The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good as btConvexHullShape. More...

#include <btConvexTriangleMeshShape.h>

Inheritance diagram for btConvexTriangleMeshShape:

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Collaboration diagram for btConvexTriangleMeshShape:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btConvexTriangleMeshShape (btStridingMeshInterface *meshInterface, bool calcAabb=true)
class btStridingMeshInterface *	getMeshInterface ()
const class btStridingMeshInterface *	getMeshInterface () const
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 const char *	getName () const
virtual int	getNumVertices () const
virtual int	getNumEdges () const
virtual void	getEdge (int i, btVector3 &pa, btVector3 &pb) const
virtual void	getVertex (int i, btVector3 &vtx) const
virtual int	getNumPlanes () const
virtual void	getPlane (btVector3 &planeNormal, btVector3 &planeSupport, int i) const
virtual bool	isInside (const btVector3 &pt, btScalar tolerance) const
virtual void	setLocalScaling (const btVector3 &scaling)
virtual const btVector3 &	getLocalScaling () const
void	calculatePrincipalAxisTransform (btTransform &principal, btVector3 &inertia, btScalar &volume) const
	computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia and the center of mass to the current coordinate system.
Public Member Functions inherited from btPolyhedralConvexAabbCachingShape
void	getNonvirtualAabb (const btTransform &trans, btVector3 &aabbMin, btVector3 &aabbMax, btScalar margin) 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
void	recalcLocalAabb ()
Public Member Functions inherited from btPolyhedralConvexShape
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btPolyhedralConvexShape ()
virtual	~btPolyhedralConvexShape ()
virtual bool	initializePolyhedralFeatures (int shiftVerticesByMargin=0)
	optional method mainly used to generate multiple contact points by clipping polyhedral features (faces/edges) experimental/work-in-progress
virtual void	setPolyhedralFeatures (btConvexPolyhedron &polyhedron)
const btConvexPolyhedron *	getConvexPolyhedron () const
virtual void	calculateLocalInertia (btScalar mass, btVector3 &inertia) 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
const btVector3 &	getLocalScalingNV () const
virtual void	setMargin (btScalar margin)
virtual btScalar	getMargin () 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

Private Attributes
class btStridingMeshInterface *	m_stridingMesh

Additional Inherited Members
Protected Member Functions inherited from btPolyhedralConvexAabbCachingShape
void	setCachedLocalAabb (const btVector3 &aabbMin, const btVector3 &aabbMax)
void	getCachedLocalAabb (btVector3 &aabbMin, btVector3 &aabbMax) const
	btPolyhedralConvexAabbCachingShape ()
Protected Member Functions inherited from btConvexInternalShape
	btConvexInternalShape ()
Protected Attributes inherited from btPolyhedralConvexShape
btConvexPolyhedron *	m_polyhedron
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 btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good as btConvexHullShape.

A small benefit of this class is that it uses the btStridingMeshInterface, so you can avoid the duplication of the triangle mesh data. Nevertheless, most users should use the much better performing btConvexHullShape instead.

Definition at line 23 of file btConvexTriangleMeshShape.h.

Constructor & Destructor Documentation

◆ btConvexTriangleMeshShape()

btConvexTriangleMeshShape::btConvexTriangleMeshShape	(	btStridingMeshInterface *	meshInterface,
		bool	calcAabb = true )

Definition at line 22 of file btConvexTriangleMeshShape.cpp.

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

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

virtual

Reimplemented from btPolyhedralConvexShape.

Definition at line 93 of file btConvexTriangleMeshShape.cpp.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btConvexTriangleMeshShape::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calculatePrincipalAxisTransform()

void btConvexTriangleMeshShape::calculatePrincipalAxisTransform	(	btTransform &	principal,
		btVector3 &	inertia,
		btScalar &	volume ) const

computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia and the center of mass to the current coordinate system.

A mass of 1 is assumed, for other masses just multiply the computed "inertia" by the mass. The resulting transform "principal" has to be applied inversely to the mesh in order for the local coordinate system of the shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform of the collision object by the principal transform. This method also computes the volume of the convex mesh.

Definition at line 184 of file btConvexTriangleMeshShape.cpp.