The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes. More...

#include <btMinkowskiSumShape.h>

Inheritance diagram for btMinkowskiSumShape:

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Collaboration diagram for btMinkowskiSumShape:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btMinkowskiSumShape (const btConvexShape shapeA, const btConvexShape shapeB)
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
void	setTransformA (const btTransform &transA)
void	setTransformB (const btTransform &transB)
const btTransform &	getTransformA () const
const btTransform &	getTransformB () const
const btTransform &	GetTransformB () const
virtual btScalar	getMargin () const
const btConvexShape *	getShapeA () const
const btConvexShape *	getShapeB () const
virtual const char *	getName () const
Public Member Functions inherited from btConvexInternalShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()
virtual	~btConvexInternalShape ()
virtual btVector3	localGetSupportingVertex (const btVector3 &vec) const
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)
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
virtual void	getAabbSlow (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void	setLocalScaling (const btVector3 &scaling)
virtual const btVector3 &	getLocalScaling () const
const btVector3 &	getLocalScalingNV () const
virtual void	setMargin (btScalar margin)
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
void	setUserIndex2 (int index)
int	getUserIndex2 () const
virtual void	serializeSingleShape (btSerializer *serializer) const

Private Attributes
btTransform	m_transA
btTransform	m_transB
const btConvexShape *	m_shapeA
const btConvexShape *	m_shapeB

Additional Inherited Members
Protected Member Functions inherited from btConvexInternalShape
	btConvexInternalShape ()
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
int	m_userIndex2

Detailed Description

The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes.

Definition at line 23 of file btMinkowskiSumShape.h.

Constructor & Destructor Documentation

◆ btMinkowskiSumShape()

btMinkowskiSumShape::btMinkowskiSumShape	(	const btConvexShape *	shapeA,
		const btConvexShape *	shapeB )

Definition at line 18 of file btMinkowskiSumShape.cpp.

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

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

virtual

Implements btConvexShape.

Definition at line 35 of file btMinkowskiSumShape.cpp.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btMinkowskiSumShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calculateLocalInertia()

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

virtual

Implements btCollisionShape.

Definition at line 49 of file btMinkowskiSumShape.cpp.

◆ getMargin()

btScalar btMinkowskiSumShape::getMargin ( ) const

virtual

Reimplemented from btConvexInternalShape.

Definition at line 44 of file btMinkowskiSumShape.cpp.

◆ getName()

virtual const char * btMinkowskiSumShape::getName ( ) const

inlinevirtual

Implements btCollisionShape.

Definition at line 56 of file btMinkowskiSumShape.h.

◆ getShapeA()

const btConvexShape * btMinkowskiSumShape::getShapeA ( ) const

inline

Definition at line 53 of file btMinkowskiSumShape.h.

◆ getShapeB()

const btConvexShape * btMinkowskiSumShape::getShapeB ( ) const

inline

Definition at line 54 of file btMinkowskiSumShape.h.

◆ getTransformA()

const btTransform & btMinkowskiSumShape::getTransformA ( ) const

inline

Definition at line 45 of file btMinkowskiSumShape.h.

◆ GetTransformB()

const btTransform & btMinkowskiSumShape::GetTransformB ( ) const

inline

Definition at line 49 of file btMinkowskiSumShape.h.

◆ getTransformB()

const btTransform & btMinkowskiSumShape::getTransformB ( ) const

inline

Definition at line 46 of file btMinkowskiSumShape.h.

◆ localGetSupportingVertexWithoutMargin()

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

virtual

Implements btConvexShape.

Definition at line 28 of file btMinkowskiSumShape.cpp.

◆ setTransformA()

void btMinkowskiSumShape::setTransformA ( const btTransform & transA )

inline

Definition at line 42 of file btMinkowskiSumShape.h.

◆ setTransformB()

void btMinkowskiSumShape::setTransformB ( const btTransform & transB )

inline

Definition at line 43 of file btMinkowskiSumShape.h.

Member Data Documentation

◆ m_shapeA

const btConvexShape* btMinkowskiSumShape::m_shapeA

private

Definition at line 28 of file btMinkowskiSumShape.h.

◆ m_shapeB

const btConvexShape* btMinkowskiSumShape::m_shapeB

private

Definition at line 29 of file btMinkowskiSumShape.h.

◆ m_transA

btTransform btMinkowskiSumShape::m_transA

private

Definition at line 26 of file btMinkowskiSumShape.h.

◆ m_transB

btTransform btMinkowskiSumShape::m_transB

private

Definition at line 27 of file btMinkowskiSumShape.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

◆ btMinkowskiSumShape()

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ calculateLocalInertia()

◆ getMargin()

◆ getName()

◆ getShapeA()

◆ getShapeB()

◆ getTransformA()

◆ GetTransformB()

◆ getTransformB()

◆ localGetSupportingVertexWithoutMargin()

◆ setTransformA()

◆ setTransformB()

Member Data Documentation

◆ m_shapeA

◆ m_shapeB

◆ m_transA

◆ m_transB