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.
 
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
 calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep) result is conservative
 
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)
 
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
 the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See Bullet/Demos/RollingFrictionDemo for an example
 
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
 

Protected Attributes

int m_shapeType
 
void * m_userPointer
 
int m_userIndex
 

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::btCollisionShape ( )
inline

Definition at line 38 of file btCollisionShape.h.

◆ ~btCollisionShape()

virtual btCollisionShape::~btCollisionShape ( )
inlinevirtual

Definition at line 42 of file btCollisionShape.h.

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btCollisionShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calculateLocalInertia()

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

Implemented in btBox2dShape, btBoxShape, btCapsuleShape, btCompoundShape, btConeShape, btConvex2dShape, btCylinderShape, btEmptyShape, btGImpactCompoundShape, btGImpactMeshShape, btGImpactMeshShapePart, btHeightfieldTerrainShape, btMinkowskiSumShape, btMultiSphereShape, btPolyhedralConvexShape, btScaledBvhTriangleMeshShape, btSoftBodyCollisionShape, btSoftClusterCollisionShape, btSphereShape, btStaticPlaneShape, btTriangleMeshShape, btTriangleShape, and btUniformScalingShape.

◆ calculateSerializeBufferSize()

int btCollisionShape::calculateSerializeBufferSize ( ) const
inlinevirtual

Reimplemented in btBvhTriangleMeshShape, btCapsuleShape, btCompoundShape, btConeShape, btConvexHullShape, btConvexInternalShape, btCylinderShape, btGImpactMeshShape, btMultiSphereShape, btScaledBvhTriangleMeshShape, and btStaticPlaneShape.

Definition at line 162 of file btCollisionShape.h.

◆ 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

Definition at line 60 of file btCollisionShape.cpp.

◆ getAabb()

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 btBox2dShape, btBoxShape, btBU_Simplex1to4, btCapsuleShape, btCompoundShape, btConvex2dShape, btConvexInternalAabbCachingShape, btConvexInternalShape, btConvexShape, btCylinderShape, btEmptyShape, btGImpactShapeInterface, btHeightfieldTerrainShape, btPolyhedralConvexAabbCachingShape, btScaledBvhTriangleMeshShape, btSoftBodyCollisionShape, btSoftClusterCollisionShape, btSphereShape, btStaticPlaneShape, btTriangleMeshShape, btTriangleShape, btTriangleShapeEx, and btUniformScalingShape.

◆ getAngularMotionDisc()

btScalar btCollisionShape::getAngularMotionDisc ( ) const
virtual

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

Definition at line 50 of file btCollisionShape.cpp.

◆ getAnisotropicRollingFrictionDirection()

virtual btVector3 btCollisionShape::getAnisotropicRollingFrictionDirection ( ) const
inlinevirtual

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

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

Definition at line 116 of file btCollisionShape.h.

◆ getBoundingSphere()

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

Definition at line 32 of file btCollisionShape.cpp.

◆ getContactBreakingThreshold()

btScalar btCollisionShape::getContactBreakingThreshold ( btScalar defaultContactThresholdFactor) const
virtual

Definition at line 45 of file btCollisionShape.cpp.

◆ getLocalScaling()

virtual const btVector3 & btCollisionShape::getLocalScaling ( ) const
pure virtual

Implemented in btCompoundShape, btConvex2dShape, btConvexInternalShape, btConvexShape, btConvexTriangleMeshShape, btEmptyShape, btGImpactMeshShapePart, btGImpactShapeInterface, btHeightfieldTerrainShape, btScaledBvhTriangleMeshShape, btSoftBodyCollisionShape, btStaticPlaneShape, btTriangleMeshShape, and btUniformScalingShape.

◆ getMargin()

virtual btScalar btCollisionShape::getMargin ( ) const
pure virtual

Implemented in btCompoundShape, btConcaveShape, btConvex2dShape, btConvexInternalShape, btConvexShape, btGImpactMeshShapePart, btMinkowskiSumShape, btSoftClusterCollisionShape, btSphereShape, and btUniformScalingShape.

◆ getName()

virtual const char * btCollisionShape::getName ( ) const
pure virtual

Implemented in btBox2dShape, btBoxShape, btBU_Simplex1to4, btBvhTriangleMeshShape, btCapsuleShape, btCapsuleShapeX, btCapsuleShapeZ, btCompoundShape, btConeShape, btConeShapeX, btConeShapeZ, btConvex2dShape, btConvexHullShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btCylinderShape, btCylinderShapeX, btCylinderShapeZ, btEmptyShape, btGImpactCompoundShape, btGImpactMeshShape, btGImpactMeshShapePart, btHeightfieldTerrainShape, btMinkowskiSumShape, btMultimaterialTriangleMeshShape, btMultiSphereShape, btScaledBvhTriangleMeshShape, btSoftBodyCollisionShape, btSoftClusterCollisionShape, btSphereShape, btStaticPlaneShape, btTriangleMeshShape, btTriangleShape, and btUniformScalingShape.

◆ getShapeType()

int btCollisionShape::getShapeType ( ) const
inline

Definition at line 112 of file btCollisionShape.h.

◆ getUserIndex()

int btCollisionShape::getUserIndex ( ) const
inline

Definition at line 139 of file btCollisionShape.h.

◆ getUserPointer()

void * btCollisionShape::getUserPointer ( ) const
inline

Definition at line 130 of file btCollisionShape.h.

◆ isCompound()

bool btCollisionShape::isCompound ( ) const
inline

Definition at line 85 of file btCollisionShape.h.

◆ isConcave()

bool btCollisionShape::isConcave ( ) const
inline

Definition at line 81 of file btCollisionShape.h.

◆ isConvex()

bool btCollisionShape::isConvex ( ) const
inline

Definition at line 73 of file btCollisionShape.h.

◆ isConvex2d()

bool btCollisionShape::isConvex2d ( ) const
inline

Definition at line 68 of file btCollisionShape.h.

◆ isInfinite()

bool btCollisionShape::isInfinite ( ) const
inline

isInfinite is used to catch simulation error (aabb check)

Definition at line 96 of file btCollisionShape.h.

◆ isNonMoving()

bool btCollisionShape::isNonMoving ( ) const
inline

Definition at line 77 of file btCollisionShape.h.

◆ isPolyhedral()

bool btCollisionShape::isPolyhedral ( ) const
inline

Definition at line 63 of file btCollisionShape.h.

◆ isSoftBody()

bool btCollisionShape::isSoftBody ( ) const
inline

Definition at line 90 of file btCollisionShape.h.

◆ serialize()

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

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

Reimplemented in btBvhTriangleMeshShape, btCapsuleShape, btCompoundShape, btConeShape, btConvexHullShape, btConvexInternalShape, btCylinderShape, btGImpactMeshShape, btMultiSphereShape, btScaledBvhTriangleMeshShape, and btStaticPlaneShape.

Definition at line 99 of file btCollisionShape.cpp.

◆ serializeSingleShape()

void btCollisionShape::serializeSingleShape ( btSerializer * serializer) const
virtual

Definition at line 116 of file btCollisionShape.cpp.

◆ setLocalScaling()

virtual void btCollisionShape::setLocalScaling ( const btVector3 & scaling)
pure virtual

Implemented in btBox2dShape, btBoxShape, btBvhTriangleMeshShape, btCapsuleShape, btCompoundShape, btConeShape, btConvex2dShape, btConvexHullShape, btConvexInternalAabbCachingShape, btConvexInternalShape, btConvexPointCloudShape, btConvexShape, btConvexTriangleMeshShape, btCylinderShape, btEmptyShape, btGImpactMeshShape, btGImpactMeshShapePart, btGImpactShapeInterface, btHeightfieldTerrainShape, btPolyhedralConvexAabbCachingShape, btScaledBvhTriangleMeshShape, btSoftBodyCollisionShape, btStaticPlaneShape, btTriangleMeshShape, and btUniformScalingShape.

◆ setMargin()

virtual void btCollisionShape::setMargin ( btScalar margin)
pure virtual

Implemented in btBox2dShape, btBoxShape, btCapsuleShape, btCompoundShape, btConcaveShape, btConvex2dShape, btConvexInternalShape, btConvexShape, btCylinderShape, btGImpactMeshShape, btGImpactMeshShapePart, btGImpactShapeInterface, btSoftClusterCollisionShape, btSphereShape, and btUniformScalingShape.

◆ setUserIndex()

void btCollisionShape::setUserIndex ( int index)
inline

Definition at line 134 of file btCollisionShape.h.

◆ setUserPointer()

void btCollisionShape::setUserPointer ( void * userPtr)
inline

optional user data pointer

Definition at line 125 of file btCollisionShape.h.

Member Data Documentation

◆ m_shapeType

int btCollisionShape::m_shapeType
protected

Definition at line 30 of file btCollisionShape.h.

◆ m_userIndex

int btCollisionShape::m_userIndex
protected

Definition at line 32 of file btCollisionShape.h.

◆ m_userPointer

void* btCollisionShape::m_userPointer
protected

Definition at line 31 of file btCollisionShape.h.

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