The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave collision objects. More...

#include <btCompoundShape.h>

Inheritance diagram for btCompoundShape:

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Collaboration diagram for btCompoundShape:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btCompoundShape (bool enableDynamicAabbTree=true, const int initialChildCapacity=0)

virtual	~btCompoundShape ()

void	addChildShape (const btTransform &localTransform, btCollisionShape *shape)

virtual void	removeChildShape (btCollisionShape *shape)
	Remove all children shapes that contain the specified shape.

void	removeChildShapeByIndex (int childShapeindex)

int	getNumChildShapes () const

btCollisionShape *	getChildShape (int index)

const btCollisionShape *	getChildShape (int index) const

btTransform &	getChildTransform (int index)

const btTransform &	getChildTransform (int index) const

void	updateChildTransform (int childIndex, const btTransform &newChildTransform, bool shouldRecalculateLocalAabb=true)
	set a new transform for a child, and update internal data structures (local aabb and dynamic tree)

btCompoundShapeChild *	getChildList ()

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

virtual void	recalculateLocalAabb ()
	Re-calculate the local Aabb.

virtual void	setLocalScaling (const btVector3 &scaling)

virtual const btVector3 &	getLocalScaling () const

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

virtual void	setMargin (btScalar margin)

virtual btScalar	getMargin () const

virtual const char *	getName () const

const btDbvt *	getDynamicAabbTree () const

btDbvt *	getDynamicAabbTree ()

void	createAabbTreeFromChildren ()

void	calculatePrincipalAxisTransform (btScalar *masses, btTransform &principal, btVector3 &inertia) const
	computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia and the center of mass to the current coordinate system.

int	getUpdateRevision () 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 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

virtual void	serializeSingleShape (btSerializer *serializer) const

Protected Attributes
btAlignedObjectArray< btCompoundShapeChild >	m_children

btVector3	m_localAabbMin

btVector3	m_localAabbMax

btDbvt *	m_dynamicAabbTree

int	m_updateRevision
	increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated

btScalar	m_collisionMargin

btVector3	m_localScaling

Protected Attributes inherited from btCollisionShape
int	m_shapeType

void *	m_userPointer

int	m_userIndex

Detailed Description

The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave collision objects.

This is more general then the static concave btBvhTriangleMeshShape. It has an (optional) dynamic aabb tree to accelerate early rejection tests.

Definition at line 54 of file btCompoundShape.h.

Constructor & Destructor Documentation

◆ btCompoundShape()

btCompoundShape::btCompoundShape	(	bool	enableDynamicAabbTree = true,
		const int	initialChildCapacity = 0 )

explicit

Definition at line 21 of file btCompoundShape.cpp.

◆ ~btCompoundShape()

btCompoundShape::~btCompoundShape ( )

virtual

Definition at line 42 of file btCompoundShape.cpp.

Member Function Documentation

◆ addChildShape()

void btCompoundShape::addChildShape	(	const btTransform &	localTransform,
		btCollisionShape *	shape )

Definition at line 51 of file btCompoundShape.cpp.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btCompoundShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calculateLocalInertia()

void btCompoundShape::calculateLocalInertia	(	btScalar	mass,
		btVector3 &	inertia ) const

virtual

Implements btCollisionShape.

Definition at line 193 of file btCompoundShape.cpp.

◆ calculatePrincipalAxisTransform()

void btCompoundShape::calculatePrincipalAxisTransform	(	btScalar *	masses,
		btTransform &	principal,
		btVector3 &	inertia ) const

computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia and the center of mass to the current coordinate system.

"masses" points to an array of masses of the children. The resulting transform "principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform of the collision object by the principal transform.

Definition at line 216 of file btCompoundShape.cpp.

◆ calculateSerializeBufferSize()

int btCompoundShape::calculateSerializeBufferSize ( ) const

inlinevirtual

Reimplemented from btCollisionShape.

Definition at line 201 of file btCompoundShape.h.

◆ createAabbTreeFromChildren()

void btCompoundShape::createAabbTreeFromChildren ( )

Definition at line 300 of file btCompoundShape.cpp.

◆ getAabb()

void btCompoundShape::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

Implements btCollisionShape.

Definition at line 169 of file btCompoundShape.cpp.

◆ getChildList()

btCompoundShapeChild * btCompoundShape::getChildList ( )

inline

Definition at line 112 of file btCompoundShape.h.

◆ getChildShape() [1/2]

btCollisionShape * btCompoundShape::getChildShape ( int index )

inline

Definition at line 90 of file btCompoundShape.h.

◆ getChildShape() [2/2]

const btCollisionShape * btCompoundShape::getChildShape ( int index ) const

inline

Definition at line 94 of file btCompoundShape.h.

◆ getChildTransform() [1/2]

btTransform & btCompoundShape::getChildTransform ( int index )

inline

Definition at line 99 of file btCompoundShape.h.

◆ getChildTransform() [2/2]

const btTransform & btCompoundShape::getChildTransform ( int index ) const

inline

Definition at line 103 of file btCompoundShape.h.

◆ getDynamicAabbTree() [1/2]

btDbvt * btCompoundShape::getDynamicAabbTree ( )

inline

Definition at line 151 of file btCompoundShape.h.

◆ getDynamicAabbTree() [2/2]

const btDbvt * btCompoundShape::getDynamicAabbTree ( ) const

inline

Definition at line 146 of file btCompoundShape.h.

◆ getLocalScaling()

virtual const btVector3 & btCompoundShape::getLocalScaling ( ) const

inlinevirtual

Implements btCollisionShape.

Definition at line 126 of file btCompoundShape.h.

◆ getMargin()

virtual btScalar btCompoundShape::getMargin ( ) const

inlinevirtual

Implements btCollisionShape.

Definition at line 137 of file btCompoundShape.h.

◆ getName()

virtual const char * btCompoundShape::getName ( ) const

inlinevirtual

Implements btCollisionShape.

Definition at line 141 of file btCompoundShape.h.

◆ getNumChildShapes()

int btCompoundShape::getNumChildShapes ( ) const

inline

Definition at line 85 of file btCompoundShape.h.

◆ getUpdateRevision()

int btCompoundShape::getUpdateRevision ( ) const

inline

Definition at line 165 of file btCompoundShape.h.

◆ recalculateLocalAabb()

void btCompoundShape::recalculateLocalAabb ( )

virtual

Re-calculate the local Aabb.

Is called at the end of removeChildShapes. Use this yourself if you modify the children or their transforms.

Definition at line 145 of file btCompoundShape.cpp.

◆ removeChildShape()

void btCompoundShape::removeChildShape ( btCollisionShape * shape )

virtual

Remove all children shapes that contain the specified shape.

Definition at line 127 of file btCompoundShape.cpp.

◆ removeChildShapeByIndex()

void btCompoundShape::removeChildShapeByIndex ( int childShapeindex )

Definition at line 110 of file btCompoundShape.cpp.

◆ serialize()

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

virtual

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

Reimplemented from btCollisionShape.

Definition at line 325 of file btCompoundShape.cpp.

◆ setLocalScaling()

void btCompoundShape::setLocalScaling ( const btVector3 & scaling )

virtual

Implements btCollisionShape.

Definition at line 280 of file btCompoundShape.cpp.

◆ setMargin()

virtual void btCompoundShape::setMargin ( btScalar margin )

inlinevirtual

Implements btCollisionShape.

Definition at line 133 of file btCompoundShape.h.

◆ updateChildTransform()

void btCompoundShape::updateChildTransform	(	int	childIndex,
		const btTransform &	newChildTransform,
		bool	shouldRecalculateLocalAabb = true )

set a new transform for a child, and update internal data structures (local aabb and dynamic tree)

update the dynamic aabb tree

Definition at line 90 of file btCompoundShape.cpp.

Member Data Documentation

◆ m_children

btAlignedObjectArray<btCompoundShapeChild> btCompoundShape::m_children

protected

Definition at line 57 of file btCompoundShape.h.

◆ m_collisionMargin

btScalar btCompoundShape::m_collisionMargin

protected

Definition at line 66 of file btCompoundShape.h.

◆ m_dynamicAabbTree

btDbvt* btCompoundShape::m_dynamicAabbTree

protected

Definition at line 61 of file btCompoundShape.h.

◆ m_localAabbMax

btVector3 btCompoundShape::m_localAabbMax

protected

Definition at line 59 of file btCompoundShape.h.

◆ m_localAabbMin

btVector3 btCompoundShape::m_localAabbMin

protected

Definition at line 58 of file btCompoundShape.h.

◆ m_localScaling

btVector3 btCompoundShape::m_localScaling

protected

Definition at line 68 of file btCompoundShape.h.

◆ m_updateRevision

int btCompoundShape::m_updateRevision

protected

increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated

Definition at line 64 of file btCompoundShape.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ btCompoundShape()

◆ ~btCompoundShape()

Member Function Documentation

◆ addChildShape()

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ calculateLocalInertia()

◆ calculatePrincipalAxisTransform()

◆ calculateSerializeBufferSize()

◆ createAabbTreeFromChildren()

◆ getAabb()

◆ getChildList()

◆ getChildShape() [1/2]

◆ getChildShape() [2/2]

◆ getChildTransform() [1/2]

◆ getChildTransform() [2/2]

◆ getDynamicAabbTree() [1/2]

◆ getDynamicAabbTree() [2/2]

◆ getLocalScaling()

◆ getMargin()

◆ getName()

◆ getNumChildShapes()

◆ getUpdateRevision()

◆ recalculateLocalAabb()

◆ removeChildShape()

◆ removeChildShapeByIndex()

◆ serialize()

◆ setLocalScaling()

◆ setMargin()

◆ updateChildTransform()

Member Data Documentation

◆ m_children

◆ m_collisionMargin

◆ m_dynamicAabbTree

◆ m_localAabbMax

◆ m_localAabbMin

◆ m_localScaling

◆ m_updateRevision