| Bullet Collision Detection & Physics Library
    | 
 
 
 
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   16 #ifndef BT_OBB_BOX_2D_SHAPE_H 
   17 #define BT_OBB_BOX_2D_SHAPE_H 
   40                 btVector3 halfExtents = getHalfExtentsWithoutMargin();
 
   41                 btVector3 margin(getMargin(), getMargin(), getMargin());
 
   42                 halfExtents += margin;
 
   48                 return m_implicitShapeDimensions;  
 
   53                 btVector3 halfExtents = getHalfExtentsWithoutMargin();
 
   54                 btVector3 margin(getMargin(), getMargin(), getMargin());
 
   55                 halfExtents += margin;
 
   58                                                  btFsels(vec.
y(), halfExtents.
y(), -halfExtents.
y()),
 
   59                                                  btFsels(vec.
z(), halfExtents.
z(), -halfExtents.
z()));
 
   64                 const btVector3& halfExtents = getHalfExtentsWithoutMargin();
 
   67                                                  btFsels(vec.
y(), halfExtents.
y(), -halfExtents.
y()),
 
   68                                                  btFsels(vec.
z(), halfExtents.
z(), -halfExtents.
z()));
 
   73                 const btVector3& halfExtents = getHalfExtentsWithoutMargin();
 
   75                 for (
int i = 0; i < numVectors; i++)
 
   79                                                                                    btFsels(vec.
y(), halfExtents.
y(), -halfExtents.
y()),
 
   80                                                                                    btFsels(vec.
z(), halfExtents.
z(), -halfExtents.
z()));
 
  100                 if (minDimension > boxHalfExtents.
getY())
 
  101                         minDimension = boxHalfExtents.
getY();
 
  104                 btVector3 margin(getMargin(), getMargin(), getMargin());
 
  105                 m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
 
  107                 setSafeMargin(minDimension);
 
  113                 btVector3 oldMargin(getMargin(), getMargin(), getMargin());
 
  114                 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
 
  117                 btVector3 newMargin(getMargin(), getMargin(), getMargin());
 
  118                 m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
 
  122                 btVector3 oldMargin(getMargin(), getMargin(), getMargin());
 
  123                 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
 
  124                 btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
 
  128                 m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
 
  147                 return &m_vertices[0];
 
  152                 return &m_normals[0];
 
  159                 getPlaneEquation(plane, i);
 
  161                 planeSupport = localGetSupportingVertex(-planeNormal);
 
  181                 btVector3 halfExtents = getHalfExtentsWithoutMargin();
 
  184                         halfExtents.
x() * (1 - (i & 1)) - halfExtents.
x() * (i & 1),
 
  185                         halfExtents.
y() * (1 - ((i & 2) >> 1)) - halfExtents.
y() * ((i & 2) >> 1),
 
  186                         halfExtents.
z() * (1 - ((i & 4) >> 2)) - halfExtents.
z() * ((i & 4) >> 2));
 
  191                 btVector3 halfExtents = getHalfExtentsWithoutMargin();
 
  280                 getVertex(edgeVert0, pa);
 
  281                 getVertex(edgeVert1, pb);
 
  286                 btVector3 halfExtents = getHalfExtentsWithoutMargin();
 
  290                 bool result = (pt.
x() <= (halfExtents.
x() + tolerance)) &&
 
  291                                           (pt.
x() >= (-halfExtents.
x() - tolerance)) &&
 
  292                                           (pt.
y() <= (halfExtents.
y() + tolerance)) &&
 
  293                                           (pt.
y() >= (-halfExtents.
y() - tolerance)) &&
 
  294                                           (pt.
z() <= (halfExtents.
z() + tolerance)) &&
 
  295                                           (pt.
z() >= (-halfExtents.
z() - tolerance));
 
  339 #endif  //BT_OBB_BOX_2D_SHAPE_H 
  
virtual void getVertex(int i, btVector3 &vtx) const
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
virtual int getNumVertices() const
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z, const btScalar &_w)
Set x,y,z and zero w.
const btVector3 & getHalfExtentsWithoutMargin() const
virtual bool isInside(const btVector3 &pt, btScalar tolerance) const
virtual int getNumPlanes() const
const btScalar & y() const
Return the y value.
btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
const btVector3 & getCentroid() const
const btScalar & getX() const
Return the x value.
virtual void setLocalScaling(const btVector3 &scaling)
virtual void getPlane(btVector3 &planeNormal, btVector3 &planeSupport, int i) const
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const
int getVertexCount() const
#define BT_DECLARE_ALIGNED_ALLOCATOR()
btVector3 can be used to represent 3D points and vectors.
const btVector3 * getVertices() const
virtual int getNumEdges() const
virtual int getNumPreferredPenetrationDirections() const
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
#define ATTRIBUTE_ALIGNED16(a)
const btScalar & getZ() const
Return the z value.
const btScalar & getY() const
Return the y value.
#define SIMD_FORCE_INLINE
const btScalar & x() const
Return the x value.
virtual void getPlaneEquation(btVector4 &plane, int i) const
const btVector3 * getNormals() const
btVector3 getHalfExtentsWithMargin() const
virtual void setMargin(btScalar margin)
virtual void setLocalScaling(const btVector3 &scaling)
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
btBox2dShape(const btVector3 &boxHalfExtents)
a btBox2dShape is a flat 2D box in the X-Y plane (Z extents are zero)
virtual const char * getName() const
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
virtual void setMargin(btScalar collisionMargin)
The btBox2dShape is a box primitive around the origin, its sides axis aligned with length specified b...
const btScalar & z() const
Return the z value.