The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space. More...

#include <btBoxShape.h>

Inheritance diagram for btBoxShape:

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List of all members.

Public Member Functions
btVector3	getHalfExtentsWithMargin () const
const btVector3 &	getHalfExtentsWithoutMargin () const
virtual btVector3	localGetSupportingVertex (const btVector3 &vec) const
SIMD_FORCE_INLINE btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &vec) const
virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 vectors, btVector3 supportVerticesOut, int numVectors) const
	btBoxShape (const btVector3 &boxHalfExtents)
virtual void	setMargin (btScalar collisionMargin)
virtual void	setLocalScaling (const btVector3 &scaling)
virtual void	getAabb (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
	getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
virtual void	calculateLocalInertia (btScalar mass, btVector3 &inertia) const
virtual void	getPlane (btVector3 &planeNormal, btVector3 &planeSupport, int i) const
virtual int	getNumPlanes () const
virtual int	getNumVertices () const
virtual int	getNumEdges () const
virtual void	getVertex (int i, btVector3 &vtx) const
virtual void	getPlaneEquation (btVector4 &plane, int i) const
virtual void	getEdge (int i, btVector3 &pa, btVector3 &pb) const
virtual bool	isInside (const btVector3 &pt, btScalar tolerance) const
virtual const char *	getName () const
virtual int	getNumPreferredPenetrationDirections () const
virtual void	getPreferredPenetrationDirection (int index, btVector3 &penetrationVector) const

Detailed Description

The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.

Definition at line 26 of file btBoxShape.h.

Constructor & Destructor Documentation

btBoxShape::btBoxShape ( const btVector3 & boxHalfExtents ) [inline]

Definition at line 83 of file btBoxShape.h.

References BOX_SHAPE_PROXYTYPE, btConvexInternalShape::getMargin(), btConvexInternalShape::m_implicitShapeDimensions, and btConvexInternalShape::m_localScaling.

Member Function Documentation

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

Reimplemented from btPolyhedralConvexShape.

Definition at line 68 of file btBoxShape.h.

References btFsels, getHalfExtentsWithoutMargin(), and i.

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

Reimplemented from btPolyhedralConvexShape.

Definition at line 27 of file btBoxShape.cpp.

References getHalfExtentsWithMargin().

void btBoxShape::getAabb	(	const btTransform &	t,
		btVector3 &	aabbMin,
		btVector3 &	aabbMax
	)		const `[virtual]`

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

Reimplemented from btConvexInternalShape.

Definition at line 21 of file btBoxShape.cpp.

References btTransformAabb(), getHalfExtentsWithoutMargin(), and btConvexInternalShape::getMargin().

virtual void btBoxShape::getEdge	(	int	i,
		btVector3 &	pa,
		btVector3 &	pb
	)		const `[inline, virtual]`

Implements btPolyhedralConvexShape.

Definition at line 187 of file btBoxShape.h.

References btAssert, getVertex(), and i.

btVector3 btBoxShape::getHalfExtentsWithMargin ( ) const [inline]

Definition at line 34 of file btBoxShape.h.

References getHalfExtentsWithoutMargin(), and btConvexInternalShape::getMargin().

Referenced by calculateLocalInertia(), btCollisionWorld::debugDrawObject(), and btBoxBoxDetector::getClosestPoints().

const btVector3& btBoxShape::getHalfExtentsWithoutMargin ( ) const [inline]

Definition at line 42 of file btBoxShape.h.

References btConvexInternalShape::m_implicitShapeDimensions.

Referenced by batchedUnitVectorGetSupportingVertexWithoutMargin(), getAabb(), getHalfExtentsWithMargin(), getPlaneEquation(), btSphereBoxCollisionAlgorithm::getSphereDistance(), getVertex(), isInside(), localGetSupportingVertex(), and localGetSupportingVertexWithoutMargin().

virtual const char* btBoxShape::getName ( void ) const [inline, virtual]

Definition at line 276 of file btBoxShape.h.

virtual int btBoxShape::getNumEdges ( ) const [inline, virtual]

Implements btPolyhedralConvexShape.

Definition at line 140 of file btBoxShape.h.

virtual int btBoxShape::getNumPlanes ( ) const [inline, virtual]

Implements btPolyhedralConvexShape.

Definition at line 130 of file btBoxShape.h.

virtual int btBoxShape::getNumPreferredPenetrationDirections ( ) const [inline, virtual]

Reimplemented from btConvexInternalShape.

Definition at line 281 of file btBoxShape.h.

virtual int btBoxShape::getNumVertices ( ) const [inline, virtual]

Implements btPolyhedralConvexShape.

Definition at line 135 of file btBoxShape.h.

virtual void btBoxShape::getPlane	(	btVector3 &	planeNormal,
		btVector3 &	planeSupport,
		int	i
	)		const `[inline, virtual]`

Implements btPolyhedralConvexShape.

Definition at line 120 of file btBoxShape.h.

References getPlaneEquation(), and localGetSupportingVertex().

virtual void btBoxShape::getPlaneEquation	(	btVector4 &	plane,
		int	i
	)		const `[inline, virtual]`

Definition at line 157 of file btBoxShape.h.

References btAssert, getHalfExtentsWithoutMargin(), and btVector4::setValue().

Referenced by getPlane().

virtual void btBoxShape::getPreferredPenetrationDirection	(	int	index,
		btVector3 &	penetrationVector
	)		const `[inline, virtual]`

Reimplemented from btConvexInternalShape.

Definition at line 286 of file btBoxShape.h.

References btAssert.

virtual void btBoxShape::getVertex	(	int	i,
		btVector3 &	vtx
	)		const `[inline, virtual]`

Implements btPolyhedralConvexShape.

Definition at line 146 of file btBoxShape.h.

References getHalfExtentsWithoutMargin().

Referenced by getEdge().

virtual bool btBoxShape::isInside	(	const btVector3 &	pt,
		btScalar	tolerance
	)		const `[inline, virtual]`

Implements btPolyhedralConvexShape.

Definition at line 258 of file btBoxShape.h.

References getHalfExtentsWithoutMargin().

virtual btVector3 btBoxShape::localGetSupportingVertex ( const btVector3 & vec ) const [inline, virtual]

Reimplemented from btConvexInternalShape.

Definition at line 48 of file btBoxShape.h.

References btFsels, getHalfExtentsWithoutMargin(), and btConvexInternalShape::getMargin().

Referenced by getPlane().

SIMD_FORCE_INLINE btVector3 btBoxShape::localGetSupportingVertexWithoutMargin ( const btVector3 & vec ) const [inline, virtual]

Reimplemented from btPolyhedralConvexShape.

Definition at line 59 of file btBoxShape.h.

References btFsels, and getHalfExtentsWithoutMargin().

virtual void btBoxShape::setLocalScaling ( const btVector3 & scaling ) [inline, virtual]

Reimplemented from btConvexInternalShape.

Definition at line 102 of file btBoxShape.h.

References btConvexInternalShape::getMargin(), btConvexInternalShape::m_implicitShapeDimensions, and btConvexInternalShape::m_localScaling.

virtual void btBoxShape::setMargin ( btScalar collisionMargin ) [inline, virtual]

Reimplemented from btConvexInternalShape.

Definition at line 91 of file btBoxShape.h.

References btConvexInternalShape::getMargin(), and btConvexInternalShape::m_implicitShapeDimensions.

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

btBoxShape Class Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation