btCollisionShape Class Reference

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

#include <btCollisionShape.h>

Inheritance diagram for btCollisionShape:

List of all members.

Public Member Functions
	btCollisionShape ()
virtual void	calculateLocalInertia (btScalar mass, btVector3 &inertia) const =0
virtual int	calculateSerializeBufferSize () const
void	calculateTemporalAabb (const btTransform &curTrans, const btVector3 &linvel, const btVector3 &angvel, btScalar timeStep, btVector3 &temporalAabbMin, btVector3 &temporalAabbMax) const
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 btScalar	getAngularMotionDisc () const
	getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
virtual void	getBoundingSphere (btVector3 &center, btScalar &radius) const
virtual btScalar	getContactBreakingThreshold (btScalar defaultContactThresholdFactor) const
virtual const btVector3 &	getLocalScaling () const =0
virtual btScalar	getMargin () const =0
virtual const char *	getName () const =0
int	getShapeType () const
void *	getUserPointer () const
SIMD_FORCE_INLINE bool	isCompound () const
SIMD_FORCE_INLINE bool	isConcave () const
SIMD_FORCE_INLINE bool	isConvex () const
SIMD_FORCE_INLINE bool	isConvex2d () const
SIMD_FORCE_INLINE bool	isInfinite () const
	isInfinite is used to catch simulation error (aabb check)
SIMD_FORCE_INLINE bool	isNonMoving () const
SIMD_FORCE_INLINE bool	isPolyhedral () const
SIMD_FORCE_INLINE bool	isSoftBody () 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
virtual void	setLocalScaling (const btVector3 &scaling)=0
virtual void	setMargin (btScalar margin)=0
void	setUserPointer (void *userPtr)
	optional user data pointer
virtual	~btCollisionShape ()
Protected Attributes
int	m_shapeType
void *	m_userPointer

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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.

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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.

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Member Function Documentation

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

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

SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize

(

)

const [virtual]

Reimplemented in btGImpactMeshShape.

Definition at line 142 of file btCollisionShape.h.

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

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 btHeightfieldTerrainShape, btGImpactShapeInterface, btSoftBodyCollisionShape, btTriangleMeshShape, and btEmptyShape.

virtual btScalar btCollisionShape::getAngularMotionDisc

(

)

const [virtual]

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

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

virtual btScalar btCollisionShape::getContactBreakingThreshold

(

btScalar

defaultContactThresholdFactor

)

const [virtual]

virtual const btVector3& btCollisionShape::getLocalScaling

(

)

const [pure virtual]

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

virtual btScalar btCollisionShape::getMargin

(

)

const [pure virtual]

Implemented in btGImpactMeshShapePart, and btConcaveShape.

virtual const char* btCollisionShape::getName

(

)

const [pure virtual]

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

int btCollisionShape::getShapeType

(

)

const [inline]

Reimplemented in btGImpactShapeInterface.

Definition at line 109 of file btCollisionShape.h.

void* btCollisionShape::getUserPointer

(

)

const [inline]

Definition at line 120 of file btCollisionShape.h.

SIMD_FORCE_INLINE bool btCollisionShape::isCompound

(

)

const [inline]

Definition at line 82 of file btCollisionShape.h.

SIMD_FORCE_INLINE bool btCollisionShape::isConcave

(

)

const [inline]

Definition at line 78 of file btCollisionShape.h.

SIMD_FORCE_INLINE bool btCollisionShape::isConvex

(

)

const [inline]

Definition at line 70 of file btCollisionShape.h.

SIMD_FORCE_INLINE bool btCollisionShape::isConvex2d

(

)

const [inline]

Definition at line 65 of file btCollisionShape.h.

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.

SIMD_FORCE_INLINE bool btCollisionShape::isNonMoving

(

)

const [inline]

Definition at line 74 of file btCollisionShape.h.

SIMD_FORCE_INLINE bool btCollisionShape::isPolyhedral

(

)

const [inline]

Definition at line 60 of file btCollisionShape.h.

SIMD_FORCE_INLINE bool btCollisionShape::isSoftBody

(

)

const [inline]

Definition at line 87 of file btCollisionShape.h.

virtual 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.

virtual void btCollisionShape::serializeSingleShape

(

btSerializer *

serializer

)

const [virtual]

virtual void btCollisionShape::setLocalScaling

(

const btVector3 &

scaling

)

[pure virtual]

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

virtual void btCollisionShape::setMargin

(

btScalar

margin

)

[pure virtual]

Implemented in btGImpactMeshShape, btGImpactMeshShapePart, btGImpactShapeInterface, and btConcaveShape.

void btCollisionShape::setUserPointer

(

void *

userPtr

)

[inline]

optional user data pointer

Definition at line 115 of file btCollisionShape.h.

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Member Data Documentation

int btCollisionShape::m_shapeType [protected]

Definition at line 30 of file btCollisionShape.h.

void* btCollisionShape::m_userPointer [protected]

Definition at line 31 of file btCollisionShape.h.

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

• btCollisionShape.h