Bullet Collision Detection & Physics Library: btBoxShape Class Reference

Bullet Collision Detection & Physics Library

- Main Page
- Namespaces
- Classes
- Files

- Class List
- Class Hierarchy
- Class Members

Public Member Functions | List of all members
btBoxShape Class Reference

The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space. More...

`#include <btBoxShape.h>`

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

## Public Member Functions
| BT_DECLARE_ALIGNED_ALLOCATOR ()
btVector3 | getHalfExtentsWithMargin () const
const btVector3 & | getHalfExtentsWithoutMargin () const
virtual btVector3 | localGetSupportingVertex (const btVector3 &vec) const
btVector3 | localGetSupportingVertexWithoutMargin (const btVector3 &vec) const
virtual void | batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
| btBoxShape (const btVector3 &boxHalfExtents)
virtual void | setMargin (btScalar collisionMargin)
virtual void | setLocalScaling (const btVector3 &scaling)
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
virtual void | calculateLocalInertia (btScalar mass, btVector3 &inertia) const
virtual void | getPlane (btVector3 &planeNormal, btVector3 &planeSupport, int i) const
virtual int | getNumPlanes () const
virtual int | getNumVertices () const
virtual int | getNumEdges () const
virtual void | getVertex (int i, btVector3 &vtx) const
virtual void | getPlaneEquation (btVector4 &plane, int i) const
virtual void | getEdge (int i, btVector3 &pa, btVector3 &pb) const
virtual bool | isInside (const btVector3 &pt, btScalar tolerance) const
virtual const char * | getName () const
virtual int | getNumPreferredPenetrationDirections () const
virtual void | getPreferredPenetrationDirection (int index, btVector3 &penetrationVector) const
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
virtual void | setPolyhedralFeatures (btConvexPolyhedron &polyhedron)
const btConvexPolyhedron * | getConvexPolyhedron () 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'
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 const btVector3 & | getLocalScaling () const
const btVector3 & | getLocalScalingNV () const
virtual btScalar | getMargin () const
btScalar | getMarginNV () 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

## Additional Inherited Members
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
int | m_userIndex2

## Detailed Description

The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.

Definition at line 26 of file btBoxShape.h.

## Constructor & Destructor Documentation

## ◆ btBoxShape()

btBoxShape::btBoxShape | ( | const btVector3 & | boxHalfExtents | ) |

Definition at line 17 of file btBoxShape.cpp.

## Member Function Documentation

## ◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

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

Reimplemented from btPolyhedralConvexShape.

Definition at line 67 of file btBoxShape.h.

## ◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btBoxShape::BT_DECLARE_ALIGNED_ALLOCATOR | ( |  | ) |

## ◆ calculateLocalInertia()

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

Reimplemented from btPolyhedralConvexShape.

Definition at line 33 of file btBoxShape.cpp.

## ◆ getAabb()

void btBoxShape::getAabb | ( | const btTransform & | t,
|  | btVector3 & | aabbMin,
|  | btVector3 & | aabbMax ) const
| virtual

getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version

Implements btConvexShape.

Definition at line 28 of file btBoxShape.cpp.

## ◆ getEdge()

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

Implements btPolyhedralConvexShape.

Definition at line 170 of file btBoxShape.h.

## ◆ getHalfExtentsWithMargin()

btVector3 btBoxShape::getHalfExtentsWithMargin | ( |  | ) | const
| inline

Definition at line 34 of file btBoxShape.h.

## ◆ getHalfExtentsWithoutMargin()

const btVector3 & btBoxShape::getHalfExtentsWithoutMargin | ( |  | ) | const
| inline

Definition at line 42 of file btBoxShape.h.

## ◆ getName()

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

Implements btCollisionShape.

Definition at line 253 of file btBoxShape.h.

## ◆ getNumEdges()

virtual int btBoxShape::getNumEdges | ( |  | ) | const
| inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 126 of file btBoxShape.h.

## ◆ getNumPlanes()

virtual int btBoxShape::getNumPlanes | ( |  | ) | const
| inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 116 of file btBoxShape.h.

## ◆ getNumPreferredPenetrationDirections()

virtual int btBoxShape::getNumPreferredPenetrationDirections | ( |  | ) | const
| inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 258 of file btBoxShape.h.

## ◆ getNumVertices()

virtual int btBoxShape::getNumVertices | ( |  | ) | const
| inlinevirtual

Implements btPolyhedralConvexShape.

Definition at line 121 of file btBoxShape.h.

## ◆ getPlane()

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

Implements btPolyhedralConvexShape.

Definition at line 107 of file btBoxShape.h.

## ◆ getPlaneEquation()

virtual void btBoxShape::getPlaneEquation | ( | btVector4 & | plane,
|  | int | i ) const
| inlinevirtual

Definition at line 141 of file btBoxShape.h.

## ◆ getPreferredPenetrationDirection()

virtual void btBoxShape::getPreferredPenetrationDirection | ( | int | index,
|  | btVector3 & | penetrationVector ) const
| inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 263 of file btBoxShape.h.

## ◆ getVertex()

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

Implements btPolyhedralConvexShape.

Definition at line 131 of file btBoxShape.h.

## ◆ isInside()

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

Implements btPolyhedralConvexShape.

Definition at line 236 of file btBoxShape.h.

## ◆ localGetSupportingVertex()

virtual btVector3 btBoxShape::localGetSupportingVertex | ( | const btVector3 & | vec | ) | const
| inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 47 of file btBoxShape.h.

## ◆ localGetSupportingVertexWithoutMargin()

btVector3 btBoxShape::localGetSupportingVertexWithoutMargin | ( | const btVector3 & | vec | ) | const
| inlinevirtual

Reimplemented from btPolyhedralConvexShape.

Definition at line 58 of file btBoxShape.h.

## ◆ setLocalScaling()

virtual void btBoxShape::setLocalScaling | ( | const btVector3 & | scaling | ) |
| inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 92 of file btBoxShape.h.

## ◆ setMargin()

virtual void btBoxShape::setMargin | ( | btScalar | collisionMargin | ) |
| inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 82 of file btBoxShape.h.

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

- btBoxShape.h
- btBoxShape.cpp