Bullet Collision Detection & Physics Library
Public Member Functions | Protected Attributes | List of all members
btCollisionShape Class Referenceabstract

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

#include <btCollisionShape.h>

Inheritance diagram for btCollisionShape:
Inheritance graph
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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btCollisionShape ()
 
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. More...
 
virtual void getBoundingSphere (btVector3 &center, btScalar &radius) const
 
virtual btScalar getAngularMotionDisc () const
 getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations. More...
 
virtual btScalar getContactBreakingThreshold (btScalar defaultContactThresholdFactor) const
 
void 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 More...
 
bool isPolyhedral () const
 
bool isConvex2d () const
 
bool isConvex () const
 
bool isNonMoving () const
 
bool isConcave () const
 
bool isCompound () const
 
bool isSoftBody () const
 
bool isInfinite () const
 isInfinite is used to catch simulation error (aabb check) More...
 
virtual void setLocalScaling (const btVector3 &scaling)=0
 
virtual const btVector3getLocalScaling () const =0
 
virtual void calculateLocalInertia (btScalar mass, btVector3 &inertia) const =0
 
virtual const char * getName () const =0
 
int getShapeType () const
 
virtual btVector3 getAnisotropicRollingFrictionDirection () const
 the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See Bullet/Demos/RollingFrictionDemo for an example More...
 
virtual void setMargin (btScalar margin)=0
 
virtual btScalar getMargin () const =0
 
void setUserPointer (void *userPtr)
 optional user data pointer More...
 
void * getUserPointer () 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) More...
 
virtual void serializeSingleShape (btSerializer *serializer) const
 

Protected Attributes

int m_shapeType
 
void * m_userPointer
 

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.

Constructor & Destructor Documentation

btCollisionShape::btCollisionShape ( )
inline

Definition at line 37 of file btCollisionShape.h.

virtual btCollisionShape::~btCollisionShape ( )
inlinevirtual

Definition at line 41 of file btCollisionShape.h.

Member Function Documentation

btCollisionShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )
virtual void btCollisionShape::calculateLocalInertia ( btScalar  mass,
btVector3 inertia 
) const
pure virtual
int btCollisionShape::calculateSerializeBufferSize ( ) const
inlinevirtual
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

Definition at line 60 of file btCollisionShape.cpp.

virtual void btCollisionShape::getAabb ( const btTransform t,
btVector3 aabbMin,
btVector3 aabbMax 
) const
pure virtual
btScalar btCollisionShape::getAngularMotionDisc ( ) const
virtual

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

Definition at line 50 of file btCollisionShape.cpp.

virtual btVector3 btCollisionShape::getAnisotropicRollingFrictionDirection ( ) const
inlinevirtual

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

Reimplemented in btConeShapeZ, btCapsuleShape, btConeShapeX, btCylinderShape, and btConeShape.

Definition at line 115 of file btCollisionShape.h.

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

Definition at line 32 of file btCollisionShape.cpp.

btScalar btCollisionShape::getContactBreakingThreshold ( btScalar  defaultContactThresholdFactor) const
virtual

Definition at line 45 of file btCollisionShape.cpp.

virtual const btVector3& btCollisionShape::getLocalScaling ( ) const
pure virtual
virtual btScalar btCollisionShape::getMargin ( ) const
pure virtual
virtual const char* btCollisionShape::getName ( ) const
pure virtual
int btCollisionShape::getShapeType ( ) const
inline

Definition at line 111 of file btCollisionShape.h.

void* btCollisionShape::getUserPointer ( ) const
inline

Definition at line 129 of file btCollisionShape.h.

bool btCollisionShape::isCompound ( ) const
inline

Definition at line 84 of file btCollisionShape.h.

bool btCollisionShape::isConcave ( ) const
inline

Definition at line 80 of file btCollisionShape.h.

bool btCollisionShape::isConvex ( ) const
inline

Definition at line 72 of file btCollisionShape.h.

bool btCollisionShape::isConvex2d ( ) const
inline

Definition at line 67 of file btCollisionShape.h.

bool btCollisionShape::isInfinite ( ) const
inline

isInfinite is used to catch simulation error (aabb check)

Definition at line 95 of file btCollisionShape.h.

bool btCollisionShape::isNonMoving ( ) const
inline

Definition at line 76 of file btCollisionShape.h.

bool btCollisionShape::isPolyhedral ( ) const
inline

Definition at line 62 of file btCollisionShape.h.

bool btCollisionShape::isSoftBody ( ) const
inline

Definition at line 89 of file btCollisionShape.h.

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, btCompoundShape, btConvexInternalShape, btCylinderShape, btCapsuleShape, btBvhTriangleMeshShape, btConvexHullShape, btMultiSphereShape, btStaticPlaneShape, and btScaledBvhTriangleMeshShape.

Definition at line 99 of file btCollisionShape.cpp.

void btCollisionShape::serializeSingleShape ( btSerializer serializer) const
virtual

Definition at line 113 of file btCollisionShape.cpp.

virtual void btCollisionShape::setLocalScaling ( const btVector3 scaling)
pure virtual
virtual void btCollisionShape::setMargin ( btScalar  margin)
pure virtual
void btCollisionShape::setUserPointer ( void *  userPtr)
inline

optional user data pointer

Definition at line 124 of file btCollisionShape.h.

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.


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