The btConvexPointCloudShape implements an implicit convex hull of an array of vertices. More...

#include <btConvexPointCloudShape.h>

Inheritance diagram for btConvexPointCloudShape:

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Collaboration diagram for btConvexPointCloudShape:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btConvexPointCloudShape ()

	btConvexPointCloudShape (btVector3 *points, int numPoints, const btVector3 &localScaling, bool computeAabb=true)

void	setPoints (btVector3 *points, int numPoints, bool computeAabb=true, const btVector3 &localScaling=btVector3(1.f, 1.f, 1.f))

btVector3 *	getUnscaledPoints ()

const btVector3 *	getUnscaledPoints () const

int	getNumPoints () const

btVector3	getScaledPoint (int index) const

virtual btVector3	localGetSupportingVertex (const btVector3 &vec) const

virtual btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &vec) const

virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 vectors, btVector3 supportVerticesOut, int numVectors) const

virtual const char *	getName () const

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

virtual void	setLocalScaling (const btVector3 &scaling)
	in case we receive negative scaling

Public Member Functions inherited from btPolyhedralConvexAabbCachingShape
void	getNonvirtualAabb (const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const

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	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

const btConvexPolyhedron *	getConvexPolyhedron () const

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

Public Member Functions inherited from btConvexInternalShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()

virtual	~btConvexInternalShape ()

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

virtual void	serializeSingleShape (btSerializer *serializer) const

Private Attributes
btVector3 *	m_unscaledPoints

int	m_numPoints

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 ()

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

Detailed Description

The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.

Definition at line 24 of file btConvexPointCloudShape.h.

Constructor & Destructor Documentation

◆ btConvexPointCloudShape() [1/2]

btConvexPointCloudShape::btConvexPointCloudShape ( )

inline

Definition at line 32 of file btConvexPointCloudShape.h.

◆ btConvexPointCloudShape() [2/2]

btConvexPointCloudShape::btConvexPointCloudShape	(	btVector3 *	points,
		int	numPoints,
		const btVector3 &	localScaling,
		bool	computeAabb = true )

inline

Definition at line 40 of file btConvexPointCloudShape.h.

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

void btConvexPointCloudShape::batchedUnitVectorGetSupportingVertexWithoutMargin	(	const btVector3 *	vectors,
		btVector3 *	supportVerticesOut,
		int	numVectors ) const

virtual

Reimplemented from btPolyhedralConvexShape.

Definition at line 55 of file btConvexPointCloudShape.cpp.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btConvexPointCloudShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ getEdge()

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

virtual

Implements btPolyhedralConvexShape.

Definition at line 112 of file btConvexPointCloudShape.cpp.

◆ getName()

virtual const char * btConvexPointCloudShape::getName ( ) const

inlinevirtual

Implements btCollisionShape.

Definition at line 89 of file btConvexPointCloudShape.h.

◆ getNumEdges()

int btConvexPointCloudShape::getNumEdges ( ) const

virtual

Implements btPolyhedralConvexShape.

Definition at line 107 of file btConvexPointCloudShape.cpp.

◆ getNumPlanes()

int btConvexPointCloudShape::getNumPlanes ( ) const

virtual

Implements btPolyhedralConvexShape.

Definition at line 122 of file btConvexPointCloudShape.cpp.

◆ getNumPoints()

int btConvexPointCloudShape::getNumPoints ( ) const

inline

Definition at line 71 of file btConvexPointCloudShape.h.

◆ getNumVertices()

int btConvexPointCloudShape::getNumVertices ( ) const

virtual

Implements btPolyhedralConvexShape.

Definition at line 102 of file btConvexPointCloudShape.cpp.

◆ getPlane()

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

virtual

Implements btPolyhedralConvexShape.

Definition at line 127 of file btConvexPointCloudShape.cpp.

◆ getScaledPoint()

btVector3 btConvexPointCloudShape::getScaledPoint ( int index ) const

inline

Definition at line 76 of file btConvexPointCloudShape.h.

◆ getUnscaledPoints() [1/2]

btVector3 * btConvexPointCloudShape::getUnscaledPoints ( )

inline

Definition at line 61 of file btConvexPointCloudShape.h.

◆ getUnscaledPoints() [2/2]

const btVector3 * btConvexPointCloudShape::getUnscaledPoints ( ) const

inline

Definition at line 66 of file btConvexPointCloudShape.h.

◆ getVertex()

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

virtual

Implements btPolyhedralConvexShape.

Definition at line 117 of file btConvexPointCloudShape.cpp.

◆ isInside()

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

virtual

Implements btPolyhedralConvexShape.

Definition at line 134 of file btConvexPointCloudShape.cpp.

◆ localGetSupportingVertex()

btVector3 btConvexPointCloudShape::localGetSupportingVertex ( const btVector3 & vec ) const

virtual

Reimplemented from btConvexInternalShape.

Definition at line 75 of file btConvexPointCloudShape.cpp.

◆ localGetSupportingVertexWithoutMargin()

btVector3 btConvexPointCloudShape::localGetSupportingVertexWithoutMargin ( const btVector3 & vec ) const

virtual

Reimplemented from btPolyhedralConvexShape.

Definition at line 28 of file btConvexPointCloudShape.cpp.

◆ setLocalScaling()

void btConvexPointCloudShape::setLocalScaling ( const btVector3 & scaling )

virtual

in case we receive negative scaling

Reimplemented from btPolyhedralConvexAabbCachingShape.

Definition at line 21 of file btConvexPointCloudShape.cpp.

◆ setPoints()

void btConvexPointCloudShape::setPoints	(	btVector3 *	points,
		int	numPoints,
		bool	computeAabb = true,
		const btVector3 &	localScaling = btVector3(1.f,1.f,1.f) )

inline

Definition at line 51 of file btConvexPointCloudShape.h.

Member Data Documentation

◆ m_numPoints

int btConvexPointCloudShape::m_numPoints

private

Definition at line 27 of file btConvexPointCloudShape.h.

◆ m_unscaledPoints

btVector3* btConvexPointCloudShape::m_unscaledPoints

private

Definition at line 26 of file btConvexPointCloudShape.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btConvexPointCloudShape() [1/2]

◆ btConvexPointCloudShape() [2/2]

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ getEdge()

◆ getName()

◆ getNumEdges()

◆ getNumPlanes()

◆ getNumPoints()

◆ getNumVertices()

◆ getPlane()

◆ getScaledPoint()

◆ getUnscaledPoints() [1/2]

◆ getUnscaledPoints() [2/2]

◆ getVertex()

◆ isInside()

◆ localGetSupportingVertex()

◆ localGetSupportingVertexWithoutMargin()

◆ setLocalScaling()

◆ setPoints()

Member Data Documentation

◆ m_numPoints

◆ m_unscaledPoints