Public Member Functions | Protected Member Functions | Protected Attributes
btCapsuleShape Class Reference

#include <btCapsuleShape.h>

Inheritance diagram for btCapsuleShape:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
 btCapsuleShape (btScalar radius, btScalar height)
virtual void calculateLocalInertia (btScalar mass, btVector3 &inertia) const
 CollisionShape Interface.
virtual int calculateSerializeBufferSize () const
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
btScalar getHalfHeight () const
virtual const char * getName () const
btScalar getRadius () const
int getUpAxis () const
virtual btVector3 localGetSupportingVertexWithoutMargin (const btVector3 &vec) const
 btConvexShape Interface
virtual const char * serialize (void *dataBuffer, btSerializer *serializer) const
 fills the dataBuffer and returns the struct name (and 0 on failure)
virtual void setLocalScaling (const btVector3 &scaling)
virtual void setMargin (btScalar collisionMargin)

Protected Member Functions

 btCapsuleShape ()
 only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.

Protected Attributes

int m_upAxis

Detailed Description

The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis. The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.

Definition at line 26 of file btCapsuleShape.h.


Constructor & Destructor Documentation

btCapsuleShape::btCapsuleShape ( ) [inline, protected]

only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.

Definition at line 33 of file btCapsuleShape.h.


Member Function Documentation

virtual void btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin ( const btVector3 *  vectors,
btVector3 *  supportVerticesOut,
int  numVectors 
) const [virtual]
virtual void btCapsuleShape::calculateLocalInertia ( btScalar  mass,
btVector3 &  inertia 
) const [virtual]

CollisionShape Interface.

Reimplemented from btConvexInternalShape.

Definition at line 156 of file btCapsuleShape.h.

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

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

Reimplemented from btConvexInternalShape.

Definition at line 58 of file btCapsuleShape.h.

Definition at line 87 of file btCapsuleShape.h.

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

Reimplemented in btCapsuleShapeZ, and btCapsuleShapeX.

Definition at line 71 of file btCapsuleShape.h.

btScalar btCapsuleShape::getRadius ( ) const [inline]

Definition at line 81 of file btCapsuleShape.h.

int btCapsuleShape::getUpAxis ( ) const [inline]

Definition at line 76 of file btCapsuleShape.h.

virtual btVector3 btCapsuleShape::localGetSupportingVertexWithoutMargin ( const btVector3 &  vec) const [virtual]

btConvexShape Interface

SIMD_FORCE_INLINE const char * btCapsuleShape::serialize ( void *  dataBuffer,
btSerializer serializer 
) const [virtual]

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

Reimplemented from btConvexInternalShape.

Definition at line 162 of file btCapsuleShape.h.

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

Reimplemented from btConvexInternalShape.

Definition at line 92 of file btCapsuleShape.h.

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

Reimplemented from btConvexInternalShape.

Definition at line 46 of file btCapsuleShape.h.


Member Data Documentation

int btCapsuleShape::m_upAxis [protected]

Definition at line 29 of file btCapsuleShape.h.


The documentation for this class was generated from the following file:
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Author(s): Erwin Coumans, ROS package maintained by Tully Foote
autogenerated on Wed Oct 31 2012 07:54:32