Bullet Collision Detection & Physics Library
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
btGImpactShapeInterface Class Referenceabstract

Base class for gimpact shapes. More...

#include <btGImpactShape.h>

Inheritance diagram for btGImpactShapeInterface:
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Collaboration diagram for btGImpactShapeInterface:
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Public Member Functions

 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.
 
virtual eGIMPACT_SHAPE_TYPE getGImpactShapeType () const =0
 Subshape member functions.
 
const btGImpactBoxSet * getBoxSet () const
 gets boxset
 
bool hasBoxSet () const
 Determines if this class has a hierarchy structure for sorting its primitives.
 
virtual const btPrimitiveManagerBase * getPrimitiveManager () const =0
 Obtains the primitive manager.
 
virtual int getNumChildShapes () const =0
 Gets the number of children.
 
virtual bool childrenHasTransform () const =0
 if true, then its children must get transforms.
 
virtual bool needsRetrieveTriangles () const =0
 Determines if this shape has triangles.
 
virtual bool needsRetrieveTetrahedrons () const =0
 Determines if this shape has tetrahedrons.
 
virtual void getBulletTriangle (int prim_index, btTriangleShapeEx &triangle) const =0
 
virtual void getBulletTetrahedron (int prim_index, btTetrahedronShapeEx &tetrahedron) const =0
 
virtual void lockChildShapes () const
 call when reading child shapes
 
virtual void unlockChildShapes () const
 
void getPrimitiveTriangle (int index, btPrimitiveTriangle &triangle) const
 if this trimesh
 
virtual void getChildAabb (int child_index, const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
 Retrieves the bound from a child.
 
virtual btCollisionShape * getChildShape (int index)=0
 Gets the children.
 
virtual const btCollisionShape * getChildShape (int index) const =0
 Gets the child.
 
virtual btTransform getChildTransform (int index) const =0
 Gets the children transform.
 
virtual void setChildTransform (int index, const btTransform &transform)=0
 Sets the children transform.
 
- 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)
 
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
 
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 Member Functions

virtual void calcLocalAABB ()
 use this function for perfofm refit in bounding boxes
 

Protected Attributes

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
 

Detailed Description

Base class for gimpact shapes.

Definition at line 79 of file btGImpactShape.h.

Constructor & Destructor Documentation

◆ btGImpactShapeInterface()

btGImpactShapeInterface::btGImpactShapeInterface ( )
inline

Definition at line 107 of file btGImpactShape.h.

Member Function Documentation

◆ calcLocalAABB()

virtual void btGImpactShapeInterface::calcLocalAABB ( )
inlineprotectedvirtual

use this function for perfofm refit in bounding boxes

use this function for perfofm refit in bounding boxes

Reimplemented in btGImpactMeshShape.

Definition at line 89 of file btGImpactShape.h.

◆ childrenHasTransform()

virtual bool btGImpactShapeInterface::childrenHasTransform ( ) const
pure virtual

if true, then its children must get transforms.

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ getAabb()

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

If the Bounding box is not updated, then this class attemps to calculate it.

Postcondition
Calls updateBound() for update the box set.

Implements btCollisionShape.

Definition at line 134 of file btGImpactShape.h.

◆ getBoxSet()

const btGImpactBoxSet * btGImpactShapeInterface::getBoxSet ( ) const
inline

gets boxset

Definition at line 196 of file btGImpactShape.h.

◆ getBulletTetrahedron()

virtual void btGImpactShapeInterface::getBulletTetrahedron ( int prim_index,
btTetrahedronShapeEx & tetrahedron ) const
pure virtual

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ getBulletTriangle()

virtual void btGImpactShapeInterface::getBulletTriangle ( int prim_index,
btTriangleShapeEx & triangle ) const
pure virtual

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ getChildAabb()

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

Retrieves the bound from a child.

Reimplemented in btGImpactCompoundShape, and btGImpactMeshShape.

Definition at line 249 of file btGImpactShape.h.

◆ getChildShape() [1/2]

virtual const btCollisionShape * btGImpactShapeInterface::getChildShape ( int index) const
pure virtual

Gets the child.

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ getChildShape() [2/2]

virtual btCollisionShape * btGImpactShapeInterface::getChildShape ( int index)
pure virtual

Gets the children.

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ getChildTransform()

virtual btTransform btGImpactShapeInterface::getChildTransform ( int index) const
pure virtual

Gets the children transform.

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ getGImpactShapeType()

virtual eGIMPACT_SHAPE_TYPE btGImpactShapeInterface::getGImpactShapeType ( ) const
pure virtual

Subshape member functions.

Base method for determinig which kind of GIMPACT shape we get

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ getLocalBox()

const btAABB & btGImpactShapeInterface::getLocalBox ( )
inline

Obtains the local box, which is the global calculated box of the total of subshapes.

Definition at line 149 of file btGImpactShape.h.

◆ getLocalScaling()

virtual const btVector3 & btGImpactShapeInterface::getLocalScaling ( ) const
inlinevirtual

Implements btCollisionShape.

Reimplemented in btGImpactMeshShapePart.

Definition at line 169 of file btGImpactShape.h.

◆ getNumChildShapes()

virtual int btGImpactShapeInterface::getNumChildShapes ( ) const
pure virtual

Gets the number of children.

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ getPrimitiveManager()

virtual const btPrimitiveManagerBase * btGImpactShapeInterface::getPrimitiveManager ( ) const
pure virtual

Obtains the primitive manager.

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ getPrimitiveTriangle()

void btGImpactShapeInterface::getPrimitiveTriangle ( int index,
btPrimitiveTriangle & triangle ) const
inline

if this trimesh

Definition at line 240 of file btGImpactShape.h.

◆ getShapeType()

virtual int btGImpactShapeInterface::getShapeType ( ) const
inlinevirtual

Definition at line 155 of file btGImpactShape.h.

◆ hasBoxSet()

bool btGImpactShapeInterface::hasBoxSet ( ) const
inline

Determines if this class has a hierarchy structure for sorting its primitives.

Definition at line 202 of file btGImpactShape.h.

◆ lockChildShapes()

virtual void btGImpactShapeInterface::lockChildShapes ( ) const
inlinevirtual

call when reading child shapes

Reimplemented in btGImpactMeshShapePart, and btGImpactMeshShape.

Definition at line 231 of file btGImpactShape.h.

◆ needsRetrieveTetrahedrons()

virtual bool btGImpactShapeInterface::needsRetrieveTetrahedrons ( ) const
pure virtual

Determines if this shape has tetrahedrons.

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ needsRetrieveTriangles()

virtual bool btGImpactShapeInterface::needsRetrieveTriangles ( ) const
pure virtual

Determines if this shape has triangles.

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ postUpdate()

virtual void btGImpactShapeInterface::postUpdate ( )
inlinevirtual

Tells to this object that is needed to refit the box set.

Reimplemented in btGImpactMeshShape.

Definition at line 143 of file btGImpactShape.h.

◆ processAllTriangles()

virtual void btGImpactShapeInterface::processAllTriangles ( btTriangleCallback * callback,
const btVector3 & aabbMin,
const btVector3 & aabbMax ) const
inlinevirtual

Function for retrieve triangles.

It gives the triangles in local space

Implements btConcaveShape.

Reimplemented in btGImpactMeshShapePart, and btGImpactMeshShape.

Definition at line 287 of file btGImpactShape.h.

◆ processAllTrianglesRay()

virtual void btGImpactShapeInterface::processAllTrianglesRay ( btTriangleCallback * ,
const btVector3 & ,
const btVector3 &  ) const
inlinevirtual

Function for retrieve triangles.

It gives the triangles in local space

Reimplemented in btGImpactMeshShapePart, and btGImpactMeshShape.

Definition at line 296 of file btGImpactShape.h.

◆ rayTest()

virtual void btGImpactShapeInterface::rayTest ( const btVector3 & rayFrom,
const btVector3 & rayTo,
btCollisionWorld::RayResultCallback & resultCallback ) const
inlinevirtual

virtual method for ray collision

Reimplemented in btGImpactMeshShape.

Definition at line 278 of file btGImpactShape.h.

◆ setChildTransform()

virtual void btGImpactShapeInterface::setChildTransform ( int index,
const btTransform & transform )
pure virtual

Sets the children transform.

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

Implemented in btGImpactCompoundShape, btGImpactMeshShapePart, and btGImpactMeshShape.

◆ setLocalScaling()

virtual void btGImpactShapeInterface::setLocalScaling ( const btVector3 & scaling)
inlinevirtual
Postcondition
You must call updateBound() for update the box set.

Implements btCollisionShape.

Reimplemented in btGImpactMeshShapePart, and btGImpactMeshShape.

Definition at line 163 of file btGImpactShape.h.

◆ setMargin()

virtual void btGImpactShapeInterface::setMargin ( btScalar margin)
inlinevirtual

Reimplemented from btConcaveShape.

Reimplemented in btGImpactMeshShapePart, and btGImpactMeshShape.

Definition at line 175 of file btGImpactShape.h.

◆ unlockChildShapes()

virtual void btGImpactShapeInterface::unlockChildShapes ( ) const
inlinevirtual

Reimplemented in btGImpactMeshShapePart, and btGImpactMeshShape.

Definition at line 235 of file btGImpactShape.h.

◆ updateBound()

void btGImpactShapeInterface::updateBound ( )
inline

performs refit operation

Updates the entire Box set of this shape.

Precondition
postUpdate() must be called for attemps to calculating the box set, else this function will does nothing.
Postcondition
if m_needs_update == true, then it calls calcLocalAABB();

Definition at line 123 of file btGImpactShape.h.

Member Data Documentation

◆ localScaling

btVector3 btGImpactShapeInterface::localScaling
protected

Definition at line 84 of file btGImpactShape.h.

◆ m_box_set

btGImpactBoxSet btGImpactShapeInterface::m_box_set
protected

Definition at line 85 of file btGImpactShape.h.

◆ m_localAABB

btAABB btGImpactShapeInterface::m_localAABB
protected

Definition at line 82 of file btGImpactShape.h.

◆ m_needs_update

bool btGImpactShapeInterface::m_needs_update
protected

Definition at line 83 of file btGImpactShape.h.

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