Bullet Collision Detection & Physics Library
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btGImpactCompoundShape Class Reference

btGImpactCompoundShape allows to handle multiple btCollisionShape objects at once More...

#include <btGImpactShape.h>

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Classes

class  CompoundPrimitiveManager
 compound primitive manager More...
 

Public Member Functions

 btGImpactCompoundShape (bool children_has_transform=true)
 
virtual ~btGImpactCompoundShape ()
 
virtual bool childrenHasTransform () const
 if true, then its children must get transforms.
 
virtual const btPrimitiveManagerBase * getPrimitiveManager () const
 Obtains the primitive manager.
 
CompoundPrimitiveManager * getCompoundPrimitiveManager ()
 Obtains the compopund primitive manager.
 
virtual int getNumChildShapes () const
 Gets the number of children.
 
void addChildShape (const btTransform &localTransform, btCollisionShape *shape)
 Use this method for adding children. Only Convex shapes are allowed.
 
void addChildShape (btCollisionShape *shape)
 Use this method for adding children. Only Convex shapes are allowed.
 
virtual btCollisionShape * getChildShape (int index)
 Gets the children.
 
virtual const btCollisionShape * getChildShape (int index) const
 Gets the children.
 
virtual void getChildAabb (int child_index, const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
 Retrieves the bound from a child.
 
virtual btTransform getChildTransform (int index) const
 Gets the children transform.
 
virtual void setChildTransform (int index, const btTransform &transform)
 Sets the children transform.
 
virtual bool needsRetrieveTriangles () const
 Determines if this shape has triangles.
 
virtual bool needsRetrieveTetrahedrons () const
 Determines if this shape has tetrahedrons.
 
virtual void getBulletTriangle (int prim_index, btTriangleShapeEx &triangle) const
 
virtual void getBulletTetrahedron (int prim_index, btTetrahedronShapeEx &tetrahedron) const
 
virtual void calculateLocalInertia (btScalar mass, btVector3 &inertia) const
 Calculates the exact inertia tensor for this shape.
 
virtual const char * getName () const
 
virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType () const
 Subshape member functions.
 
- Public Member Functions inherited from btGImpactShapeInterface
 btGImpactShapeInterface ()
 
void updateBound ()
 performs refit operation
 
void getAabb (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
 If the Bounding box is not updated, then this class attemps to calculate it.
 
virtual void postUpdate ()
 Tells to this object that is needed to refit the box set.
 
const btAABB & getLocalBox ()
 Obtains the local box, which is the global calculated box of the total of subshapes.
 
virtual int getShapeType () const
 
virtual void setLocalScaling (const btVector3 &scaling)
 
virtual const btVector3 & getLocalScaling () const
 
virtual void setMargin (btScalar margin)
 
virtual void rayTest (const btVector3 &rayFrom, const btVector3 &rayTo, btCollisionWorld::RayResultCallback &resultCallback) const
 virtual method for ray collision
 
virtual void processAllTriangles (btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
 Function for retrieve triangles.
 
virtual void processAllTrianglesRay (btTriangleCallback *, const btVector3 &, const btVector3 &) const
 Function for retrieve triangles.
 
const btGImpactBoxSet * getBoxSet () const
 gets boxset
 
bool hasBoxSet () const
 Determines if this class has a hierarchy structure for sorting its primitives.
 
virtual void lockChildShapes () const
 call when reading child shapes
 
virtual void unlockChildShapes () const
 
void getPrimitiveTriangle (int index, btPrimitiveTriangle &triangle) const
 if this trimesh
 
- Public Member Functions inherited from btConcaveShape
 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btConcaveShape ()
 
virtual ~btConcaveShape ()
 
virtual btScalar getMargin () 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 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

CompoundPrimitiveManager m_primitive_manager
 
btAlignedObjectArray< btTransform > m_childTransforms
 
btAlignedObjectArray< btCollisionShape * > m_childShapes
 
- Protected Attributes inherited from btGImpactShapeInterface
btAABB m_localAABB
 
bool m_needs_update
 
btVector3 localScaling
 
btGImpactBoxSet m_box_set
 
- Protected Attributes inherited from btConcaveShape
btScalar m_collisionMargin
 
- Protected Attributes inherited from btCollisionShape
int m_shapeType
 
void * m_userPointer
 
int m_userIndex
 

Additional Inherited Members

- Protected Member Functions inherited from btGImpactShapeInterface
virtual void calcLocalAABB ()
 use this function for perfofm refit in bounding boxes
 

Detailed Description

btGImpactCompoundShape allows to handle multiple btCollisionShape objects at once

This class only can manage Convex subshapes

Definition at line 310 of file btGImpactShape.h.

Constructor & Destructor Documentation

◆ btGImpactCompoundShape()

btGImpactCompoundShape::btGImpactCompoundShape ( bool children_has_transform = true)
inline

Definition at line 380 of file btGImpactShape.h.

◆ ~btGImpactCompoundShape()

virtual btGImpactCompoundShape::~btGImpactCompoundShape ( )
inlinevirtual

Definition at line 387 of file btGImpactShape.h.

Member Function Documentation

◆ addChildShape() [1/2]

void btGImpactCompoundShape::addChildShape ( btCollisionShape * shape)
inline

Use this method for adding children. Only Convex shapes are allowed.

Definition at line 428 of file btGImpactShape.h.

◆ addChildShape() [2/2]

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

Use this method for adding children. Only Convex shapes are allowed.

Definition at line 420 of file btGImpactShape.h.

◆ calculateLocalInertia()

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

Calculates the exact inertia tensor for this shape.

Implements btCollisionShape.

Definition at line 82 of file btGImpactShape.cpp.

◆ childrenHasTransform()

virtual bool btGImpactCompoundShape::childrenHasTransform ( ) const
inlinevirtual

if true, then its children must get transforms.

Implements btGImpactShapeInterface.

Definition at line 393 of file btGImpactShape.h.

◆ getBulletTetrahedron()

virtual void btGImpactCompoundShape::getBulletTetrahedron ( int prim_index,
btTetrahedronShapeEx & tetrahedron ) const
inlinevirtual

Implements btGImpactShapeInterface.

Definition at line 500 of file btGImpactShape.h.

◆ getBulletTriangle()

virtual void btGImpactCompoundShape::getBulletTriangle ( int prim_index,
btTriangleShapeEx & triangle ) const
inlinevirtual

Implements btGImpactShapeInterface.

Definition at line 494 of file btGImpactShape.h.

◆ getChildAabb()

virtual void btGImpactCompoundShape::getChildAabb ( int child_index,
const btTransform & t,
btVector3 & aabbMin,
btVector3 & aabbMax ) const
inlinevirtual

Retrieves the bound from a child.

Reimplemented from btGImpactShapeInterface.

Definition at line 449 of file btGImpactShape.h.

◆ getChildShape() [1/2]

virtual btCollisionShape * btGImpactCompoundShape::getChildShape ( int index)
inlinevirtual

Gets the children.

Implements btGImpactShapeInterface.

Definition at line 435 of file btGImpactShape.h.

◆ getChildShape() [2/2]

virtual const btCollisionShape * btGImpactCompoundShape::getChildShape ( int index) const
inlinevirtual

Gets the children.

Implements btGImpactShapeInterface.

Definition at line 441 of file btGImpactShape.h.

◆ getChildTransform()

virtual btTransform btGImpactCompoundShape::getChildTransform ( int index) const
inlinevirtual

Gets the children transform.

Implements btGImpactShapeInterface.

Definition at line 464 of file btGImpactShape.h.

◆ getCompoundPrimitiveManager()

CompoundPrimitiveManager * btGImpactCompoundShape::getCompoundPrimitiveManager ( )
inline

Obtains the compopund primitive manager.

Definition at line 407 of file btGImpactShape.h.

◆ getGImpactShapeType()

virtual eGIMPACT_SHAPE_TYPE btGImpactCompoundShape::getGImpactShapeType ( ) const
inlinevirtual

Subshape member functions.

Base method for determinig which kind of GIMPACT shape we get

Implements btGImpactShapeInterface.

Definition at line 515 of file btGImpactShape.h.

◆ getName()

virtual const char * btGImpactCompoundShape::getName ( ) const
inlinevirtual

Implements btCollisionShape.

Definition at line 510 of file btGImpactShape.h.

◆ getNumChildShapes()

virtual int btGImpactCompoundShape::getNumChildShapes ( ) const
inlinevirtual

Gets the number of children.

Implements btGImpactShapeInterface.

Definition at line 413 of file btGImpactShape.h.

◆ getPrimitiveManager()

virtual const btPrimitiveManagerBase * btGImpactCompoundShape::getPrimitiveManager ( ) const
inlinevirtual

Obtains the primitive manager.

Implements btGImpactShapeInterface.

Definition at line 401 of file btGImpactShape.h.

◆ needsRetrieveTetrahedrons()

virtual bool btGImpactCompoundShape::needsRetrieveTetrahedrons ( ) const
inlinevirtual

Determines if this shape has tetrahedrons.

Implements btGImpactShapeInterface.

Definition at line 488 of file btGImpactShape.h.

◆ needsRetrieveTriangles()

virtual bool btGImpactCompoundShape::needsRetrieveTriangles ( ) const
inlinevirtual

Determines if this shape has triangles.

Implements btGImpactShapeInterface.

Definition at line 482 of file btGImpactShape.h.

◆ setChildTransform()

virtual void btGImpactCompoundShape::setChildTransform ( int index,
const btTransform & transform )
inlinevirtual

Sets the children transform.

Postcondition
You must call updateBound() for update the box set.

Implements btGImpactShapeInterface.

Definition at line 474 of file btGImpactShape.h.

Member Data Documentation

◆ m_childShapes

btAlignedObjectArray<btCollisionShape*> btGImpactCompoundShape::m_childShapes
protected

Definition at line 375 of file btGImpactShape.h.

◆ m_childTransforms

btAlignedObjectArray<btTransform> btGImpactCompoundShape::m_childTransforms
protected

Definition at line 374 of file btGImpactShape.h.

◆ m_primitive_manager

CompoundPrimitiveManager btGImpactCompoundShape::m_primitive_manager
protected

Definition at line 373 of file btGImpactShape.h.

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