btMinkowskiSumShape Class Reference

The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes. More...

#include <btMinkowskiSumShape.h>

Inheritance diagram for btMinkowskiSumShape:

List of all members.

Public Member Functions
	btMinkowskiSumShape (const btConvexShape *shapeA, const btConvexShape *shapeB)
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
void	setTransformA (const btTransform &transA)
void	setTransformB (const btTransform &transB)
const btTransform &	getTransformA () const
const btTransform &	GetTransformB () const
virtual btScalar	getMargin () const
const btConvexShape *	getShapeA () const
const btConvexShape *	getShapeB () const
virtual const char *	getName () const

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Detailed Description

The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes.

Definition at line 23 of file btMinkowskiSumShape.h.

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Constructor & Destructor Documentation

btMinkowskiSumShape::btMinkowskiSumShape	(	const btConvexShape *	shapeA,
		const btConvexShape *	shapeB
	)

Definition at line 20 of file btMinkowskiSumShape.cpp.

References MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE, and btTransform::setIdentity().

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Member Function Documentation

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

Todo:

: could make recursive use of batching. probably this shape is not used frequently.

Definition at line 37 of file btMinkowskiSumShape.cpp.

References i, and localGetSupportingVertexWithoutMargin().

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

Definition at line 55 of file btMinkowskiSumShape.cpp.

References btAssert.

btScalar btMinkowskiSumShape::getMargin

(

)

const [virtual]

Reimplemented from btConvexInternalShape.

Definition at line 49 of file btMinkowskiSumShape.cpp.

virtual const char* btMinkowskiSumShape::getName

(

void

)

const [inline, virtual]

Definition at line 54 of file btMinkowskiSumShape.h.

const btConvexShape* btMinkowskiSumShape::getShapeA

(

)

const [inline]

Definition at line 51 of file btMinkowskiSumShape.h.

const btConvexShape* btMinkowskiSumShape::getShapeB

(

)

const [inline]

Definition at line 52 of file btMinkowskiSumShape.h.

const btTransform& btMinkowskiSumShape::getTransformA

(

)

const [inline]

Definition at line 45 of file btMinkowskiSumShape.h.

const btTransform& btMinkowskiSumShape::GetTransformB

(

)

const [inline]

Definition at line 46 of file btMinkowskiSumShape.h.

btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin

(

const btVector3 &

vec

)

const [virtual]

Definition at line 30 of file btMinkowskiSumShape.cpp.

References btTransform::getBasis().

Referenced by batchedUnitVectorGetSupportingVertexWithoutMargin().

void btMinkowskiSumShape::setTransformA

(

const btTransform &

transA

)

[inline]

Definition at line 42 of file btMinkowskiSumShape.h.

void btMinkowskiSumShape::setTransformB

(

const btTransform &

transB

)

[inline]

Definition at line 43 of file btMinkowskiSumShape.h.

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

• btMinkowskiSumShape.h
• btMinkowskiSumShape.cpp