Bullet Collision Detection & Physics Library: btConvex2dShape.cpp Source File

Bullet Collision Detection & Physics Library

btConvex2dShape.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #include "btConvex2dShape.h"
17
18 btConvex2dShape::btConvex2dShape( btConvexShape* convexChildShape):
19 btConvexShape (), m_childConvexShape(convexChildShape)
20 {
21 m_shapeType = CONVEX_2D_SHAPE_PROXYTYPE;
22 }
23
24 btConvex2dShape::~btConvex2dShape()
25 {
26 }
27
28
29
30 btVector3 btConvex2dShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
31 {
32 return m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
33 }
34
35 void btConvex2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
36 {
37 m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors);
38 }
39
40
41 btVector3 btConvex2dShape::localGetSupportingVertex(const btVector3& vec)const
42 {
43 return m_childConvexShape->localGetSupportingVertex(vec);
44 }
45
46
47 void btConvex2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
48 {
50 m_childConvexShape->calculateLocalInertia(mass,inertia);
51 }
52
53
55 void btConvex2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
56 {
57 m_childConvexShape->getAabb(t,aabbMin,aabbMax);
58 }
59
60 void btConvex2dShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
61 {
62 m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax);
63 }
64
65 void btConvex2dShape::setLocalScaling(const btVector3& scaling)
66 {
67 m_childConvexShape->setLocalScaling(scaling);
68 }
69
70 const btVector3& btConvex2dShape::getLocalScaling() const
71 {
72 return m_childConvexShape->getLocalScaling();
73 }
74
75 void btConvex2dShape::setMargin(btScalar margin)
76 {
77 m_childConvexShape->setMargin(margin);
78 }
79 btScalar btConvex2dShape::getMargin() const
80 {
81 return m_childConvexShape->getMargin();
82 }
83
84 int btConvex2dShape::getNumPreferredPenetrationDirections() const
85 {
86 return m_childConvexShape->getNumPreferredPenetrationDirections();
87 }
88
89 void btConvex2dShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
90 {
91 m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);
92 }
btConvexShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const =0
btCollisionShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const =0
btConvex2dShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const
Definition: btConvex2dShape.cpp:70
btConvexShape::getPreferredPenetrationDirection
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const =0
btConvex2dShape::m_childConvexShape
btConvexShape * m_childConvexShape
Definition: btConvex2dShape.h:26
btConvex2dShape::getPreferredPenetrationDirection
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
Definition: btConvex2dShape.cpp:89
btConvex2dShape::setMargin
virtual void setMargin(btScalar margin)
Definition: btConvex2dShape.cpp:75
btConvexShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const =0
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
btConvex2dShape::getMargin
virtual btScalar getMargin() const
Definition: btConvex2dShape.cpp:79
btConvexShape::getAabb
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb&#39;s default implementation is brute force, expected derived classes to implement a fast dedicat...
btConvex2dShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
Definition: btConvex2dShape.cpp:30
btConvex2dShape::getNumPreferredPenetrationDirections
virtual int getNumPreferredPenetrationDirections() const
Definition: btConvex2dShape.cpp:84
btConvexShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const =0
btConvex2dShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btConvex2dShape.cpp:65
btConvexShape::getAabbSlow
virtual void getAabbSlow(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
btConvexShape::getNumPreferredPenetrationDirections
virtual int getNumPreferredPenetrationDirections() const =0
btConvex2dShape::btConvex2dShape
btConvex2dShape(btConvexShape *convexChildShape)
Definition: btConvex2dShape.cpp:18
btConvex2dShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition: btConvex2dShape.cpp:41
btConvex2dShape.h
btConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const =0
btConvexShape::getMargin
virtual btScalar getMargin() const =0
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btConvex2dShape::getAabb
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb&#39;s default implementation is brute force, expected derived classes to implement a fast dedicat...
Definition: btConvex2dShape.cpp:55
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btConvex2dShape::getAabbSlow
virtual void getAabbSlow(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
Definition: btConvex2dShape.cpp:60
btConvexShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)=0
btConvex2dShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btConvex2dShape.cpp:47
btConvexShape::setMargin
virtual void setMargin(btScalar margin)=0
CONVEX_2D_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:50
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
btConvex2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btConvex2dShape.cpp:35
btConvex2dShape::~btConvex2dShape
virtual ~btConvex2dShape()
Definition: btConvex2dShape.cpp:24