Bullet Collision Detection & Physics Library: btSphereShape Class Reference

Bullet Collision Detection & Physics Library

Public Member Functions | List of all members
btSphereShape Class Reference

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:

- btSphereShape.h
- btSphereShape.cpp