Bullet Collision Detection & Physics Library: btConvexHullShape Class Reference

Bullet Collision Detection & Physics Library

- Main Page
- Namespaces
- Classes
- Files

- Class List
- Class Hierarchy
- Class Members

Public Member Functions | Private Attributes | List of all members
btConvexHullShape Class Reference

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

`#include <btConvexHullShape.h>`

Inheritance diagram for btConvexHullShape:
[legend]
Collaboration diagram for btConvexHullShape:
[legend]

## Public Member Functions
| BT_DECLARE_ALIGNED_ALLOCATOR ()
| btConvexHullShape (const btScalar *points=0, int numPoints=0, int stride=sizeof(btVector3))
| this constructor optionally takes in a pointer to points. More...
void | addPoint (const btVector3 &point, bool recalculateLocalAabb=true)
btVector3 * | getUnscaledPoints ()
const btVector3 * | getUnscaledPoints () const
const btVector3 * | getPoints () const
| getPoints is obsolete, please use getUnscaledPoints More...
btVector3 | getScaledPoint (int i) const
int | getNumPoints () 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 void | project (const btTransform &trans, const btVector3 &dir, btScalar &minProj, btScalar &maxProj, btVector3 &witnesPtMin, btVector3 &witnesPtMax) 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 More...
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) More...
Public Member Functions inherited from btPolyhedralConvexAabbCachingShape
| 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 More...
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 More...
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' More...
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
Public Member Functions inherited from btConvexShape
| BT_DECLARE_ALIGNED_ALLOCATOR ()
| btConvexShape ()
| not supported on IBM SDK, until we fix the alignment of btVector3 More...
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
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 maximus radius needed for Conservative Advancement to handle time-of-impact with rotations. More...
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 More...
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) More...
int | getShapeType () const
virtual btVector3 | getAnisotropicRollingFrictionDirection () const
| the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See Bullet/Demos/RollingFrictionDemo for an example More...
void | setUserPointer (void *userPtr)
| optional user data pointer More...
void * | getUserPointer () const
void | setUserIndex (int index)
int | getUserIndex () const
virtual void | serializeSingleShape (btSerializer *serializer) const

## Private Attributes
btAlignedObjectArray< btVector3 > | m_unscaledPoints

## Additional Inherited Members
Protected Member Functions inherited from btPolyhedralConvexAabbCachingShape
void | setCachedLocalAabb (const btVector3 &aabbMin, const btVector3 &aabbMax)
void | getCachedLocalAabb (btVector3 &aabbMin, btVector3 &aabbMax) const
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 btConvexHullShape implements an implicit convex hull of an array of vertices.

Bullet provides a general and fast collision detector for convex shapes based on GJK and EPA using localGetSupportingVertex.

Definition at line 26 of file btConvexHullShape.h.

## Constructor & Destructor Documentation

btConvexHullShape::btConvexHullShape | ( | const btScalar * | points = `0`,
|  | int | numPoints = `0`,
|  | int | stride = `sizeof(btVector3)`
| ) |  |

this constructor optionally takes in a pointer to points.

Each point is assumed to be 3 consecutive btScalar (x,y,z), the striding defines the number of bytes between each point, in memory. It is easier to not pass any points in the constructor, and just add one point at a time, using addPoint. btConvexHullShape make an internal copy of the points.

Definition at line 26 of file btConvexHullShape.cpp.

## Member Function Documentation

void btConvexHullShape::addPoint | ( | const btVector3 & | point,
|  | bool | recalculateLocalAabb = `true`
| ) |  |

Definition at line 52 of file btConvexHullShape.cpp.

void btConvexHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin | ( | const btVector3 * | vectors,
|  | btVector3 * | supportVerticesOut,
|  | int | numVectors
| ) |  | const
| virtual

Reimplemented from btPolyhedralConvexShape.

Definition at line 76 of file btConvexHullShape.cpp.

btConvexHullShape::BT_DECLARE_ALIGNED_ALLOCATOR | ( |  | ) |

int btConvexHullShape::calculateSerializeBufferSize | ( |  | ) | const
| inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 115 of file btConvexHullShape.h.

void btConvexHullShape::getEdge | ( | int | i,
|  | btVector3 & | pa,
|  | btVector3 & | pb
| ) |  | const
| virtual

Implements btPolyhedralConvexShape.

Definition at line 143 of file btConvexHullShape.cpp.

virtual const char* btConvexHullShape::getName | ( |  | ) | const
| inlinevirtual

Implements btCollisionShape.

Definition at line 80 of file btConvexHullShape.h.

int btConvexHullShape::getNumEdges | ( |  | ) | const
| virtual

Implements btPolyhedralConvexShape.

Definition at line 138 of file btConvexHullShape.cpp.

int btConvexHullShape::getNumPlanes | ( |  | ) | const
| virtual

Implements btPolyhedralConvexShape.

Definition at line 157 of file btConvexHullShape.cpp.

int btConvexHullShape::getNumPoints | ( |  | ) | const
| inline

Definition at line 66 of file btConvexHullShape.h.

int btConvexHullShape::getNumVertices | ( |  | ) | const
| virtual

Implements btPolyhedralConvexShape.

Definition at line 133 of file btConvexHullShape.cpp.

void btConvexHullShape::getPlane | ( | btVector3 & | planeNormal,
|  | btVector3 & | planeSupport,
|  | int | i
| ) |  | const
| virtual

Implements btPolyhedralConvexShape.

Definition at line 162 of file btConvexHullShape.cpp.

const btVector3* btConvexHullShape::getPoints | ( |  | ) | const
| inline

getPoints is obsolete, please use getUnscaledPoints

Definition at line 53 of file btConvexHullShape.h.

btVector3 btConvexHullShape::getScaledPoint | ( | int | i | ) | const
| inline

Definition at line 61 of file btConvexHullShape.h.

btVector3* btConvexHullShape::getUnscaledPoints | ( |  | ) |
| inline

Definition at line 42 of file btConvexHullShape.h.

const btVector3* btConvexHullShape::getUnscaledPoints | ( |  | ) | const
| inline

Definition at line 47 of file btConvexHullShape.h.

void btConvexHullShape::getVertex | ( | int | i,
|  | btVector3 & | vtx
| ) |  | const
| virtual

Implements btPolyhedralConvexShape.

Definition at line 152 of file btConvexHullShape.cpp.

bool btConvexHullShape::isInside | ( | const btVector3 & | pt,
|  | btScalar | tolerance
| ) |  | const
| virtual

Implements btPolyhedralConvexShape.

Definition at line 169 of file btConvexHullShape.cpp.

btVector3 btConvexHullShape::localGetSupportingVertex | ( | const btVector3 & | vec | ) | const
| virtual

Reimplemented from btConvexInternalShape.

Definition at line 106 of file btConvexHullShape.cpp.

btVector3 btConvexHullShape::localGetSupportingVertexWithoutMargin | ( | const btVector3 & | vec | ) | const
| virtual

Reimplemented from btPolyhedralConvexShape.

Definition at line 60 of file btConvexHullShape.cpp.

void btConvexHullShape::project | ( | const btTransform & | trans,
|  | const btVector3 & | dir,
|  | btScalar & | minProj,
|  | btScalar & | maxProj,
|  | btVector3 & | witnesPtMin,
|  | btVector3 & | witnesPtMax
| ) |  | const
| virtual

Reimplemented from btConvexShape.

Definition at line 209 of file btConvexHullShape.cpp.

const char * btConvexHullShape::serialize | ( | void * | dataBuffer,
|  | btSerializer * | serializer
| ) |  | const
| virtual

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

Reimplemented from btConvexInternalShape.

Definition at line 176 of file btConvexHullShape.cpp.

void btConvexHullShape::setLocalScaling | ( | const btVector3 & | scaling | ) |
| virtual

in case we receive negative scaling

Reimplemented from btPolyhedralConvexAabbCachingShape.

Definition at line 46 of file btConvexHullShape.cpp.

## Member Data Documentation

btAlignedObjectArray<btVector3> btConvexHullShape::m_unscaledPoints
| private

Definition at line 28 of file btConvexHullShape.h.

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

- btConvexHullShape.h
- btConvexHullShape.cpp