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

Bullet Collision Detection & Physics Library

btConvexShape.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 #if defined (_WIN32) || defined (__i386__)
17 #define BT_USE_SSE_IN_API
18 #endif
19
20 #include "btConvexShape.h"
21 #include "btTriangleShape.h"
22 #include "btSphereShape.h"
23 #include "btCylinderShape.h"
24 #include "btConeShape.h"
25 #include "btCapsuleShape.h"
26 #include "btConvexHullShape.h"
27 #include "btConvexPointCloudShape.h"
28
30 #if defined (__CELLOS_LV2__) && defined (__SPU__)
31 #include <spu_intrinsics.h>
32 static inline vec_float4 vec_dot3( vec_float4 vec0, vec_float4 vec1 )
33 {
34 vec_float4 result;
35 result = spu_mul( vec0, vec1 );
36 result = spu_madd( spu_rlqwbyte( vec0, 4 ), spu_rlqwbyte( vec1, 4 ), result );
37 return spu_madd( spu_rlqwbyte( vec0, 8 ), spu_rlqwbyte( vec1, 8 ), result );
38 }
39 #endif //__SPU__
40
41 btConvexShape::btConvexShape ()
42 {
43 }
44
45 btConvexShape::~btConvexShape()
46 {
47
48 }
49
50
51 void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max, btVector3& witnesPtMin,btVector3& witnesPtMax) const
52 {
53 btVector3 localAxis = dir*trans.getBasis();
54 btVector3 vtx1 = trans(localGetSupportingVertex(localAxis));
55 btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis));
56
57 min = vtx1.dot(dir);
58 max = vtx2.dot(dir);
59 witnesPtMax = vtx2;
60 witnesPtMin = vtx1;
61
62 if(min>max)
63 {
64 btScalar tmp = min;
65 min = max;
66 max = tmp;
67 witnesPtMax = vtx1;
68 witnesPtMin = vtx2;
69 }
70 }
71
72
73 static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling)
74 {
75
76 btVector3 vec = localDirOrg * localScaling;
77
78 #if defined (__CELLOS_LV2__) && defined (__SPU__)
79
80 btVector3 localDir = vec;
81
82 vec_float4 v_distMax = {-FLT_MAX,0,0,0};
83 vec_int4 v_idxMax = {-999,0,0,0};
84 int v=0;
85 int numverts = numPoints;
86
87 for(;v<(int)numverts-4;v+=4) {
88 vec_float4 p0 = vec_dot3(points[v ].get128(),localDir.get128());
89 vec_float4 p1 = vec_dot3(points[v+1].get128(),localDir.get128());
90 vec_float4 p2 = vec_dot3(points[v+2].get128(),localDir.get128());
91 vec_float4 p3 = vec_dot3(points[v+3].get128(),localDir.get128());
92 const vec_int4 i0 = {v ,0,0,0};
93 const vec_int4 i1 = {v+1,0,0,0};
94 const vec_int4 i2 = {v+2,0,0,0};
95 const vec_int4 i3 = {v+3,0,0,0};
96 vec_uint4 retGt01 = spu_cmpgt(p0,p1);
97 vec_float4 pmax01 = spu_sel(p1,p0,retGt01);
98 vec_int4 imax01 = spu_sel(i1,i0,retGt01);
99 vec_uint4 retGt23 = spu_cmpgt(p2,p3);
100 vec_float4 pmax23 = spu_sel(p3,p2,retGt23);
101 vec_int4 imax23 = spu_sel(i3,i2,retGt23);
102 vec_uint4 retGt0123 = spu_cmpgt(pmax01,pmax23);
103 vec_float4 pmax0123 = spu_sel(pmax23,pmax01,retGt0123);
104 vec_int4 imax0123 = spu_sel(imax23,imax01,retGt0123);
105 vec_uint4 retGtMax = spu_cmpgt(v_distMax,pmax0123);
106 v_distMax = spu_sel(pmax0123,v_distMax,retGtMax);
107 v_idxMax = spu_sel(imax0123,v_idxMax,retGtMax);
108 }
109 for(;v<(int)numverts;v++) {
110 vec_float4 p = vec_dot3(points[v].get128(),localDir.get128());
111 const vec_int4 i = {v,0,0,0};
112 vec_uint4 retGtMax = spu_cmpgt(v_distMax,p);
113 v_distMax = spu_sel(p,v_distMax,retGtMax);
114 v_idxMax = spu_sel(i,v_idxMax,retGtMax);
115 }
116 int ptIndex = spu_extract(v_idxMax,0);
117 const btVector3& supVec= points[ptIndex] * localScaling;
118 return supVec;
119 #else
120
121 btScalar maxDot;
122 long ptIndex = vec.maxDot( points, numPoints, maxDot);
123 btAssert(ptIndex >= 0);
124 btVector3 supVec = points[ptIndex] * localScaling;
125 return supVec;
126 #endif //__SPU__
127 }
128
129 btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btVector3& localDir) const
130 {
131 switch (m_shapeType)
132 {
133 case SPHERE_SHAPE_PROXYTYPE:
134 {
135 return btVector3(0,0,0);
136 }
137 case BOX_SHAPE_PROXYTYPE:
138 {
139 btBoxShape* convexShape = (btBoxShape*)this;
140 const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
141
142 #if defined( __APPLE__ ) && (defined( BT_USE_SSE )||defined( BT_USE_NEON ))
143 #if defined( BT_USE_SSE )
144 return btVector3( _mm_xor_ps( _mm_and_ps( localDir.mVec128, (__m128){-0.0f, -0.0f, -0.0f, -0.0f }), halfExtents.mVec128 ));
145 #elif defined( BT_USE_NEON )
146 return btVector3( (float32x4_t) (((uint32x4_t) localDir.mVec128 & (uint32x4_t){ 0x80000000, 0x80000000, 0x80000000, 0x80000000}) ^ (uint32x4_t) halfExtents.mVec128 ));
147 #else
148 #error unknown vector arch
149 #endif
150 #else
151 return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
152 btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
153 btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
154 #endif
155 }
156 case TRIANGLE_SHAPE_PROXYTYPE:
157 {
158 btTriangleShape* triangleShape = (btTriangleShape*)this;
159 btVector3 dir(localDir.getX(),localDir.getY(),localDir.getZ());
160 btVector3* vertices = &triangleShape->m_vertices1[0];
161 btVector3 dots = dir.dot3(vertices[0], vertices[1], vertices[2]);
162 btVector3 sup = vertices[dots.maxAxis()];
163 return btVector3(sup.getX(),sup.getY(),sup.getZ());
164 }
165 case CYLINDER_SHAPE_PROXYTYPE:
166 {
167 btCylinderShape* cylShape = (btCylinderShape*)this;
168 //mapping of halfextents/dimension onto radius/height depends on how cylinder local orientation is (upAxis)
169
170 btVector3 halfExtents = cylShape->getImplicitShapeDimensions();
171 btVector3 v(localDir.getX(),localDir.getY(),localDir.getZ());
172 int cylinderUpAxis = cylShape->getUpAxis();
173 int XX(1),YY(0),ZZ(2);
174
175 switch (cylinderUpAxis)
176 {
177 case 0:
178 {
179 XX = 1;
180 YY = 0;
181 ZZ = 2;
182 }
183 break;
184 case 1:
185 {
186 XX = 0;
187 YY = 1;
188 ZZ = 2;
189 }
190 break;
191 case 2:
192 {
193 XX = 0;
194 YY = 2;
195 ZZ = 1;
196
197 }
198 break;
199 default:
200 btAssert(0);
201 break;
202 };
203
204 btScalar radius = halfExtents[XX];
205 btScalar halfHeight = halfExtents[cylinderUpAxis];
206
207 btVector3 tmp;
208 btScalar d ;
209
210 btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
211 if (s != btScalar(0.0))
212 {
213 d = radius / s;
214 tmp[XX] = v[XX] * d;
215 tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
216 tmp[ZZ] = v[ZZ] * d;
217 return btVector3(tmp.getX(),tmp.getY(),tmp.getZ());
218 } else {
219 tmp[XX] = radius;
220 tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
221 tmp[ZZ] = btScalar(0.0);
222 return btVector3(tmp.getX(),tmp.getY(),tmp.getZ());
223 }
224 }
225 case CAPSULE_SHAPE_PROXYTYPE:
226 {
227 btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
228
229 btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
230 btScalar halfHeight = capsuleShape->getHalfHeight();
231 int capsuleUpAxis = capsuleShape->getUpAxis();
232
233 btVector3 supVec(0,0,0);
234
235 btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
236
237 btVector3 vec = vec0;
238 btScalar lenSqr = vec.length2();
239 if (lenSqr < SIMD_EPSILON*SIMD_EPSILON)
240 {
241 vec.setValue(1,0,0);
242 } else
243 {
244 btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
245 vec *= rlen;
246 }
247 btVector3 vtx;
248 btScalar newDot;
249 {
250 btVector3 pos(0,0,0);
251 pos[capsuleUpAxis] = halfHeight;
252
253 vtx = pos;
254 newDot = vec.dot(vtx);
255
256
257 if (newDot > maxDot)
258 {
259 maxDot = newDot;
260 supVec = vtx;
261 }
262 }
263 {
264 btVector3 pos(0,0,0);
265 pos[capsuleUpAxis] = -halfHeight;
266
267 vtx = pos;
268 newDot = vec.dot(vtx);
269 if (newDot > maxDot)
270 {
271 maxDot = newDot;
272 supVec = vtx;
273 }
274 }
275 return btVector3(supVec.getX(),supVec.getY(),supVec.getZ());
276 }
277 case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
278 {
279 btConvexPointCloudShape* convexPointCloudShape = (btConvexPointCloudShape*)this;
280 btVector3* points = convexPointCloudShape->getUnscaledPoints ();
281 int numPoints = convexPointCloudShape->getNumPoints ();
282 return convexHullSupport (localDir, points, numPoints,convexPointCloudShape->getLocalScalingNV());
283 }
284 case CONVEX_HULL_SHAPE_PROXYTYPE:
285 {
286 btConvexHullShape* convexHullShape = (btConvexHullShape*)this;
287 btVector3* points = convexHullShape->getUnscaledPoints();
288 int numPoints = convexHullShape->getNumPoints ();
289 return convexHullSupport (localDir, points, numPoints,convexHullShape->getLocalScalingNV());
290 }
291 default:
292 #ifndef __SPU__
293 return this->localGetSupportingVertexWithoutMargin (localDir);
294 #else
295 btAssert (0);
296 #endif
297 }
298
299 // should never reach here
300 btAssert (0);
301 return btVector3 (btScalar(0.0f), btScalar(0.0f), btScalar(0.0f));
302 }
303
304 btVector3 btConvexShape::localGetSupportVertexNonVirtual (const btVector3& localDir) const
305 {
306 btVector3 localDirNorm = localDir;
307 if (localDirNorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
308 {
309 localDirNorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
310 }
311 localDirNorm.normalize ();
312
313 return localGetSupportVertexWithoutMarginNonVirtual(localDirNorm)+ getMarginNonVirtual() * localDirNorm;
314 }
315
316 /* TODO: This should be bumped up to btCollisionShape () */
317 btScalar btConvexShape::getMarginNonVirtual () const
318 {
319 switch (m_shapeType)
320 {
321 case SPHERE_SHAPE_PROXYTYPE:
322 {
323 btSphereShape* sphereShape = (btSphereShape*)this;
324 return sphereShape->getRadius ();
325 }
326 case BOX_SHAPE_PROXYTYPE:
327 {
328 btBoxShape* convexShape = (btBoxShape*)this;
329 return convexShape->getMarginNV ();
330 }
331 case TRIANGLE_SHAPE_PROXYTYPE:
332 {
333 btTriangleShape* triangleShape = (btTriangleShape*)this;
334 return triangleShape->getMarginNV ();
335 }
336 case CYLINDER_SHAPE_PROXYTYPE:
337 {
338 btCylinderShape* cylShape = (btCylinderShape*)this;
339 return cylShape->getMarginNV();
340 }
341 case CONE_SHAPE_PROXYTYPE:
342 {
343 btConeShape* conShape = (btConeShape*)this;
344 return conShape->getMarginNV();
345 }
346 case CAPSULE_SHAPE_PROXYTYPE:
347 {
348 btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
349 return capsuleShape->getMarginNV();
350 }
351 case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
352 /* fall through */
353 case CONVEX_HULL_SHAPE_PROXYTYPE:
354 {
355 btPolyhedralConvexShape* convexHullShape = (btPolyhedralConvexShape*)this;
356 return convexHullShape->getMarginNV();
357 }
358 default:
359 #ifndef __SPU__
360 return this->getMargin ();
361 #else
362 btAssert (0);
363 #endif
364 }
365
366 // should never reach here
367 btAssert (0);
368 return btScalar(0.0f);
369 }
370 #ifndef __SPU__
371 void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
372 {
373 switch (m_shapeType)
374 {
375 case SPHERE_SHAPE_PROXYTYPE:
376 {
377 btSphereShape* sphereShape = (btSphereShape*)this;
378 btScalar radius = sphereShape->getImplicitShapeDimensions().getX();// * convexShape->getLocalScaling().getX();
379 btScalar margin = radius + sphereShape->getMarginNonVirtual();
380 const btVector3& center = t.getOrigin();
381 btVector3 extent(margin,margin,margin);
382 aabbMin = center - extent;
383 aabbMax = center + extent;
384 }
385 break;
386 case CYLINDER_SHAPE_PROXYTYPE:
387 /* fall through */
388 case BOX_SHAPE_PROXYTYPE:
389 {
390 btBoxShape* convexShape = (btBoxShape*)this;
391 btScalar margin=convexShape->getMarginNonVirtual();
392 btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
393 halfExtents += btVector3(margin,margin,margin);
394 btMatrix3x3 abs_b = t.getBasis().absolute();
395 btVector3 center = t.getOrigin();
396 btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
397
398 aabbMin = center - extent;
399 aabbMax = center + extent;
400 break;
401 }
402 case TRIANGLE_SHAPE_PROXYTYPE:
403 {
404 btTriangleShape* triangleShape = (btTriangleShape*)this;
405 btScalar margin = triangleShape->getMarginNonVirtual();
406 for (int i=0;i<3;i++)
407 {
408 btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
409 vec[i] = btScalar(1.);
410
411 btVector3 sv = localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis());
412
413 btVector3 tmp = t(sv);
414 aabbMax[i] = tmp[i]+margin;
415 vec[i] = btScalar(-1.);
416 tmp = t(localGetSupportVertexWithoutMarginNonVirtual(vec*t.getBasis()));
417 aabbMin[i] = tmp[i]-margin;
418 }
419 }
420 break;
421 case CAPSULE_SHAPE_PROXYTYPE:
422 {
423 btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
424 btVector3 halfExtents(capsuleShape->getRadius(),capsuleShape->getRadius(),capsuleShape->getRadius());
425 int m_upAxis = capsuleShape->getUpAxis();
426 halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
427 btMatrix3x3 abs_b = t.getBasis().absolute();
428 btVector3 center = t.getOrigin();
429 btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
430 aabbMin = center - extent;
431 aabbMax = center + extent;
432 }
433 break;
434 case CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE:
435 case CONVEX_HULL_SHAPE_PROXYTYPE:
436 {
437 btPolyhedralConvexAabbCachingShape* convexHullShape = (btPolyhedralConvexAabbCachingShape*)this;
438 btScalar margin = convexHullShape->getMarginNonVirtual();
439 convexHullShape->getNonvirtualAabb (t, aabbMin, aabbMax, margin);
440 }
441 break;
442 default:
443 #ifndef __SPU__
444 this->getAabb (t, aabbMin, aabbMax);
445 #else
446 btAssert (0);
447 #endif
448 break;
449 }
450
451 // should never reach here
452 btAssert (0);
453 }
454
455 #endif //__SPU__
btConvexShape::localGetSupportVertexNonVirtual
btVector3 localGetSupportVertexNonVirtual(const btVector3 &vec) const
Definition: btConvexShape.cpp:304
SIMD_EPSILON
#define SIMD_EPSILON
Definition: btScalar.h:521
CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:36
CONE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:43
SPHERE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:40
BT_LARGE_FLOAT
#define BT_LARGE_FLOAT
Definition: btScalar.h:294
btConvexShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const =0
btCapsuleShape::getRadius
btScalar getRadius() const
Definition: btCapsuleShape.h:76
btCapsuleShape.h
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:652
btVector3::dot3
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition: btVector3.h:731
convexHullSupport
static btVector3 convexHullSupport(const btVector3 &localDirOrg, const btVector3 *points, int numPoints, const btVector3 &localScaling)
Definition: btConvexShape.cpp:73
btVector3::length2
btScalar length2() const
Return the length of the vector squared.
Definition: btVector3.h:257
CAPSULE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:42
btConvexShape::project
virtual void project(const btTransform &trans, const btVector3 &dir, btScalar &minProj, btScalar &maxProj, btVector3 &witnesPtMin, btVector3 &witnesPtMax) const
Definition: btConvexShape.cpp:51
btCapsuleShape
The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned ...
Definition: btCapsuleShape.h:26
btSqrt
btScalar btSqrt(btScalar y)
Definition: btScalar.h:444
btAssert
#define btAssert(x)
Definition: btScalar.h:131
btCylinderShape.h
btConeShape.h
btVector3::getY
const btScalar & getY() const
Return the y value.
Definition: btVector3.h:575
btSphereShape
The btSphereShape implements an implicit sphere, centered around a local origin with radius...
Definition: btSphereShape.h:22
btTriangleShape.h
btTriangleShape
Definition: btTriangleShape.h:22
btConvexHullShape::getNumPoints
int getNumPoints() const
Definition: btConvexHullShape.h:65
btConvexShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const =0
btCylinderShape::getUpAxis
int getUpAxis() const
Definition: btCylinderShape.h:95
BOX_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:31
btCapsuleShape::getUpAxis
int getUpAxis() const
Definition: btCapsuleShape.h:71
btConvexShape.h
btVector3::normalize
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:309
btVector3::getZ
const btScalar & getZ() const
Return the z value.
Definition: btVector3.h:577
btVector3::maxDot
long maxDot(const btVector3 *array, long array_count, btScalar &dotOut) const
returns index of maximum dot product between this and vectors in array[]
Definition: btVector3.h:1013
btConvexHullShape::getUnscaledPoints
btVector3 * getUnscaledPoints()
Definition: btConvexHullShape.h:42
btConvexShape::~btConvexShape
virtual ~btConvexShape()
Definition: btConvexShape.cpp:45
CYLINDER_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:45
btCapsuleShape::getHalfHeight
btScalar getHalfHeight() const
Definition: btCapsuleShape.h:82
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:117
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...
btConvexInternalShape::getMarginNV
btScalar getMarginNV() const
Definition: btConvexInternalShape.h:118
btVector3::x
const btScalar & x() const
Return the x value.
Definition: btVector3.h:587
btConvexShape::getAabbNonVirtual
void getAabbNonVirtual(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
Definition: btConvexShape.cpp:371
TRIANGLE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:32
btConeShape
The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y ...
Definition: btConeShape.h:23
btVector3::dot
btScalar dot(const btVector3 &v) const
Return the dot product.
Definition: btVector3.h:235
btSphereShape::getRadius
btScalar getRadius() const
Definition: btSphereShape.h:50
btVector3::y
const btScalar & y() const
Return the y value.
Definition: btVector3.h:589
btVector3::z
const btScalar & z() const
Return the z value.
Definition: btVector3.h:591
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:112
btPolyhedralConvexShape
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
Definition: btPolyhedralConvexShape.h:25
btConvexPointCloudShape::getNumPoints
int getNumPoints() const
Definition: btConvexPointCloudShape.h:71
btConvexPointCloudShape.h
btConvexShape::getMargin
virtual btScalar getMargin() const =0
btBoxShape
The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by ...
Definition: btBoxShape.h:26
btFsels
#define btFsels(a, b, c)
Definition: btScalar.h:581
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btConvexShape::getMarginNonVirtual
btScalar getMarginNonVirtual() const
Definition: btConvexShape.cpp:317
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btPolyhedralConvexAabbCachingShape
The btPolyhedralConvexAabbCachingShape adds aabb caching to the btPolyhedralConvexShape.
Definition: btPolyhedralConvexShape.h:73
btMatrix3x3::absolute
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
Definition: btMatrix3x3.h:937
CONVEX_HULL_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:35
btCylinderShape
The btCylinderShape class implements a cylinder shape primitive, centered around the origin...
Definition: btCylinderShape.h:24
btConvexPointCloudShape::getUnscaledPoints
btVector3 * getUnscaledPoints()
Definition: btConvexPointCloudShape.h:61
btVector3::maxAxis
int maxAxis() const
Return the axis with the largest value Note return values are 0,1,2 for x, y, or z.
Definition: btVector3.h:487
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:48
btConvexHullShape
The btConvexHullShape implements an implicit convex hull of an array of vertices. ...
Definition: btConvexHullShape.h:26
btConvexInternalShape::getLocalScalingNV
const btVector3 & getLocalScalingNV() const
Definition: btConvexInternalShape.h:104
btPolyhedralConvexAabbCachingShape::getNonvirtualAabb
void getNonvirtualAabb(const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) const
Definition: btPolyhedralConvexShape.h:102
btConvexPointCloudShape
The btConvexPointCloudShape implements an implicit convex hull of an array of vertices.
Definition: btConvexPointCloudShape.h:24
btConvexInternalShape::getImplicitShapeDimensions
const btVector3 & getImplicitShapeDimensions() const
Definition: btConvexInternalShape.h:56
btConvexShape::localGetSupportVertexWithoutMarginNonVirtual
btVector3 localGetSupportVertexWithoutMarginNonVirtual(const btVector3 &vec) const
Definition: btConvexShape.cpp:129
btSphereShape.h
btConvexHullShape.h
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btTriangleShape::m_vertices1
btVector3 m_vertices1[3]
Definition: btTriangleShape.h:30
btVector3::getX
const btScalar & getX() const
Return the x value.
Definition: btVector3.h:573
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
btConvexShape::btConvexShape
btConvexShape()
not supported on IBM SDK, until we fix the alignment of btVector3
Definition: btConvexShape.cpp:41