Bullet Collision Detection & Physics Library: btCompoundShape Class Reference

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btCompoundShape Class Reference

The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave collision objects. More...

`#include <btCompoundShape.h>`

Inheritance diagram for btCompoundShape:
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Collaboration diagram for btCompoundShape:
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## Public Member Functions
| BT_DECLARE_ALIGNED_ALLOCATOR ()
| btCompoundShape (bool enableDynamicAabbTree=true, const int initialChildCapacity=0)
virtual | ~btCompoundShape ()
void | addChildShape (const btTransform &localTransform, btCollisionShape *shape)
virtual void | removeChildShape (btCollisionShape *shape)
| Remove all children shapes that contain the specified shape. More...
void | removeChildShapeByIndex (int childShapeindex)
int | getNumChildShapes () const
btCollisionShape * | getChildShape (int index)
const btCollisionShape * | getChildShape (int index) const
btTransform & | getChildTransform (int index)
const btTransform & | getChildTransform (int index) const
void | updateChildTransform (int childIndex, const btTransform &newChildTransform, bool shouldRecalculateLocalAabb=true)
| set a new transform for a child, and update internal data structures (local aabb and dynamic tree) More...
btCompoundShapeChild * | getChildList ()
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...
virtual void | recalculateLocalAabb ()
| Re-calculate the local Aabb. More...
virtual void | setLocalScaling (const btVector3 &scaling)
virtual const btVector3 & | getLocalScaling () const
virtual void | calculateLocalInertia (btScalar mass, btVector3 &inertia) const
virtual void | setMargin (btScalar margin)
virtual btScalar | getMargin () const
virtual const char * | getName () const
const btDbvt * | getDynamicAabbTree () const
btDbvt * | getDynamicAabbTree ()
void | createAabbTreeFromChildren ()
void | calculatePrincipalAxisTransform (btScalar *masses, btTransform &principal, btVector3 &inertia) const
| computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia and the center of mass to the current coordinate system. More...
int | getUpdateRevision () 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) More...
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

## Protected Attributes
btAlignedObjectArray< btCompoundShapeChild > | m_children
btVector3 | m_localAabbMin
btVector3 | m_localAabbMax
btDbvt * | m_dynamicAabbTree
int | m_updateRevision
| increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated More...
btScalar | m_collisionMargin
btVector3 | m_localScaling
Protected Attributes inherited from btCollisionShape
int | m_shapeType
void * | m_userPointer
int | m_userIndex

## Detailed Description

The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave collision objects.

This is more general then the static concave btBvhTriangleMeshShape. It has an (optional) dynamic aabb tree to accelerate early rejection tests.

Definition at line 54 of file btCompoundShape.h.

## Constructor & Destructor Documentation

btCompoundShape::btCompoundShape | ( | bool | enableDynamicAabbTree = `true`,
|  | const int | initialChildCapacity = `0`
| ) |  |
| explicit

Definition at line 21 of file btCompoundShape.cpp.

btCompoundShape::~btCompoundShape | ( |  | ) |
| virtual

Definition at line 42 of file btCompoundShape.cpp.

## Member Function Documentation

void btCompoundShape::addChildShape | ( | const btTransform & | localTransform,
|  | btCollisionShape * | shape
| ) |  |

Definition at line 51 of file btCompoundShape.cpp.

btCompoundShape::BT_DECLARE_ALIGNED_ALLOCATOR | ( |  | ) |

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

Implements btCollisionShape.

Definition at line 193 of file btCompoundShape.cpp.

void btCompoundShape::calculatePrincipalAxisTransform | ( | btScalar * | masses,
|  | btTransform & | principal,
|  | btVector3 & | inertia
| ) |  | const

computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia and the center of mass to the current coordinate system.

"masses" points to an array of masses of the children. The resulting transform "principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform of the collision object by the principal transform.

Definition at line 216 of file btCompoundShape.cpp.

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

Reimplemented from btCollisionShape.

Definition at line 201 of file btCompoundShape.h.

void btCompoundShape::createAabbTreeFromChildren | ( |  | ) |

Definition at line 300 of file btCompoundShape.cpp.

void btCompoundShape::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 btCollisionShape.

Definition at line 169 of file btCompoundShape.cpp.

btCompoundShapeChild* btCompoundShape::getChildList | ( |  | ) |
| inline

Definition at line 112 of file btCompoundShape.h.

btCollisionShape* btCompoundShape::getChildShape | ( | int | index | ) |
| inline

Definition at line 90 of file btCompoundShape.h.

const btCollisionShape* btCompoundShape::getChildShape | ( | int | index | ) | const
| inline

Definition at line 94 of file btCompoundShape.h.

btTransform& btCompoundShape::getChildTransform | ( | int | index | ) |
| inline

Definition at line 99 of file btCompoundShape.h.

const btTransform& btCompoundShape::getChildTransform | ( | int | index | ) | const
| inline

Definition at line 103 of file btCompoundShape.h.

const btDbvt* btCompoundShape::getDynamicAabbTree | ( |  | ) | const
| inline

Definition at line 146 of file btCompoundShape.h.

btDbvt* btCompoundShape::getDynamicAabbTree | ( |  | ) |
| inline

Definition at line 151 of file btCompoundShape.h.

virtual const btVector3& btCompoundShape::getLocalScaling | ( |  | ) | const
| inlinevirtual

Implements btCollisionShape.

Definition at line 126 of file btCompoundShape.h.

virtual btScalar btCompoundShape::getMargin | ( |  | ) | const
| inlinevirtual

Implements btCollisionShape.

Definition at line 137 of file btCompoundShape.h.

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

Implements btCollisionShape.

Definition at line 141 of file btCompoundShape.h.

int btCompoundShape::getNumChildShapes | ( |  | ) | const
| inline

Definition at line 85 of file btCompoundShape.h.

int btCompoundShape::getUpdateRevision | ( |  | ) | const
| inline

Definition at line 165 of file btCompoundShape.h.

void btCompoundShape::recalculateLocalAabb | ( |  | ) |
| virtual

Re-calculate the local Aabb.

Is called at the end of removeChildShapes. Use this yourself if you modify the children or their transforms.

Definition at line 145 of file btCompoundShape.cpp.

void btCompoundShape::removeChildShape | ( | btCollisionShape * | shape | ) |
| virtual

Remove all children shapes that contain the specified shape.

Definition at line 127 of file btCompoundShape.cpp.

void btCompoundShape::removeChildShapeByIndex | ( | int | childShapeindex | ) |

Definition at line 110 of file btCompoundShape.cpp.

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

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

Reimplemented from btCollisionShape.

Definition at line 325 of file btCompoundShape.cpp.

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

Implements btCollisionShape.

Definition at line 280 of file btCompoundShape.cpp.

virtual void btCompoundShape::setMargin | ( | btScalar | margin | ) |
| inlinevirtual

Implements btCollisionShape.

Definition at line 133 of file btCompoundShape.h.

void btCompoundShape::updateChildTransform | ( | int | childIndex,
|  | const btTransform & | newChildTransform,
|  | bool | shouldRecalculateLocalAabb = `true`
| ) |  |

set a new transform for a child, and update internal data structures (local aabb and dynamic tree)

update the dynamic aabb tree

Definition at line 90 of file btCompoundShape.cpp.

## Member Data Documentation

btAlignedObjectArray<btCompoundShapeChild> btCompoundShape::m_children
| protected

Definition at line 57 of file btCompoundShape.h.

btScalar btCompoundShape::m_collisionMargin
| protected

Definition at line 66 of file btCompoundShape.h.

btDbvt* btCompoundShape::m_dynamicAabbTree
| protected

Definition at line 61 of file btCompoundShape.h.

btVector3 btCompoundShape::m_localAabbMax
| protected

Definition at line 59 of file btCompoundShape.h.

btVector3 btCompoundShape::m_localAabbMin
| protected

Definition at line 58 of file btCompoundShape.h.

btVector3 btCompoundShape::m_localScaling
| protected

Definition at line 68 of file btCompoundShape.h.

int btCompoundShape::m_updateRevision
| protected

increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated

Definition at line 64 of file btCompoundShape.h.

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

- btCompoundShape.h
- btCompoundShape.cpp