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

Bullet Collision Detection & Physics Library

btConvex2dShape.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btConvex2dShape.h"
17
18btConvex2dShape::btConvex2dShape(btConvexShape* convexChildShape) : btConvexShape(), m_childConvexShape(convexChildShape)
19{
20 m_shapeType = CONVEX_2D_SHAPE_PROXYTYPE;
21}
22
23btConvex2dShape::~btConvex2dShape()
24{
25}
26
27 btVector3 btConvex2dShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
28{
29 return m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
30}
31
32 void btConvex2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
33{
34 m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors, supportVerticesOut, numVectors);
35}
36
37 btVector3 btConvex2dShape::localGetSupportingVertex(const btVector3& vec) const
38{
39 return m_childConvexShape->localGetSupportingVertex(vec);
40}
41
42 void btConvex2dShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
43{
45 m_childConvexShape->calculateLocalInertia(mass, inertia);
46}
47
49 void btConvex2dShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
50{
51 m_childConvexShape->getAabb(t, aabbMin, aabbMax);
52}
53
54 void btConvex2dShape::getAabbSlow(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
55{
56 m_childConvexShape->getAabbSlow(t, aabbMin, aabbMax);
57}
58
59 void btConvex2dShape::setLocalScaling(const btVector3& scaling)
60{
61 m_childConvexShape->setLocalScaling(scaling);
62}
63
64 const btVector3& btConvex2dShape::getLocalScaling() const
65{
66 return m_childConvexShape->getLocalScaling();
67}
68
69 void btConvex2dShape::setMargin(btScalar margin)
70{
71 m_childConvexShape->setMargin(margin);
72}
73 btScalar btConvex2dShape::getMargin() const
74{
75 return m_childConvexShape->getMargin();
76}
77
78 int btConvex2dShape::getNumPreferredPenetrationDirections() const
79{
80 return m_childConvexShape->getNumPreferredPenetrationDirections();
81}
82
83 void btConvex2dShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
84{
85 m_childConvexShape->getPreferredPenetrationDirection(index, penetrationVector);
86}
CONVEX_2D_SHAPE_PROXYTYPE
@ CONVEX_2D_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:49
btConvex2dShape.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btCollisionShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const =0
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btConvex2dShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const
Definition: btConvex2dShape.cpp:64
btConvex2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btConvex2dShape.cpp:32
btConvex2dShape::~btConvex2dShape
virtual ~btConvex2dShape()
Definition: btConvex2dShape.cpp:23
btConvex2dShape::getAabb
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
Definition: btConvex2dShape.cpp:49
btConvex2dShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition: btConvex2dShape.cpp:37
btConvex2dShape::setMargin
virtual void setMargin(btScalar margin)
Definition: btConvex2dShape.cpp:69
btConvex2dShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btConvex2dShape.cpp:59
btConvex2dShape::getMargin
virtual btScalar getMargin() const
Definition: btConvex2dShape.cpp:73
btConvex2dShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
Definition: btConvex2dShape.cpp:27
btConvex2dShape::getPreferredPenetrationDirection
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
Definition: btConvex2dShape.cpp:83
btConvex2dShape::m_childConvexShape
btConvexShape * m_childConvexShape
Definition: btConvex2dShape.h:27
btConvex2dShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btConvex2dShape.cpp:42
btConvex2dShape::getAabbSlow
virtual void getAabbSlow(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
Definition: btConvex2dShape.cpp:54
btConvex2dShape::btConvex2dShape
btConvex2dShape(btConvexShape *convexChildShape)
Definition: btConvex2dShape.cpp:18
btConvex2dShape::getNumPreferredPenetrationDirections
virtual int getNumPreferredPenetrationDirections() const
Definition: btConvex2dShape.cpp:78
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:33
btConvexShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const =0
btConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const =0
btConvexShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)=0
btConvexShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const =0
btConvexShape::setMargin
virtual void setMargin(btScalar margin)=0
btConvexShape::getNumPreferredPenetrationDirections
virtual int getNumPreferredPenetrationDirections() const =0
btConvexShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const =0
btConvexShape::getMargin
virtual btScalar getMargin() const =0
btConvexShape::getAabb
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
btConvexShape::getAabbSlow
virtual void getAabbSlow(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
btConvexShape::getPreferredPenetrationDirection
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const =0
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82