btCollisionShape.h File Reference

#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"

Go to the source code of this file.

Classes
struct	btCollisionShapeData
	do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 More...

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

Variables
	btCollisionShape
	The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
void *	m_userPointer
int	m_userIndex

Function Documentation

BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR

(

)

References INVALID_SHAPE_PROXYTYPE, m_userIndex, and m_userPointer.

calculateLocalInertia()

virtual void calculateLocalInertia ( btScalar mass, btVector3 & inertia ) const

pure virtual

Definition at line 54 of file btConeShape.h.

calculateSerializeBufferSize()

virtual int calculateSerializeBufferSize ( ) const

virtual

calculateTemporalAabb()

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

Todo

: simd would have a vector max/min operation, instead of per-element access

Definition at line 57 of file btCollisionShape.cpp.

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

getAabb()

virtual void 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.

Definition at line 54 of file btCapsuleShape.h.

getAngularMotionDisc()

btScalar btCollisionShape::getAngularMotionDisc ( ) const

virtual

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

Todo

cache this value, to improve performance

Definition at line 47 of file btCollisionShape.cpp.

References btVector3, getBoundingSphere(), and length().

Referenced by btConvexConvexAlgorithm::btConvexConvexAlgorithm(), calculateTemporalAabb(), and getContactBreakingThreshold().

getAnisotropicRollingFrictionDirection()

virtual btVector3 getAnisotropicRollingFrictionDirection ( ) const

virtual

the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See Bullet/Demos/RollingFrictionDemo for an example

Definition at line 113 of file btCollisionShape.h.

References btVector3.

getBoundingSphere()

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

virtual

Definition at line 30 of file btCollisionShape.cpp.

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

Referenced by getAngularMotionDisc().

getContactBreakingThreshold()

btScalar btCollisionShape::getContactBreakingThreshold ( btScalar defaultContactThresholdFactor ) const

virtual

Definition at line 42 of file btCollisionShape.cpp.

References getAngularMotionDisc().

getLocalScaling()

virtual const btVector3 & getLocalScaling ( ) const

pure virtual

Definition at line 126 of file btCompoundShape.h.

References btVector3, and m_localScaling.

Referenced by setOptimizedBvh().

getMargin()

virtual btScalar getMargin ( ) const

pure virtual

Definition at line 137 of file btCompoundShape.h.

References getRadius(), and m_collisionMargin.

Referenced by btBox2dShape(), btBoxShape(), btCylinderShape(), btGjkPairDetector::btGjkPairDetector(), btConvexInternalAabbCachingShape::getAabb(), btPolyhedralConvexAabbCachingShape::getAabb(), getHalfExtentsWithMargin(), getMarginNonVirtual(), initializePolyhedralFeatures(), localGetSupportingVertex(), btTriangleShapeEx::overlap_test_conservative(), btSoftColliders::CollideCL_SS::ProcessSoftSoft(), setLocalScaling(), setMargin(), and setSafeMargin().

getName()

virtual const char * getName ( ) const

pure virtual

Definition at line 301 of file btBox2dShape.h.

Referenced by MeshImporter::create_mesh_object(), and DocumentImporter::write_node().

getShapeType()

int getShapeType

(

)

const

Definition at line 106 of file btCollisionShape.h.

Referenced by btGjkPairDetector::btGjkPairDetector(), isCompound(), isConcave(), isConvex(), isConvex2d(), isInfinite(), isNonMoving(), isPolyhedral(), and isSoftBody().

getUserIndex()

int getUserIndex

(

)

const

Definition at line 135 of file btCollisionShape.h.

References m_userIndex.

getUserPointer()

void * getUserPointer

(

)

const

Definition at line 126 of file btCollisionShape.h.

References m_userPointer.

isCompound()

SIMD_FORCE_INLINE bool isCompound

(

)

const

Definition at line 81 of file btCollisionShape.h.

References getShapeType(), and SIMD_FORCE_INLINE.

isConcave()

SIMD_FORCE_INLINE bool isConcave

(

)

const

Definition at line 77 of file btCollisionShape.h.

References getShapeType(), and SIMD_FORCE_INLINE.

Referenced by isNonMoving().

isConvex()

SIMD_FORCE_INLINE bool isConvex

(

)

const

Definition at line 69 of file btCollisionShape.h.

References getShapeType(), and SIMD_FORCE_INLINE.

isConvex2d()

SIMD_FORCE_INLINE bool isConvex2d

(

)

const

Definition at line 64 of file btCollisionShape.h.

References getShapeType(), and SIMD_FORCE_INLINE.

isInfinite()

SIMD_FORCE_INLINE bool isInfinite

(

)

const

isInfinite is used to catch simulation error (aabb check)

Definition at line 92 of file btCollisionShape.h.

References getShapeType(), and SIMD_FORCE_INLINE.

isNonMoving()

SIMD_FORCE_INLINE bool isNonMoving

(

)

const

Definition at line 73 of file btCollisionShape.h.

References getShapeType(), and SIMD_FORCE_INLINE.

isPolyhedral()

SIMD_FORCE_INLINE bool isPolyhedral

(

)

const

Definition at line 59 of file btCollisionShape.h.

References getShapeType(), and SIMD_FORCE_INLINE.

isSoftBody()

SIMD_FORCE_INLINE bool isSoftBody

(

)

const

Definition at line 86 of file btCollisionShape.h.

References getShapeType(), and SIMD_FORCE_INLINE.

serialize()

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

virtual

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

serializeSingleShape()

void btCollisionShape::serializeSingleShape ( btSerializer * serializer ) const

virtual

Definition at line 113 of file btCollisionShape.cpp.

References btSerializer::allocate(), BT_SHAPE_CODE, calculateSerializeBufferSize(), btSerializer::finalizeChunk(), len, btChunk::m_oldPtr, and serialize().

setLocalScaling()

virtual void setLocalScaling ( const btVector3 & scaling )

pure virtual

Definition at line 120 of file btBox2dShape.h.

setMargin()

virtual void setMargin ( btScalar margin )

pure virtual

Definition at line 110 of file btBox2dShape.h.

References btVector3, getMargin(), m_collisionMargin, and m_implicitShapeDimensions.

Referenced by setSafeMargin().

setUserIndex()

void setUserIndex

(

int

index

)

Definition at line 130 of file btCollisionShape.h.

References m_userIndex.

setUserPointer()

void setUserPointer

(

void *

userPtr

)

optional user data pointer

Definition at line 121 of file btCollisionShape.h.

References m_userPointer.

~btCollisionShape()

virtual ~btCollisionShape ( )

virtual

Definition at line 41 of file btCollisionShape.h.

Variable Documentation

btCollisionShape

btCollisionShape

Initial value:

{
protected:
    int m_shapeType

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

Definition at line 27 of file btCollisionShape.h.

Referenced by addChildShape(), btGImpactCompoundShape::addChildShape(), btGImpactCompoundShape::addChildShape(), btSoftBody::appendDeformableAnchor(), btSoftBody::appendDeformableAnchor(), btCollisionObjectWrapper::btCollisionObjectWrapper(), btCollisionObjectWrapper::btCollisionObjectWrapper(), btRigidBody::btRigidBody(), btRigidBody::btRigidBodyConstructionInfo::btRigidBodyConstructionInfo(), btTriIndex::btTriIndex(), btSoftBody::checkContact(), btSoftBody::checkDeformableContact(), btSoftBody::checkDeformableFaceContact(), btCollisionWorldImporter::convertAllObjects(), btCollisionWorldImporter::convertCollisionShape(), btGImpactCollisionAlgorithm::convex_vs_convex_collision(), btCollisionWorldImporter::createBoxShape(), btCollisionWorldImporter::createCapsuleShapeX(), btCollisionWorldImporter::createCapsuleShapeY(), btCollisionWorldImporter::createCapsuleShapeZ(), btCollisionWorldImporter::createCollisionObject(), btCollisionWorldImporter::createConeShapeX(), btCollisionWorldImporter::createConeShapeY(), btCollisionWorldImporter::createConeShapeZ(), btCollisionWorldImporter::createConvexTriangleMeshShape(), btCollisionWorldImporter::createCylinderShapeX(), btCollisionWorldImporter::createCylinderShapeY(), btCollisionWorldImporter::createCylinderShapeZ(), btCollisionWorldImporter::createPlaneShape(), btCollisionWorldImporter::createSphereShape(), btCollisionWorld::debugDrawObject(), btSparseSdf< CELLSIZE >::DistanceToShape(), btSparseSdf< CELLSIZE >::Evaluate(), btGImpactCompoundShape::CompoundPrimitiveManager::get_primitive_box(), btGImpactCompoundShape::getChildShape(), btGImpactCompoundShape::getChildShape(), btGImpactMeshShape::getChildShape(), btGImpactMeshShape::getChildShape(), btGImpactMeshShapePart::getChildShape(), btGImpactMeshShapePart::getChildShape(), btGImpactShapeInterface::getChildShape(), btGImpactShapeInterface::getChildShape(), getChildShape(), GIM_ShapeRetriever::ChildShapeRetriever::getChildShape(), GIM_ShapeRetriever::getChildShape(), GIM_ShapeRetriever::TetraShapeRetriever::getChildShape(), GIM_ShapeRetriever::TriangleShapeRetriever::getChildShape(), btCollisionObjectWrapper::getCollisionShape(), btRigidBody::getCollisionShape(), btRigidBody::getCollisionShape(), getCollisionShape(), btCollisionWorldImporter::getCollisionShapeByIndex(), btCollisionWorldImporter::getCollisionShapeByName(), btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(), btGImpactCollisionAlgorithm::gimpact_vs_gimpact(), btGImpactCollisionAlgorithm::gimpact_vs_shape(), btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs(), btSparseSdf< CELLSIZE >::Hash(), btDeformableMultiBodyDynamicsWorld::integrateTransforms(), btCollisionWorld::objectQuerySingle(), btCollisionWorld::objectQuerySingleInternal(), btCompoundCollisionAlgorithm::preallocateChildAlgorithms(), btCompoundCompoundLeafCallback::Process(), btCompoundLeafCallback::Process(), btCompoundLeafCallback::ProcessChildShape(), btCompoundCollisionAlgorithm::processCollision(), btCompoundCompoundCollisionAlgorithm::processCollision(), btSoftBodyTriangleCallback::processTriangle(), btCollisionWorld::rayTestSingle(), btDeformableMultiBodyDynamicsWorld::rayTestSingle(), btSoftMultiBodyDynamicsWorld::rayTestSingle(), btSoftRigidDynamicsWorld::rayTestSingle(), btCollisionWorld::rayTestSingleInternal(), RB_body_get_scale(), RB_body_set_mass(), RB_body_set_scale(), RB_world_convex_sweep_test(), removeChildShape(), btSparseSdf< CELLSIZE >::RemoveReferences(), btCollisionWorld::serializeCollisionObjects(), btSoftBody::setCollisionShape(), setCollisionShape(), btGImpactShapeInterface::setMargin(), and btGImpactCollisionAlgorithm::shape_vs_shape_collision().

m_userIndex

int m_userIndex

Definition at line 32 of file btCollisionShape.h.

m_userPointer

void* m_userPointer

Definition at line 31 of file btCollisionShape.h.

Referenced by BT_DECLARE_ALIGNED_ALLOCATOR(), btDefaultMotionState(), btCompoundCompoundCollisionAlgorithm::getAllContactManifolds(), getUserPointer(), btCompoundCompoundCollisionAlgorithm::processCollision(), and setUserPointer().