The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes. More...
#include <btPolyhedralConvexShape.h>
Public Member Functions | |
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 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 |
virtual int | getNumVertices () const =0 |
virtual int | getNumEdges () const =0 |
virtual void | getEdge (int i, btVector3 &pa, btVector3 &pb) const =0 |
virtual void | getVertex (int i, btVector3 &vtx) const =0 |
virtual int | getNumPlanes () const =0 |
virtual void | getPlane (btVector3 &planeNormal, btVector3 &planeSupport, int i) const =0 |
virtual bool | isInside (const btVector3 &pt, btScalar tolerance) const =0 |
Protected Attributes | |
btConvexPolyhedron * | m_polyhedron |
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
Definition at line 25 of file btPolyhedralConvexShape.h.
btPolyhedralConvexShape::btPolyhedralConvexShape | ( | ) |
Definition at line 24 of file btPolyhedralConvexShape.cpp.
btPolyhedralConvexShape::~btPolyhedralConvexShape | ( | ) | [virtual] |
Definition at line 30 of file btPolyhedralConvexShape.cpp.
void btPolyhedralConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin | ( | const btVector3 * | vectors, | |
btVector3 * | supportVerticesOut, | |||
int | numVectors | |||
) | const [virtual] |
Implements btConvexShape.
Reimplemented in btBox2dShape, btBoxShape, btConvexHullShape, btConvexPointCloudShape, btConvexTriangleMeshShape, and btTriangleShape.
Definition at line 364 of file btPolyhedralConvexShape.cpp.
btPolyhedralConvexShape::BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
Reimplemented from btConvexInternalShape.
Reimplemented in btBox2dShape, btBoxShape, btConvexHullShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btBU_Simplex1to4, and btTriangleShape.
void btPolyhedralConvexShape::calculateLocalInertia | ( | btScalar | mass, | |
btVector3 & | inertia | |||
) | const [virtual] |
Implements btCollisionShape.
Reimplemented in btBox2dShape, btBoxShape, and btTriangleShape.
Definition at line 401 of file btPolyhedralConvexShape.cpp.
const btConvexPolyhedron* btPolyhedralConvexShape::getConvexPolyhedron | ( | ) | const [inline] |
Definition at line 46 of file btPolyhedralConvexShape.h.
virtual void btPolyhedralConvexShape::getEdge | ( | int | i, | |
btVector3 & | pa, | |||
btVector3 & | pb | |||
) | const [pure virtual] |
Implemented in btBox2dShape, btBoxShape, btConvexHullShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btBU_Simplex1to4, and btTriangleShape.
virtual int btPolyhedralConvexShape::getNumEdges | ( | ) | const [pure virtual] |
Implemented in btBox2dShape, btBoxShape, btConvexHullShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btBU_Simplex1to4, and btTriangleShape.
virtual int btPolyhedralConvexShape::getNumPlanes | ( | ) | const [pure virtual] |
Implemented in btBox2dShape, btBoxShape, btConvexHullShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btBU_Simplex1to4, and btTriangleShape.
virtual int btPolyhedralConvexShape::getNumVertices | ( | ) | const [pure virtual] |
Implemented in btBox2dShape, btBoxShape, btConvexHullShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btBU_Simplex1to4, and btTriangleShape.
virtual void btPolyhedralConvexShape::getPlane | ( | btVector3 & | planeNormal, | |
btVector3 & | planeSupport, | |||
int | i | |||
) | const [pure virtual] |
Implemented in btBox2dShape, btBoxShape, btConvexHullShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btBU_Simplex1to4, and btTriangleShape.
virtual void btPolyhedralConvexShape::getVertex | ( | int | i, | |
btVector3 & | vtx | |||
) | const [pure virtual] |
Implemented in btBox2dShape, btBoxShape, btConvexHullShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btBU_Simplex1to4, and btTriangleShape.
bool btPolyhedralConvexShape::initializePolyhedralFeatures | ( | int | shiftVerticesByMargin = 0 |
) | [virtual] |
optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges) experimental/work-in-progress
Definition at line 40 of file btPolyhedralConvexShape.cpp.
virtual bool btPolyhedralConvexShape::isInside | ( | const btVector3 & | pt, | |
btScalar | tolerance | |||
) | const [pure virtual] |
Implemented in btBox2dShape, btBoxShape, btConvexHullShape, btConvexPointCloudShape, btConvexTriangleMeshShape, btBU_Simplex1to4, and btTriangleShape.
btVector3 btPolyhedralConvexShape::localGetSupportingVertexWithoutMargin | ( | const btVector3 & | vec | ) | const [virtual] |
Implements btConvexShape.
Reimplemented in btBox2dShape, btBoxShape, btConvexHullShape, btConvexPointCloudShape, btConvexTriangleMeshShape, and btTriangleShape.
Definition at line 321 of file btPolyhedralConvexShape.cpp.
btConvexPolyhedron* btPolyhedralConvexShape::m_polyhedron [protected] |
Definition at line 31 of file btPolyhedralConvexShape.h.