleMeshShape, and btBU_Simplex1to4.

Referenced by btCollisionWorld::debugDrawObject().

virtual int btPolyhedralConvexShape::getNumEdges

(

)

const [pure virtual]

Implemented in btBox2dShape, btBoxShape, btConvexTriangleMeshShape, and btBU_Simplex1to4.

Referenced by btCollisionWorld::debugDrawObject().

virtual int btPolyhedralConvexShape::getNumPlanes

(

)

const [pure virtual]

Implemented in btBox2dShape, btBoxShape, btConvexTriangleMeshShape, and btBU_Simplex1to4.

virtual int btPolyhedralConvexShape::getNumVertices

(

)

const [pure virtual]

Implemented in btBox2dShape, btBoxShape, btConvexTriangleMeshShape, and btBU_Simplex1to4.

Referenced by batchedUnitVectorGetSupportingVertexWithoutMargin(), and localGetSupportingVertexWithoutMargin().

virtual void btPolyhedralConvexShape::getPlane	(	btVector3 &	planeNormal,
		btVector3 &	planeSupport,
		int	i
	)		const [pure virtual]

Implemented in btBox2dShape, btBoxShape, btConvexTriangleMeshShape, and btBU_Simplex1to4.

virtual void btPolyhedralConvexShape::getVertex	(	int	i,
		btVector3 &	vtx
	)		const [pure virtual]

Implemented in btBox2dShape, btBoxShape, btConvexTriangleMeshShape, and btBU_Simplex1to4.

Referenced by batchedUnitVectorGetSupportingVertexWithoutMargin(), and localGetSupportingVertexWithoutMargin().

virtual bool btPolyhedralConvexShape::isInside	(	const btVector3 &	pt,
		btScalar	tolerance
	)		const [pure virtual]

Implemented in btBox2dShape, btBoxShape, btConvexTriangleMeshShape, and btBU_Simplex1to4.

btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin

(

const btVector3 &

vec

)

const [virtual]

Reimplemented in btBox2dShape, btBoxShape, and btConvexTriangleMeshShape.

Definition at line 24 of file btPolyhedralConvexShape.cpp.

References BT_LARGE_FLOAT, btSqrt(), getNumVertices(), getVertex(), and i.

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The documentation for this class was generated from the following files:

• btPolyhedralConvexShape.h
• btPolyhedralConvexShape.cpp