#include <btConvexInternalShape.h>

Inheritance diagram for btConvexInternalShape:

Public Member Functions
virtual int	calculateSerializeBufferSize () const
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
const btVector3 &	getImplicitShapeDimensions () const
virtual const btVector3 &	getLocalScaling () const
const btVector3 &	getLocalScalingNV () const
virtual btScalar	getMargin () const
btScalar	getMarginNV () const
virtual int	getNumPreferredPenetrationDirections () const
virtual void	getPreferredPenetrationDirection (int index, btVector3 &penetrationVector) const
virtual btVector3	localGetSupportingVertex (const btVector3 &vec) const
virtual const char *	serialize (void dataBuffer, btSerializer serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure)
void	setImplicitShapeDimensions (const btVector3 &dimensions)
virtual void	setLocalScaling (const btVector3 &scaling)
virtual void	setMargin (btScalar margin)
void	setSafeMargin (btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)
void	setSafeMargin (const btVector3 &halfExtents, btScalar defaultMarginMultiplier=0.1f)
virtual	~btConvexInternalShape ()
Protected Member Functions
	btConvexInternalShape ()
Protected Attributes
btScalar	m_collisionMargin
btVector3	m_implicitShapeDimensions
btVector3	m_localScaling
btScalar	m_padding

Detailed Description

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.

Constructor & Destructor Documentation

btConvexInternalShape::btConvexInternalShape ( ) [protected]

virtual btConvexInternalShape::~btConvexInternalShape ( ) [inline, virtual]

Definition at line 49 of file btConvexInternalShape.h.

Member Function Documentation

SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize ( ) const [virtual]

Reimplemented in btCylinderShape, btCapsuleShape, and btMultiSphereShape.

Definition at line 160 of file btConvexInternalShape.h.

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

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

Reimplemented in btConvexInternalAabbCachingShape, btSoftClusterCollisionShape, btBox2dShape, btBoxShape, btPolyhedralConvexAabbCachingShape, btCapsuleShape, btCylinderShape, and btBU_Simplex1to4.

Definition at line 88 of file btConvexInternalShape.h.

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

const btVector3& btConvexInternalShape::getImplicitShapeDimensions ( ) const [inline]

Definition at line 56 of file btConvexInternalShape.h.

virtual const btVector3& btConvexInternalShape::getLocalScaling ( ) const [inline, virtual]

Reimplemented in btConvexTriangleMeshShape.

Definition at line 99 of file btConvexInternalShape.h.

const btVector3& btConvexInternalShape::getLocalScalingNV ( ) const [inline]

Definition at line 104 of file btConvexInternalShape.h.

virtual btScalar btConvexInternalShape::getMargin ( ) const [inline, virtual]

Reimplemented in btSoftClusterCollisionShape, and btMinkowskiSumShape.

Definition at line 113 of file btConvexInternalShape.h.

btScalar btConvexInternalShape::getMarginNV ( ) const [inline]

Definition at line 118 of file btConvexInternalShape.h.

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

Reimplemented in btBox2dShape, and btBoxShape.

Definition at line 123 of file btConvexInternalShape.h.

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

Reimplemented in btBox2dShape, and btBoxShape.

Definition at line 128 of file btConvexInternalShape.h.

virtual btVector3 btConvexInternalShape::localGetSupportingVertex ( const btVector3 & vec ) const [virtual]

Reimplemented in btSoftClusterCollisionShape, btCylinderShape, btBox2dShape, btBoxShape, btConvexTriangleMeshShape, and btConeShape.

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

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

Reimplemented in btCylinderShape, btCapsuleShape, and btMultiSphereShape.

Definition at line 166 of file btConvexInternalShape.h.

void btConvexInternalShape::setImplicitShapeDimensions ( const btVector3 & dimensions ) [inline]

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 65 of file btConvexInternalShape.h.

virtual void btConvexInternalShape::setLocalScaling ( const btVector3 & scaling ) [virtual]

Reimplemented in btConvexInternalAabbCachingShape, btBox2dShape, btCylinderShape, btPolyhedralConvexAabbCachingShape, btBoxShape, btCapsuleShape, btConeShape, and btConvexTriangleMeshShape.