Casted collision shape used for checking if an object is collision free between two discrete poses. More...

#include <bullet_utils.h>

Inheritance diagram for collision_detection_bullet::CastHullShape:

Public Member Functions
void	batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 , btVector3 , int) const override

void	calculateLocalInertia (btScalar, btVector3 &) const override

	CastHullShape (btConvexShape *shape, const btTransform &t01)

void	getAabb (const btTransform &transform_world, btVector3 &aabbMin, btVector3 &aabbMax) const override
	Shape specific fast recalculation of the AABB at a certain pose. More...

void	getAabbSlow (const btTransform &, btVector3 &, btVector3 &) const override

const btVector3 &	getLocalScaling () const override

btScalar	getMargin () const override

const char *	getName () const override

int	getNumPreferredPenetrationDirections () const override

void	getPreferredPenetrationDirection (int, btVector3 &) const override

btVector3	localGetSupportingVertex (const btVector3 &vec) const override
	From both shape poses computes the support vertex and returns the larger one. More...

btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &v) const override

void	setLocalScaling (const btVector3 &) override

void	setMargin (btScalar) override

void	updateCastTransform (const btTransform &cast_transform)

Public Attributes
btConvexShape *	m_shape
	The casted shape. More...

btTransform	m_shape_transform
	Transformation from the first pose to the second pose. More...

Detailed Description

Casted collision shape used for checking if an object is collision free between two discrete poses.

The cast is not explicitely computed but implicitely represented through the single shape and the transformation between the first and second pose.

Definition at line 304 of file bullet_utils.h.

Constructor & Destructor Documentation

◆ CastHullShape()

collision_detection_bullet::CastHullShape::CastHullShape	(	btConvexShape *	shape,
		const btTransform &	t01
	)

inline

Definition at line 313 of file bullet_utils.h.

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

void collision_detection_bullet::CastHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin	(	const btVector3 *	,
		btVector3 *	,
		int
	)		const

inlineoverride

Definition at line 332 of file bullet_utils.h.

◆ calculateLocalInertia()

void collision_detection_bullet::CastHullShape::calculateLocalInertia	(	btScalar	,
		btVector3 &
	)		const

inlineoverride

Definition at line 385 of file bullet_utils.h.

◆ getAabb()

void collision_detection_bullet::CastHullShape::getAabb	(	const btTransform &	transform_world,
		btVector3 &	aabbMin,
		btVector3 &	aabbMax
	)		const

inlineoverride

Shape specific fast recalculation of the AABB at a certain pose.

The AABB is not recalculated from scratch but updated depending on the given transformation.

Definition at line 342 of file bullet_utils.h.

◆ getAabbSlow()

void collision_detection_bullet::CastHullShape::getAabbSlow	(	const btTransform &	,
		btVector3 &	,
		btVector3 &
	)		const

inlineoverride

Definition at line 351 of file bullet_utils.h.

◆ getLocalScaling()

const btVector3& collision_detection_bullet::CastHullShape::getLocalScaling ( ) const

inlineoverride

Definition at line 360 of file bullet_utils.h.

◆ getMargin()

btScalar collision_detection_bullet::CastHullShape::getMargin ( ) const

inlineoverride

Definition at line 370 of file bullet_utils.h.

◆ getName()

const char* collision_detection_bullet::CastHullShape::getName ( ) const

inlineoverride

Definition at line 390 of file bullet_utils.h.

◆ getNumPreferredPenetrationDirections()

int collision_detection_bullet::CastHullShape::getNumPreferredPenetrationDirections ( ) const

inlineoverride

Definition at line 375 of file bullet_utils.h.

◆ getPreferredPenetrationDirection()

void collision_detection_bullet::CastHullShape::getPreferredPenetrationDirection	(	int	,
		btVector3 &
	)		const

inlineoverride

Definition at line 380 of file bullet_utils.h.

◆ localGetSupportingVertex()

btVector3 collision_detection_bullet::CastHullShape::localGetSupportingVertex ( const btVector3 & vec ) const

inlineoverride

From both shape poses computes the support vertex and returns the larger one.

Definition at line 324 of file bullet_utils.h.

◆ localGetSupportingVertexWithoutMargin()

btVector3 collision_detection_bullet::CastHullShape::localGetSupportingVertexWithoutMargin ( const btVector3 & v ) const

inlineoverride

Definition at line 395 of file bullet_utils.h.

◆ setLocalScaling()

void collision_detection_bullet::CastHullShape::setLocalScaling ( const btVector3 & )

inlineoverride

Definition at line 356 of file bullet_utils.h.

◆ setMargin()

void collision_detection_bullet::CastHullShape::setMargin ( btScalar )

inlineoverride

Definition at line 366 of file bullet_utils.h.

◆ updateCastTransform()

void collision_detection_bullet::CastHullShape::updateCastTransform ( const btTransform & cast_transform )

inline

Definition at line 318 of file bullet_utils.h.

Member Data Documentation

◆ m_shape

btConvexShape* collision_detection_bullet::CastHullShape::m_shape

The casted shape.

Definition at line 308 of file bullet_utils.h.

◆ m_shape_transform

btTransform collision_detection_bullet::CastHullShape::m_shape_transform

Transformation from the first pose to the second pose.

Definition at line 311 of file bullet_utils.h.

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

bullet_utils.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CastHullShape()

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

◆ calculateLocalInertia()

◆ getAabb()

◆ getAabbSlow()

◆ getLocalScaling()

◆ getMargin()

◆ getName()

◆ getNumPreferredPenetrationDirections()

◆ getPreferredPenetrationDirection()

◆ localGetSupportingVertex()

◆ localGetSupportingVertexWithoutMargin()

◆ setLocalScaling()

◆ setMargin()

◆ updateCastTransform()

Member Data Documentation

◆ m_shape

◆ m_shape_transform