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) : btConvexShape(), m_childConvexShape(convexChildShape)
19 {
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32 void btConvex2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
33 {
34  m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors, supportVerticesOut, numVectors);
35 }
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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 }
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74 {
75  return m_childConvexShape->getMargin();
76 }
77 
79 {
81 }
82 
83 void btConvex2dShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
84 {
85  m_childConvexShape->getPreferredPenetrationDirection(index, penetrationVector);
86 }
btConvexShape::getNumPreferredPenetrationDirections
virtual int getNumPreferredPenetrationDirections() const =0
btConvex2dShape::~btConvex2dShape
virtual ~btConvex2dShape()
Definition: btConvex2dShape.cpp:23
btConvex2dShape::getPreferredPenetrationDirection
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
Definition: btConvex2dShape.cpp:83
CONVEX_2D_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:49
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
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
btConvex2dShape::setMargin
virtual void setMargin(btScalar margin)
Definition: btConvex2dShape.cpp:69
btConvex2dShape::btConvex2dShape
btConvex2dShape(btConvexShape *convexChildShape)
Definition: btConvex2dShape.cpp:18
btConvexShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)=0
btConvex2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btConvex2dShape.cpp:32
btConvexShape::getPreferredPenetrationDirection
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const =0
btConvexShape::setMargin
virtual void setMargin(btScalar margin)=0
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btConvexShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const =0
btConvexShape::getMargin
virtual btScalar getMargin() const =0
btConvex2dShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition: btConvex2dShape.cpp:37
btConvex2dShape::getMargin
virtual btScalar getMargin() const
Definition: btConvex2dShape.cpp:73
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btConvex2dShape::getAabbSlow
virtual void getAabbSlow(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
Definition: btConvex2dShape.cpp:54
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btConvex2dShape::m_childConvexShape
btConvexShape * m_childConvexShape
Definition: btConvex2dShape.h:27
btConvex2dShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
Definition: btConvex2dShape.cpp:27
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
btConvexShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const =0
btConvex2dShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btConvex2dShape.cpp:42
btCollisionShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const =0
btConvex2dShape::getNumPreferredPenetrationDirections
virtual int getNumPreferredPenetrationDirections() const
Definition: btConvex2dShape.cpp:78
btConvex2dShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const
Definition: btConvex2dShape.cpp:64
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
btConvexShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const =0
btConvex2dShape.h
btConvexShape::getLocalScaling
virtual const btVector3 & getLocalScaling() const =0
btConvex2dShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btConvex2dShape.cpp:59