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btCompoundShape Class Reference

#include <btCompoundShape.h>

Inheritance diagram for btCompoundShape:

btCollisionShape

List of all members.


Detailed Description

btCompoundShape allows to store multiple other btCollisionShapes This allows for concave collision objects. This is more general then the Static Concave btTriangleMeshShape.

Definition at line 31 of file btCompoundShape.h.


Public Member Functions

void addChildShape (const btTransform &localTransform, btCollisionShape *shape)
virtual void calculateLocalInertia (btScalar mass, btVector3 &inertia)
void calculateTemporalAabb (const btTransform &curTrans, const btVector3 &linvel, const btVector3 &angvel, btScalar timeStep, btVector3 &temporalAabbMin, btVector3 &temporalAabbMax)
void createAabbTreeFromChildren ()
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
const btOptimizedBvh * getAabbTree () const
virtual btScalar getAngularMotionDisc () const
 getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations.
virtual void getBoundingSphere (btVector3 &center, btScalar &radius) const
const btCollisionShapegetChildShape (int index) const
btCollisionShapegetChildShape (int index)
const btTransformgetChildTransform (int index) const
btTransformgetChildTransform (int index)
virtual const btVector3getLocalScaling () const
virtual btScalar getMargin () const
virtual char * getName () const
int getNumChildShapes () const
virtual int getShapeType () const
bool isCompound () const
bool isConcave () const
bool isConvex () const
bool isInfinite () const
 isInfinite is used to catch simulation error (aabb check)
bool isPolyhedral () const
virtual void setLocalScaling (const btVector3 &scaling)
virtual void setMargin (btScalar margin)

Protected Attributes

btVector3 m_localScaling

Private Attributes

btOptimizedBvh * m_aabbTree
btAlignedObjectArray
< btCollisionShape * > 
m_childShapes
btAlignedObjectArray< btTransformm_childTransforms
btScalar m_collisionMargin
btVector3 m_localAabbMax
btVector3 m_localAabbMin

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

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