The btSphereShape implements an implicit sphere, centered around a local origin with radius. More...

#include <btSphereShape.h>

Inheritance diagram for btSphereShape:

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Collaboration diagram for btSphereShape:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btSphereShape (btScalar radius)
virtual btVector3	localGetSupportingVertex (const btVector3 &vec) const
virtual btVector3	localGetSupportingVertexWithoutMargin (const btVector3 &vec) const
virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 vectors, btVector3 supportVerticesOut, int numVectors) const
virtual void	calculateLocalInertia (btScalar mass, btVector3 &inertia) const
virtual void	getAabb (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
	getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
btScalar	getRadius () const
void	setUnscaledRadius (btScalar radius)
virtual const char *	getName () const
virtual void	setMargin (btScalar margin)
virtual btScalar	getMargin () const
Public Member Functions inherited from btConvexInternalShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()
virtual	~btConvexInternalShape ()
const btVector3 &	getImplicitShapeDimensions () const
void	setImplicitShapeDimensions (const btVector3 &dimensions)
	warning: use setImplicitShapeDimensions with care changing a collision shape while the body is in the world is not recommended, it is best to remove the body from the world, then make the change, and re-add it alternatively flush the contact points, see documentation for 'cleanProxyFromPairs'
void	setSafeMargin (btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)
void	setSafeMargin (const btVector3 &halfExtents, btScalar defaultMarginMultiplier=0.1f)
virtual void	getAabbSlow (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void	setLocalScaling (const btVector3 &scaling)
virtual const btVector3 &	getLocalScaling () const
const btVector3 &	getLocalScalingNV () const
btScalar	getMarginNV () const
virtual int	getNumPreferredPenetrationDirections () const
virtual void	getPreferredPenetrationDirection (int index, btVector3 &penetrationVector) const
virtual int	calculateSerializeBufferSize () const
virtual const char *	serialize (void dataBuffer, btSerializer serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure)
Public Member Functions inherited from btConvexShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btConvexShape ()
	not supported on IBM SDK, until we fix the alignment of btVector3
virtual	~btConvexShape ()
btVector3	localGetSupportVertexWithoutMarginNonVirtual (const btVector3 &vec) const
btVector3	localGetSupportVertexNonVirtual (const btVector3 &vec) const
btScalar	getMarginNonVirtual () const
void	getAabbNonVirtual (const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
virtual void	project (const btTransform &trans, const btVector3 &dir, btScalar &minProj, btScalar &maxProj, btVector3 &witnesPtMin, btVector3 &witnesPtMax) const
Public Member Functions inherited from btCollisionShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btCollisionShape ()
virtual	~btCollisionShape ()
virtual void	getBoundingSphere (btVector3 &center, btScalar &radius) const
virtual btScalar	getAngularMotionDisc () const
	getAngularMotionDisc returns the maximum radius needed for Conservative Advancement to handle time-of-impact with rotations.
virtual btScalar	getContactBreakingThreshold (btScalar defaultContactThresholdFactor) const
void	calculateTemporalAabb (const btTransform &curTrans, const btVector3 &linvel, const btVector3 &angvel, btScalar timeStep, btVector3 &temporalAabbMin, btVector3 &temporalAabbMax) const
	calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep) result is conservative
bool	isPolyhedral () const
bool	isConvex2d () const
bool	isConvex () const
bool	isNonMoving () const
bool	isConcave () const
bool	isCompound () const
bool	isSoftBody () const
bool	isInfinite () const
	isInfinite is used to catch simulation error (aabb check)
int	getShapeType () const
virtual btVector3	getAnisotropicRollingFrictionDirection () const
	the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See Bullet/Demos/RollingFrictionDemo for an example
void	setUserPointer (void *userPtr)
	optional user data pointer
void *	getUserPointer () const
void	setUserIndex (int index)
int	getUserIndex () const
void	setUserIndex2 (int index)
int	getUserIndex2 () const
virtual void	serializeSingleShape (btSerializer *serializer) const

Additional Inherited Members
Protected Member Functions inherited from btConvexInternalShape
	btConvexInternalShape ()
Protected Attributes inherited from btConvexInternalShape
btVector3	m_localScaling
btVector3	m_implicitShapeDimensions
btScalar	m_collisionMargin
btScalar	m_padding
Protected Attributes inherited from btCollisionShape
int	m_shapeType
void *	m_userPointer
int	m_userIndex
int	m_userIndex2

Detailed Description

The btSphereShape implements an implicit sphere, centered around a local origin with radius.

Definition at line 22 of file btSphereShape.h.

Constructor & Destructor Documentation

◆ btSphereShape()

btSphereShape::btSphereShape ( btScalar radius )

inline

Definition at line 29 of file btSphereShape.h.

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

void btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin	(	const btVector3 *	vectors,
		btVector3 *	supportVerticesOut,
		int	numVectors ) const

virtual

Implements btConvexShape.

Definition at line 27 of file btSphereShape.cpp.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btSphereShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calculateLocalInertia()

void btSphereShape::calculateLocalInertia	(	btScalar	mass,
		btVector3 &	inertia ) const

virtual

Implements btCollisionShape.

Definition at line 61 of file btSphereShape.cpp.

◆ getAabb()

void btSphereShape::getAabb	(	const btTransform &	t,
		btVector3 &	aabbMin,
		btVector3 &	aabbMax ) const

virtual

getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version

Reimplemented from btConvexInternalShape.

Definition at line 53 of file btSphereShape.cpp.

◆ getMargin()

virtual btScalar btSphereShape::getMargin ( ) const

inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 63 of file btSphereShape.h.

◆ getName()

virtual const char * btSphereShape::getName ( ) const

inlinevirtual

Implements btCollisionShape.

Definition at line 57 of file btSphereShape.h.

◆ getRadius()

btScalar btSphereShape::getRadius ( ) const

inline

Definition at line 48 of file btSphereShape.h.

◆ localGetSupportingVertex()

btVector3 btSphereShape::localGetSupportingVertex ( const btVector3 & vec ) const

virtual

Reimplemented from btConvexInternalShape.

Definition at line 37 of file btSphereShape.cpp.

◆ localGetSupportingVertexWithoutMargin()

btVector3 btSphereShape::localGetSupportingVertexWithoutMargin ( const btVector3 & vec ) const

virtual

Implements btConvexShape.

Definition at line 21 of file btSphereShape.cpp.

◆ setMargin()

virtual void btSphereShape::setMargin ( btScalar margin )

inlinevirtual

Reimplemented from btConvexInternalShape.

Definition at line 59 of file btSphereShape.h.

◆ setUnscaledRadius()

void btSphereShape::setUnscaledRadius ( btScalar radius )

inline

Definition at line 50 of file btSphereShape.h.

The documentation for this class was generated from the following files:

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btSphereShape()

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ calculateLocalInertia()

◆ getAabb()

◆ getMargin()

◆ getName()

◆ getRadius()

◆ localGetSupportingVertex()

◆ localGetSupportingVertexWithoutMargin()

◆ setMargin()

◆ setUnscaledRadius()