com.bulletphysics.collision.shapes

Class PolyhedralConvexShape

java.lang.Object

com.bulletphysics.collision.shapes.CollisionShape

com.bulletphysics.collision.shapes.ConvexShape

com.bulletphysics.collision.shapes.ConvexInternalShape

com.bulletphysics.collision.shapes.PolyhedralConvexShape

Direct Known Subclasses:

BoxShape, BU_Simplex1to4, ConvexHullShape, TriangleShape

public abstract class PolyhedralConvexShape
extends ConvexInternalShape

PolyhedralConvexShape is an internal interface class for polyhedral convex shapes.

Field Summary

Fields inherited from class com.bulletphysics.collision.shapes.ConvexShape

MAX_PREFERRED_PENETRATION_DIRECTIONS

Constructor Summary

Constructors

Constructor and Description
PolyhedralConvexShape()

Method Summary

Methods

Modifier and Type	Method and Description
void	batchedUnitVectorGetSupportingVertexWithoutMargin(Vector3f[] vectors, Vector3f[] supportVerticesOut, int numVectors)
void	calculateLocalInertia(float mass, Vector3f inertia)
void	getAabb(Transform trans, Vector3f aabbMin, Vector3f aabbMax) getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version.
abstract void	getEdge(int i, Vector3f pa, Vector3f pb)
abstract int	getNumEdges()
abstract int	getNumPlanes()
abstract int	getNumVertices()
abstract void	getPlane(Vector3f planeNormal, Vector3f planeSupport, int i)
abstract void	getVertex(int i, Vector3f vtx)
abstract boolean	isInside(Vector3f pt, float tolerance)
Vector3f	localGetSupportingVertexWithoutMargin(Vector3f vec0, Vector3f out)
void	recalcLocalAabb()
void	setLocalScaling(Vector3f scaling)

Methods inherited from class com.bulletphysics.collision.shapes.ConvexInternalShape

getAabbSlow, getLocalScaling, getMargin, getNumPreferredPenetrationDirections, getPreferredPenetrationDirection, localGetSupportingVertex, setMargin

Methods inherited from class com.bulletphysics.collision.shapes.CollisionShape

calculateTemporalAabb, getAngularMotionDisc, getBoundingSphere, getName, getShapeType, getUserPointer, isCompound, isConcave, isConvex, isInfinite, isPolyhedral, setUserPointer

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

PolyhedralConvexShape

public PolyhedralConvexShape()

Method Detail

localGetSupportingVertexWithoutMargin

public Vector3f localGetSupportingVertexWithoutMargin(Vector3f vec0,
                                             Vector3f out)

Specified by:

localGetSupportingVertexWithoutMargin in class ConvexShape

batchedUnitVectorGetSupportingVertexWithoutMargin

public void batchedUnitVectorGetSupportingVertexWithoutMargin(Vector3f[] vectors,
                                                     Vector3f[] supportVerticesOut,
                                                     int numVectors)

Specified by:

batchedUnitVectorGetSupportingVertexWithoutMargin in class ConvexShape

calculateLocalInertia

public void calculateLocalInertia(float mass,
                         Vector3f inertia)

Specified by:

calculateLocalInertia in class CollisionShape

getAabb

public void getAabb(Transform trans,
           Vector3f aabbMin,
           Vector3f aabbMax)

Description copied from class: ConvexInternalShape

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

Overrides:

getAabb in class ConvexInternalShape

recalcLocalAabb

public void recalcLocalAabb()

setLocalScaling

public void setLocalScaling(Vector3f scaling)

Overrides:

setLocalScaling in class ConvexInternalShape

getNumVertices

public abstract int getNumVertices()

getNumEdges

public abstract int getNumEdges()

getEdge

public abstract void getEdge(int i,
           Vector3f pa,
           Vector3f pb)

getVertex

public abstract void getVertex(int i,
             Vector3f vtx)

getNumPlanes

public abstract int getNumPlanes()

getPlane

public abstract void getPlane(Vector3f planeNormal,
            Vector3f planeSupport,
            int i)

isInside

public abstract boolean isInside(Vector3f pt,
               float tolerance)