The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead. More...

#include <btTetrahedronShape.h>

Inheritance diagram for btBU_Simplex1to4:

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Collaboration diagram for btBU_Simplex1to4:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btBU_Simplex1to4 ()
	btBU_Simplex1to4 (const btVector3 &pt0)
	btBU_Simplex1to4 (const btVector3 &pt0, const btVector3 &pt1)
	btBU_Simplex1to4 (const btVector3 &pt0, const btVector3 &pt1, const btVector3 &pt2)
	btBU_Simplex1to4 (const btVector3 &pt0, const btVector3 &pt1, const btVector3 &pt2, const btVector3 &pt3)
void	reset ()
virtual 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
void	addVertex (const btVector3 &pt)
virtual int	getNumVertices () const
virtual int	getNumEdges () const
virtual void	getEdge (int i, btVector3 &pa, btVector3 &pb) const
virtual void	getVertex (int i, btVector3 &vtx) const
virtual int	getNumPlanes () const
virtual void	getPlane (btVector3 &planeNormal, btVector3 &planeSupport, int i) const
virtual int	getIndex (int i) const
virtual bool	isInside (const btVector3 &pt, btScalar tolerance) const
virtual const char *	getName () const
	getName is for debugging
Public Member Functions inherited from btPolyhedralConvexAabbCachingShape
void	getNonvirtualAabb (const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
virtual void	setLocalScaling (const btVector3 &scaling)
void	recalcLocalAabb ()
Public Member Functions inherited from btPolyhedralConvexShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btPolyhedralConvexShape ()
virtual	~btPolyhedralConvexShape ()
virtual bool	initializePolyhedralFeatures (int shiftVerticesByMargin=0)
	optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges) experimental/work-in-progress
virtual void	setPolyhedralFeatures (btConvexPolyhedron &polyhedron)
const btConvexPolyhedron *	getConvexPolyhedron () const
virtual btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &vec) const
virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 vectors, btVector3 supportVerticesOut, int numVectors) const
virtual void	calculateLocalInertia (btScalar mass, btVector3 &inertia) const
Public Member Functions inherited from btConvexInternalShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()
virtual	~btConvexInternalShape ()
virtual btVector3	localGetSupportingVertex (const btVector3 &vec) const
const btVector3 &	getImplicitShapeDimensions () const
void	setImplicitShapeDimensions (const btVector3 &dimensions)
	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'
void	setSafeMargin (btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)
void	setSafeMargin (const btVector3 &halfExtents, btScalar defaultMarginMultiplier=0.1f)
virtual void	getAabbSlow (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
virtual const btVector3 &	getLocalScaling () const
const btVector3 &	getLocalScalingNV () const
virtual void	setMargin (btScalar margin)
virtual btScalar	getMargin () const
btScalar	getMarginNV () const
virtual int	getNumPreferredPenetrationDirections () const
virtual void	getPreferredPenetrationDirection (int index, btVector3 &penetrationVector) 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)
Public Member Functions inherited from btConvexShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btConvexShape ()
	not supported on IBM SDK, until we fix the alignment of btVector3
virtual	~btConvexShape ()
btVector3	localGetSupportVertexWithoutMarginNonVirtual (const btVector3 &vec) const
btVector3	localGetSupportVertexNonVirtual (const btVector3 &vec) const
btScalar	getMarginNonVirtual () const
void	getAabbNonVirtual (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void	project (const btTransform &trans, const btVector3 &dir, btScalar &minProj, btScalar &maxProj, btVector3 &witnesPtMin, btVector3 &witnesPtMax) const
Public Member Functions inherited from btCollisionShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btCollisionShape ()
virtual	~btCollisionShape ()
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)
int	getShapeType () const
virtual btVector3	getAnisotropicRollingFrictionDirection () const
	the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See Bullet/Demos/RollingFrictionDemo for an example
void	setUserPointer (void *userPtr)
	optional user data pointer
void *	getUserPointer () const
void	setUserIndex (int index)
int	getUserIndex () const
void	setUserIndex2 (int index)
int	getUserIndex2 () const
virtual void	serializeSingleShape (btSerializer *serializer) const

Protected Attributes
int	m_numVertices
btVector3	m_vertices [4]
Protected Attributes inherited from btPolyhedralConvexShape
btConvexPolyhedron *	m_polyhedron
Protected Attributes inherited from btConvexInternalShape
btVector3	m_localScaling
btVector3	m_implicitShapeDimensions
btScalar	m_collisionMargin
btScalar	m_padding
Protected Attributes inherited from btCollisionShape
int	m_shapeType
void *	m_userPointer
int	m_userIndex
int	m_userIndex2

Additional Inherited Members
Protected Member Functions inherited from btPolyhedralConvexAabbCachingShape
void	setCachedLocalAabb (const btVector3 &aabbMin, const btVector3 &aabbMax)
void	getCachedLocalAabb (btVector3 &aabbMin, btVector3 &aabbMax) const
	btPolyhedralConvexAabbCachingShape ()
Protected Member Functions inherited from btConvexInternalShape
	btConvexInternalShape ()

Detailed Description

The btBU_Simplex1to4 implements tetrahedron, triangle, line, vertex collision shapes. In most cases it is better to use btConvexHullShape instead.

Definition at line 23 of file btTetrahedronShape.h.

Constructor & Destructor Documentation

◆ btBU_Simplex1to4() [1/5]

btBU_Simplex1to4::btBU_Simplex1to4 ( )

Definition at line 19 of file btTetrahedronShape.cpp.

◆ btBU_Simplex1to4() [2/5]

btBU_Simplex1to4::btBU_Simplex1to4 ( const btVector3 & pt0 )

Definition at line 25 of file btTetrahedronShape.cpp.

◆ btBU_Simplex1to4() [3/5]

btBU_Simplex1to4::btBU_Simplex1to4	(	const btVector3 &	pt0,
		const btVector3 &	pt1 )

Definition at line 32 of file btTetrahedronShape.cpp.

◆ btBU_Simplex1to4() [4/5]

btBU_Simplex1to4::btBU_Simplex1to4	(	const btVector3 &	pt0,
		const btVector3 &	pt1,
		const btVector3 &	pt2 )

Definition at line 40 of file btTetrahedronShape.cpp.

◆ btBU_Simplex1to4() [5/5]

btBU_Simplex1to4::btBU_Simplex1to4	(	const btVector3 &	pt0,
		const btVector3 &	pt1,
		const btVector3 &	pt2,
		const btVector3 &	pt3 )

Definition at line 49 of file btTetrahedronShape.cpp.

Member Function Documentation

◆ addVertex()

void btBU_Simplex1to4::addVertex ( const btVector3 & pt )

Definition at line 77 of file btTetrahedronShape.cpp.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btBU_Simplex1to4::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ getAabb()

void btBU_Simplex1to4::getAabb	(	const btTransform &	t,
		btVector3 &	aabbMin,
		btVector3 &	aabbMax ) const

virtual

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

Reimplemented from btPolyhedralConvexAabbCachingShape.

Definition at line 59 of file btTetrahedronShape.cpp.

◆ getEdge()

void btBU_Simplex1to4::getEdge	(	int	i,
		btVector3 &	pa,
		btVector3 &	pb ) const

virtual

Implements btPolyhedralConvexShape.

Definition at line 109 of file btTetrahedronShape.cpp.

◆ getIndex()

int btBU_Simplex1to4::getIndex ( int i ) const

virtual

Definition at line 195 of file btTetrahedronShape.cpp.

◆ getName()

virtual const char * btBU_Simplex1to4::getName ( ) const

inlinevirtual

getName is for debugging

Implements btCollisionShape.

Definition at line 68 of file btTetrahedronShape.h.

◆ getNumEdges()

int btBU_Simplex1to4::getNumEdges ( ) const

virtual

Implements btPolyhedralConvexShape.

Definition at line 88 of file btTetrahedronShape.cpp.

◆ getNumPlanes()

int btBU_Simplex1to4::getNumPlanes ( ) const

virtual

Implements btPolyhedralConvexShape.

Definition at line 170 of file btTetrahedronShape.cpp.

◆ getNumVertices()

int btBU_Simplex1to4::getNumVertices ( ) const

virtual

Implements btPolyhedralConvexShape.

Definition at line 83 of file btTetrahedronShape.cpp.

◆ getPlane()

void btBU_Simplex1to4::getPlane	(	btVector3 &	planeNormal,
		btVector3 &	planeSupport,
		int	i ) const

virtual

Implements btPolyhedralConvexShape.

Definition at line 191 of file btTetrahedronShape.cpp.

◆ getVertex()

void btBU_Simplex1to4::getVertex	(	int	i,
		btVector3 &	vtx ) const

virtual

Implements btPolyhedralConvexShape.

Definition at line 165 of file btTetrahedronShape.cpp.

◆ isInside()

bool btBU_Simplex1to4::isInside	(	const btVector3 &	pt,
		btScalar	tolerance ) const

virtual

Implements btPolyhedralConvexShape.

Definition at line 200 of file btTetrahedronShape.cpp.

◆ reset()

void btBU_Simplex1to4::reset ( )

inline

Definition at line 40 of file btTetrahedronShape.h.

Member Data Documentation

◆ m_numVertices

int btBU_Simplex1to4::m_numVertices

protected

Definition at line 27 of file btTetrahedronShape.h.

◆ m_vertices

btVector3 btBU_Simplex1to4::m_vertices[4]

protected

Definition at line 28 of file btTetrahedronShape.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btBU_Simplex1to4() [1/5]

◆ btBU_Simplex1to4() [2/5]

◆ btBU_Simplex1to4() [3/5]

◆ btBU_Simplex1to4() [4/5]

◆ btBU_Simplex1to4() [5/5]

Member Function Documentation

◆ addVertex()

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ getAabb()

◆ getEdge()

◆ getIndex()

◆ getName()

◆ getNumEdges()

◆ getNumPlanes()

◆ getNumVertices()

◆ getPlane()

◆ getVertex()

◆ isInside()

◆ reset()

Member Data Documentation

◆ m_numVertices

◆ m_vertices