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

#include <btCollisionShape.h>

Inheritance diagram for btCollisionShape:

[legend]

List of all members.

Public Member Functions
	btCollisionShape ()
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 maximus 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
virtual const char *	getName () const =0
int	getShapeType () const
virtual void	setMargin (btScalar margin)=0
virtual btScalar	getMargin () const =0
void	setUserPointer (void *userPtr)
	optional user data pointer
void *	getUserPointer () 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
Protected Attributes
int	m_shapeType
void *	m_userPointer

Detailed Description

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

Definition at line 27 of file btCollisionShape.h.

Constructor & Destructor Documentation

btCollisionShape::btCollisionShape ( ) [inline]

Definition at line 35 of file btCollisionShape.h.

virtual btCollisionShape::~btCollisionShape ( ) [inline, virtual]

Definition at line 39 of file btCollisionShape.h.

Member Function Documentation

virtual void btCollisionShape::calculateLocalInertia	(	btScalar	mass,
		btVector3 &	inertia
	)		const `[pure virtual]`

Implemented in btEmptyShape, btHeightfieldTerrainShape, btTriangleMeshShape, btGImpactCompoundShape, btGImpactMeshShapePart, btGImpactMeshShape, and btSoftBodyCollisionShape.

Referenced by CcdPhysicsController::CcdPhysicsController(), plCreateRigidBody(), CcdPhysicsController::PostProcessReplica(), CcdPhysicsController::setScaling(), and CcdPhysicsEnvironment::updateCcdPhysicsController().

SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize ( ) const [virtual]

Reimplemented in btGImpactMeshShape.

Definition at line 142 of file btCollisionShape.h.

Referenced by serializeSingleShape().

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 60 of file btCollisionShape.cpp.

References getAabb(), and getAngularMotionDisc().

virtual void btCollisionShape::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.

Implemented in btEmptyShape, btHeightfieldTerrainShape, btTriangleMeshShape, btGImpactShapeInterface, and btSoftBodyCollisionShape.

Referenced by calculateTemporalAabb(), btGImpactCompoundShape::CompoundPrimitiveManager::get_primitive_box(), btRigidBody::getAabb(), getBoundingSphere(), btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs(), btCompoundLeafCallback::ProcessChildShape(), btCompoundCollisionAlgorithm::processCollision(), and btConvexTriangleCallback::setTimeStepAndCounters().

btScalar btCollisionShape::getAngularMotionDisc ( ) const [virtual]

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

Todo:: cache this value, to improve performance

Definition at line 50 of file btCollisionShape.cpp.

References getBoundingSphere(), and length().

Referenced by calculateTemporalAabb(), and getContactBreakingThreshold().

void btCollisionShape::getBoundingSphere	(	btVector3 &	center,
		btScalar &	radius
	)		const `[virtual]`

Definition at line 32 of file btCollisionShape.cpp.

References getAabb(), length(), and btTransform::setIdentity().

Referenced by getAngularMotionDisc().

btScalar btCollisionShape::getContactBreakingThreshold ( btScalar defaultContactThresholdFactor ) const [virtual]

Definition at line 45 of file btCollisionShape.cpp.

References getAngularMotionDisc().

virtual const btVector3& btCollisionShape::getLocalScaling ( ) const [pure virtual]

Implemented in btEmptyShape, btHeightfieldTerrainShape, btTriangleMeshShape, btGImpactShapeInterface, btGImpactMeshShapePart, and btSoftBodyCollisionShape.

Referenced by GetHitTriangle().

virtual btScalar btCollisionShape::getMargin ( ) const [pure virtual]

Implemented in btConcaveShape, and btGImpactMeshShapePart.

Referenced by CcdPhysicsController::GetMargin().

virtual const char* btCollisionShape::getName ( ) const [pure virtual]

Implemented in btEmptyShape, btHeightfieldTerrainShape, btTriangleMeshShape, btGImpactCompoundShape, btGImpactMeshShapePart, btGImpactMeshShape, and btSoftBodyCollisionShape.

int btCollisionShape::getShapeType ( ) const [inline]

Reimplemented in btGImpactShapeInterface.

Definition at line 109 of file btCollisionShape.h.

References m_shapeType.

Referenced by CcdPhysicsController::CreateSoftbody(), btCollisionWorld::debugDrawObject(), DeleteBulletShape(), GetHitTriangle(), CcdPhysicsController::GetReplica(), btGImpactCollisionAlgorithm::gimpact_vs_shape(), isCompound(), isConcave(), isConvex(), isConvex2d(), isInfinite(), isNonMoving(), isPolyhedral(), isSoftBody(), btCollisionWorld::objectQuerySingle(), plAddChildShape(), plAddVertex(), btCollisionWorld::rayTestSingle(), and CcdPhysicsController::SetRadius().

void* btCollisionShape::getUserPointer ( ) const [inline]

Definition at line 120 of file btCollisionShape.h.

References m_userPointer.

SIMD_FORCE_INLINE bool btCollisionShape::isCompound ( ) const [inline]

Definition at line 82 of file btCollisionShape.h.

References getShapeType().

Referenced by CcdPhysicsController::DeleteControllerShape(), btGImpactCollisionAlgorithm::gimpact_vs_shape(), btCollisionWorld::objectQuerySingle(), CcdPhysicsEnvironment::rayTest(), and btCollisionWorld::rayTestSingle().

SIMD_FORCE_INLINE bool btCollisionShape::isConcave ( ) const [inline]

Definition at line 78 of file btCollisionShape.h.

References getShapeType().

Referenced by btCollisionWorld::debugDrawObject(), btGImpactCollisionAlgorithm::gimpact_vs_shape(), btCollisionWorld::objectQuerySingle(), and btCollisionWorld::rayTestSingle().

SIMD_FORCE_INLINE bool btCollisionShape::isConvex ( ) const [inline]

Definition at line 70 of file btCollisionShape.h.

References getShapeType().

Referenced by btGImpactCompoundShape::addChildShape(), btSparseSdf< 3 >::DistanceToShape(), btDiscreteDynamicsWorld::integrateTransforms(), btCollisionWorld::objectQuerySingle(), and btCollisionWorld::rayTestSingle().

SIMD_FORCE_INLINE bool btCollisionShape::isConvex2d ( ) const [inline]

Definition at line 65 of file btCollisionShape.h.

References getShapeType().

SIMD_FORCE_INLINE bool btCollisionShape::isInfinite ( ) const [inline]

isInfinite is used to catch simulation error (aabb check)

Definition at line 93 of file btCollisionShape.h.

References getShapeType().

SIMD_FORCE_INLINE bool btCollisionShape::isNonMoving ( ) const [inline]

Definition at line 74 of file btCollisionShape.h.

References getShapeType().

SIMD_FORCE_INLINE bool btCollisionShape::isPolyhedral ( ) const [inline]

Definition at line 60 of file btCollisionShape.h.

References getShapeType().

Referenced by btCollisionWorld::debugDrawObject().

SIMD_FORCE_INLINE bool btCollisionShape::isSoftBody ( ) const [inline]

Definition at line 87 of file btCollisionShape.h.

References getShapeType().

Referenced by CcdPhysicsEnvironment::rayTest(), and btSoftRigidDynamicsWorld::rayTestSingle().

const char * btCollisionShape::serialize	(	void *	dataBuffer,
		btSerializer *	serializer
	)		const `[virtual]`

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

Reimplemented in btGImpactMeshShape.

Definition at line 99 of file btCollisionShape.cpp.

References btSerializer::findNameForPointer(), btSerializer::getUniquePointer(), btCollisionShapeData::m_name, btCollisionShapeData::m_shapeType, m_shapeType, and btSerializer::serializeName().

Referenced by 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().

Referenced by btCollisionWorld::serializeCollisionObjects().

virtual void btCollisionShape::setLocalScaling ( const btVector3 & scaling ) [pure virtual]

Implemented in btEmptyShape, btHeightfieldTerrainShape, btTriangleMeshShape, btGImpactShapeInterface, btGImpactMeshShapePart, btGImpactMeshShape, and btSoftBodyCollisionShape.

Referenced by CcdPhysicsController::CcdPhysicsController(), CcdShapeConstructionInfo::CreateBulletShape(), plSetScaling(), CcdPhysicsController::PostProcessReplica(), and CcdPhysicsController::SynchronizeMotionStates().

virtual void btCollisionShape::setMargin ( btScalar margin ) [pure virtual]

Implemented in btConcaveShape, btGImpactShapeInterface, btGImpactMeshShapePart, and btGImpactMeshShape.

Referenced by CcdShapeConstructionInfo::CreateBulletShape(), btGImpactShapeInterface::setMargin(), and CcdPhysicsController::SetMargin().

void btCollisionShape::setUserPointer ( void * userPtr ) [inline]

optional user data pointer

Definition at line 115 of file btCollisionShape.h.

References m_userPointer.

Referenced by btSoftBodyTriangleCallback::processTriangle().

Member Data Documentation

int btCollisionShape::m_shapeType [protected]

Definition at line 30 of file btCollisionShape.h.

Referenced by btEmptyShape::btEmptyShape(), btGImpactShapeInterface::btGImpactShapeInterface(), btSoftBodyCollisionShape::btSoftBodyCollisionShape(), btTriangleMeshShape::btTriangleMeshShape(), getShapeType(), and serialize().

void* btCollisionShape::m_userPointer [protected]

Definition at line 31 of file btCollisionShape.h.

Referenced by getUserPointer(), and setUserPointer().

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

btCollisionShape Class Reference

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation