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collision_detection_bullet::CastHullShape Struct Reference

Casted collision shape used for checking if an object is collision free between two discrete poses. More...

#include <bullet_utils.h>

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Public Member Functions

 CastHullShape (btConvexShape *shape, const btTransform &t01)
 
void updateCastTransform (const btTransform &cast_transform)
 
btVector3 localGetSupportingVertex (const btVector3 &vec) const override
 From both shape poses computes the support vertex and returns the larger one. More...
 
void batchedUnitVectorGetSupportingVertexWithoutMargin (const btVector3 *, btVector3 *, int) const override
 
void getAabb (const btTransform &transform_world, btVector3 &aabbMin, btVector3 &aabbMax) const override
 Shape specific fast recalculation of the AABB at a certain pose. More...
 
void getAabbSlow (const btTransform &, btVector3 &, btVector3 &) const override
 
void setLocalScaling (const btVector3 &) override
 
const btVector3 & getLocalScaling () const override
 
void setMargin (btScalar) override
 
btScalar getMargin () const override
 
int getNumPreferredPenetrationDirections () const override
 
void getPreferredPenetrationDirection (int, btVector3 &) const override
 
void calculateLocalInertia (btScalar, btVector3 &) const override
 
const char * getName () const override
 
btVector3 localGetSupportingVertexWithoutMargin (const btVector3 &v) const override
 

Public Attributes

btConvexShape * m_shape
 The casted shape. More...
 
btTransform shape_transform
 Transformation from the first pose to the second pose. More...
 

Detailed Description

Casted collision shape used for checking if an object is collision free between two discrete poses.

The cast is not explicitly computed but implicitly represented through the single shape and the transformation between the first and second pose.

Definition at line 240 of file bullet_utils.h.

Constructor & Destructor Documentation

◆ CastHullShape()

collision_detection_bullet::CastHullShape::CastHullShape ( btConvexShape *  shape,
const btTransform &  t01 
)
inline

Definition at line 249 of file bullet_utils.h.

Member Function Documentation

◆ batchedUnitVectorGetSupportingVertexWithoutMargin()

void collision_detection_bullet::CastHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin ( const btVector3 *  ,
btVector3 *  ,
int   
) const
inlineoverride

Definition at line 267 of file bullet_utils.h.

◆ calculateLocalInertia()

void collision_detection_bullet::CastHullShape::calculateLocalInertia ( btScalar  ,
btVector3 &   
) const
inlineoverride

Definition at line 320 of file bullet_utils.h.

◆ getAabb()

void collision_detection_bullet::CastHullShape::getAabb ( const btTransform &  transform_world,
btVector3 &  aabbMin,
btVector3 &  aabbMax 
) const
inlineoverride

Shape specific fast recalculation of the AABB at a certain pose.

The AABB is not recalculated from scratch but updated depending on the given transformation.

Definition at line 277 of file bullet_utils.h.

◆ getAabbSlow()

void collision_detection_bullet::CastHullShape::getAabbSlow ( const btTransform &  ,
btVector3 &  ,
btVector3 &   
) const
inlineoverride

Definition at line 286 of file bullet_utils.h.

◆ getLocalScaling()

const btVector3& collision_detection_bullet::CastHullShape::getLocalScaling ( ) const
inlineoverride

Definition at line 295 of file bullet_utils.h.

◆ getMargin()

btScalar collision_detection_bullet::CastHullShape::getMargin ( ) const
inlineoverride

Definition at line 305 of file bullet_utils.h.

◆ getName()

const char* collision_detection_bullet::CastHullShape::getName ( ) const
inlineoverride

Definition at line 325 of file bullet_utils.h.

◆ getNumPreferredPenetrationDirections()

int collision_detection_bullet::CastHullShape::getNumPreferredPenetrationDirections ( ) const
inlineoverride

Definition at line 310 of file bullet_utils.h.

◆ getPreferredPenetrationDirection()

void collision_detection_bullet::CastHullShape::getPreferredPenetrationDirection ( int  ,
btVector3 &   
) const
inlineoverride

Definition at line 315 of file bullet_utils.h.

◆ localGetSupportingVertex()

btVector3 collision_detection_bullet::CastHullShape::localGetSupportingVertex ( const btVector3 &  vec) const
inlineoverride

From both shape poses computes the support vertex and returns the larger one.

Definition at line 260 of file bullet_utils.h.

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◆ localGetSupportingVertexWithoutMargin()

btVector3 collision_detection_bullet::CastHullShape::localGetSupportingVertexWithoutMargin ( const btVector3 &  v) const
inlineoverride

Definition at line 330 of file bullet_utils.h.

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◆ setLocalScaling()

void collision_detection_bullet::CastHullShape::setLocalScaling ( const btVector3 &  )
inlineoverride

Definition at line 291 of file bullet_utils.h.

◆ setMargin()

void collision_detection_bullet::CastHullShape::setMargin ( btScalar  )
inlineoverride

Definition at line 301 of file bullet_utils.h.

◆ updateCastTransform()

void collision_detection_bullet::CastHullShape::updateCastTransform ( const btTransform &  cast_transform)
inline

Definition at line 254 of file bullet_utils.h.

Member Data Documentation

◆ m_shape

btConvexShape* collision_detection_bullet::CastHullShape::m_shape

The casted shape.

Definition at line 244 of file bullet_utils.h.

◆ shape_transform

btTransform collision_detection_bullet::CastHullShape::shape_transform

Transformation from the first pose to the second pose.

Definition at line 247 of file bullet_utils.h.

The documentation for this struct was generated from the following file:
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