btConvexInternalShape.h File Reference

#include "btConvexShape.h"
#include "LinearMath/btAabbUtil2.h"

Go to the source code of this file.

Classes
struct	btConvexInternalShapeData
	do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 More...
class	btConvexInternalAabbCachingShape
	btConvexInternalAabbCachingShape adds local aabb caching for convex shapes, to avoid expensive bounding box calculations More...

Functions
	btConvexInternalShape ()
	BT_DECLARE_ALIGNED_ALLOCATOR ()
virtual	~btConvexInternalShape ()
virtual btVector3	localGetSupportingVertex (const btVector3 &vec) const
const btVector3 &	getImplicitShapeDimensions () const
void	setImplicitShapeDimensions (const btVector3 &dimensions)
void	setSafeMargin (btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)
void	setSafeMargin (const btVector3 &halfExtents, btScalar defaultMarginMultiplier=0.1f)
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	getAabbSlow (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void	setLocalScaling (const btVector3 &scaling)
virtual const btVector3 &	getLocalScaling () const
const btVector3 &	getLocalScalingNV () const
virtual void	setMargin (btScalar margin)
virtual btScalar	getMargin () const
btScalar	getMarginNV () const
virtual int	getNumPreferredPenetrationDirections () const
virtual void	getPreferredPenetrationDirection (int index, btVector3 &penetrationVector) 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)

Variables
btConvexInternalShape	__pad0__
btVector3	m_implicitShapeDimensions
btScalar	m_collisionMargin
btScalar	m_padding

Function Documentation

BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR

(

)

References BT_DECLARE_ALIGNED_ALLOCATOR.

btConvexInternalShape()

btConvexInternalShape::btConvexInternalShape

(

)

Definition at line 18 of file btConvexInternalShape.cpp.

References CONVEX_DISTANCE_MARGIN, m_collisionMargin, and m_localScaling.

Referenced by btCapsuleShape(), btCapsuleShape(), btConeShape(), btConvexInternalAabbCachingShape::btConvexInternalAabbCachingShape(), btCylinderShape(), btMinkowskiSumShape(), btPolyhedralConvexShape(), btSphereShape(), and ~btConvexInternalShape().

calculateSerializeBufferSize()

virtual int calculateSerializeBufferSize ( ) const

virtual

References calculateSerializeBufferSize().

getAabb()

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

Definition at line 84 of file btConvexInternalShape.h.

References btTransform, btVector3, getAabb(), and getAabbSlow().

getAabbSlow()

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

virtual

References btTransform, btVector3, getAabbSlow(), and setLocalScaling().

getImplicitShapeDimensions()

const btVector3 & getImplicitShapeDimensions

(

)

const

Definition at line 52 of file btConvexInternalShape.h.

References btVector3, getImplicitShapeDimensions(), and m_implicitShapeDimensions.

Referenced by getImplicitShapeDimensions().

getLocalScaling()

virtual const btVector3 & getLocalScaling ( ) const

virtual

Definition at line 92 of file btConvexInternalShape.h.

References btVector3, getLocalScaling(), and m_localScaling.

getLocalScalingNV()

const btVector3 & getLocalScalingNV

(

)

const

Definition at line 97 of file btConvexInternalShape.h.

References btVector3, getLocalScalingNV(), and m_localScaling.

Referenced by getLocalScalingNV().

getMargin()

virtual btScalar getMargin ( ) const

virtual

Definition at line 106 of file btConvexInternalShape.h.

References getMargin(), and m_collisionMargin.

Referenced by btConvexInternalAabbCachingShape::getAabb().

getMarginNV()

btScalar getMarginNV

(

)

const

Definition at line 111 of file btConvexInternalShape.h.

References getMarginNV(), and m_collisionMargin.

Referenced by getMarginNV().

getNumPreferredPenetrationDirections()

virtual int getNumPreferredPenetrationDirections ( ) const

virtual

Definition at line 116 of file btConvexInternalShape.h.

References getNumPreferredPenetrationDirections().

getPreferredPenetrationDirection()

virtual void getPreferredPenetrationDirection ( int index, btVector3 & penetrationVector ) const

virtual

Definition at line 121 of file btConvexInternalShape.h.

References btAssert, btVector3, and getPreferredPenetrationDirection().

localGetSupportingVertex()

virtual btVector3 localGetSupportingVertex ( const btVector3 & vec ) const

virtual

Definition at line 51 of file btBox2dShape.h.

Referenced by btConvexInternalAabbCachingShape::recalcLocalAabb().

serialize()

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

virtual

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

References serialize().

setImplicitShapeDimensions()

void setImplicitShapeDimensions

(

const btVector3 &

dimensions

)

warning: use setImplicitShapeDimensions with care changing a collision shape while the body is in the world is not recommended, it is best to remove the body from the world, then make the change, and re-add it alternatively flush the contact points, see documentation for 'cleanProxyFromPairs'

Definition at line 61 of file btConvexInternalShape.h.

References btVector3, m_implicitShapeDimensions, and setImplicitShapeDimensions().

Referenced by setImplicitShapeDimensions().

setLocalScaling()

virtual void setLocalScaling ( const btVector3 & scaling )

virtual

Definition at line 120 of file btBox2dShape.h.

setMargin()

virtual void setMargin ( btScalar margin )

virtual

Definition at line 102 of file btConvexInternalShape.h.

References m_collisionMargin, and setMargin().

setSafeMargin() [1/2]

void setSafeMargin	(	btScalar	minDimension,
		btScalar	defaultMarginMultiplier = 0.1f )

Definition at line 66 of file btConvexInternalShape.h.

References getMargin(), setMargin(), and setSafeMargin().

Referenced by btBox2dShape(), btBoxShape(), btCylinderShape(), setSafeMargin(), and setSafeMargin().

setSafeMargin() [2/2]

void setSafeMargin	(	const btVector3 &	halfExtents,
		btScalar	defaultMarginMultiplier = 0.1f )

Definition at line 74 of file btConvexInternalShape.h.

References btVector3, and setSafeMargin().

~btConvexInternalShape()

virtual ~btConvexInternalShape ( )

virtual

Definition at line 46 of file btConvexInternalShape.h.

References btConvexInternalShape().

Variable Documentation

__pad0__

btConvexInternalShape __pad0__

The btConvexInternalShape is an internal base class, shared by most convex shape implementations. The btConvexInternalShape uses a default collision margin set to CONVEX_DISTANCE_MARGIN. This collision margin used by Gjk and some other algorithms, see also btCollisionMargin.h Note that when creating small shapes (derived from btConvexInternalShape), you need to make sure to set a smaller collision margin, using the 'setMargin' API There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape

Definition at line 29 of file btConvexInternalShape.h.

m_collisionMargin

btScalar m_collisionMargin

Definition at line 37 of file btConvexInternalShape.h.

m_implicitShapeDimensions

btVector3 m_implicitShapeDimensions

Definition at line 35 of file btConvexInternalShape.h.

Referenced by btBox2dShape(), btBoxShape(), btCapsuleShape(), btCapsuleShapeX::btCapsuleShapeX(), btCapsuleShapeZ::btCapsuleShapeZ(), btCylinderShape(), btSphereShape(), getHalfExtentsWithoutMargin(), getHalfHeight(), getImplicitShapeDimensions(), getRadius(), setConeUpIndex(), setImplicitShapeDimensions(), setLocalScaling(), setMargin(), and setUnscaledRadius().

m_padding

btScalar m_padding

Definition at line 39 of file btConvexInternalShape.h.