org.bytedeco.bullet.BulletCollision

Class btConvexInternalShape

java.lang.Object

org.bytedeco.javacpp.Pointer

org.bytedeco.bullet.BulletCollision.btCollisionShape

org.bytedeco.bullet.BulletCollision.btConvexShape

org.bytedeco.bullet.BulletCollision.btConvexInternalShape

All Implemented Interfaces:

AutoCloseable

Direct Known Subclasses:

btCapsuleShape, btConeShape, btConvexInternalAabbCachingShape, btCylinderShape, btMinkowskiSumShape, btPolyhedralConvexShape, btSoftClusterCollisionShape, btSphereShape

@NoOffset
 @Properties(inherit=BulletCollision.class)
public class btConvexInternalShape
extends btConvexShape

The btConvexInternalShape is an internal base class, shared by most convex shape implementations. The btConvexInternalShape uses a default collision margin set to CONVEX_DISTANCE_MARGIN. This collision margin used by Gjk and some other algorithms, see also btCollisionMargin.h Note that when creating small shapes (derived from btConvexInternalShape), you need to make sure to set a smaller collision margin, using the 'setMargin' API There is a automatic mechanism 'setSafeMargin' used by btBoxShape and btCylinderShape

Nested Class Summary

Nested classes/interfaces inherited from class org.bytedeco.javacpp.Pointer

Pointer.CustomDeallocator, Pointer.Deallocator, Pointer.NativeDeallocator, Pointer.ReferenceCounter

Field Summary

Fields inherited from class org.bytedeco.javacpp.Pointer

address, capacity, limit, position

Constructor Summary

Constructors

Constructor and Description
btConvexInternalShape(Pointer p) Pointer cast constructor.

Method Summary

Modifier and Type	Method and Description
int	calculateSerializeBufferSize()
void	getAabb(btTransform t, btVector3 aabbMin, btVector3 aabbMax) getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void	getAabbSlow(btTransform t, btVector3 aabbMin, btVector3 aabbMax)
btVector3	getImplicitShapeDimensions()
btVector3	getLocalScaling()
btVector3	getLocalScalingNV()
double	getMargin()
double	getMarginNV()
int	getNumPreferredPenetrationDirections()
void	getPreferredPenetrationDirection(int index, btVector3 penetrationVector)
btVector3	localGetSupportingVertex(btVector3 vec)
BytePointer	serialize(Pointer dataBuffer, btSerializer serializer) fills the dataBuffer and returns the struct name (and 0 on failure)
void	setImplicitShapeDimensions(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	setLocalScaling(btVector3 scaling)
void	setMargin(double margin)
void	setSafeMargin(btVector3 halfExtents)
void	setSafeMargin(btVector3 halfExtents, double defaultMarginMultiplier)
void	setSafeMargin(double minDimension)
void	setSafeMargin(double minDimension, double defaultMarginMultiplier)

Methods inherited from class org.bytedeco.bullet.BulletCollision.btConvexShape

batchedUnitVectorGetSupportingVertexWithoutMargin, getAabbNonVirtual, getMarginNonVirtual, localGetSupportingVertexWithoutMargin, localGetSupportVertexNonVirtual, localGetSupportVertexWithoutMarginNonVirtual, project, project, project

Methods inherited from class org.bytedeco.bullet.BulletCollision.btCollisionShape

calculateLocalInertia, calculateTemporalAabb, getAngularMotionDisc, getAnisotropicRollingFrictionDirection, getBoundingSphere, getBoundingSphere, getBoundingSphere, getContactBreakingThreshold, getName, getShapeType, getUserIndex, getUserIndex2, getUserPointer, isCompound, isConcave, isConvex, isConvex2d, isInfinite, isNonMoving, isPolyhedral, isSoftBody, serializeSingleShape, setUserIndex, setUserIndex2, setUserPointer

Methods inherited from class org.bytedeco.javacpp.Pointer

address, asBuffer, asByteBuffer, availablePhysicalBytes, calloc, capacity, capacity, close, deallocate, deallocate, deallocateReferences, deallocator, deallocator, equals, fill, formatBytes, free, getDirectBufferAddress, getPointer, getPointer, getPointer, getPointer, hashCode, interruptDeallocatorThread, isNull, isNull, limit, limit, malloc, maxBytes, maxPhysicalBytes, memchr, memcmp, memcpy, memmove, memset, offsetAddress, offsetof, offsetof, parseBytes, physicalBytes, physicalBytesInaccurate, position, position, put, realloc, referenceCount, releaseReference, retainReference, setNull, sizeof, sizeof, toString, totalBytes, totalCount, totalPhysicalBytes, withDeallocator, zero

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

btConvexInternalShape

public btConvexInternalShape(Pointer p)

Pointer cast constructor. Invokes Pointer(Pointer).

Method Detail

localGetSupportingVertex

@ByVal
public btVector3 localGetSupportingVertex(@Const @ByRef
                                                 btVector3 vec)

Overrides:

localGetSupportingVertex in class btConvexShape

getImplicitShapeDimensions

@Const
 @ByRef
public btVector3 getImplicitShapeDimensions()

setImplicitShapeDimensions

public void setImplicitShapeDimensions(@Const @ByRef
                                       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'

setSafeMargin

public void setSafeMargin(@Cast(value="btScalar")
                          double minDimension,
                          @Cast(value="btScalar")
                          double defaultMarginMultiplier)

setSafeMargin

public void setSafeMargin(@Cast(value="btScalar")
                          double minDimension)

setSafeMargin

public void setSafeMargin(@Const @ByRef
                          btVector3 halfExtents,
                          @Cast(value="btScalar")
                          double defaultMarginMultiplier)

setSafeMargin

public void setSafeMargin(@Const @ByRef
                          btVector3 halfExtents)

getAabb

public void getAabb(@Const @ByRef
                    btTransform t,
                    @ByRef
                    btVector3 aabbMin,
                    @ByRef
                    btVector3 aabbMax)

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

Overrides:

getAabb in class btConvexShape

getAabbSlow

public void getAabbSlow(@Const @ByRef
                        btTransform t,
                        @ByRef
                        btVector3 aabbMin,
                        @ByRef
                        btVector3 aabbMax)

Overrides:

getAabbSlow in class btConvexShape

setLocalScaling

public void setLocalScaling(@Const @ByRef
                            btVector3 scaling)

Overrides:

setLocalScaling in class btConvexShape

getLocalScaling

@Const
 @ByRef
public btVector3 getLocalScaling()

Overrides:

getLocalScaling in class btConvexShape

getLocalScalingNV

@Const
 @ByRef
public btVector3 getLocalScalingNV()

setMargin

public void setMargin(@Cast(value="btScalar")
                      double margin)

Overrides:

setMargin in class btConvexShape

getMargin

@Cast(value="btScalar")
public double getMargin()

Overrides:

getMargin in class btConvexShape

getMarginNV

@Cast(value="btScalar")
public double getMarginNV()

getNumPreferredPenetrationDirections

public int getNumPreferredPenetrationDirections()

Overrides:

getNumPreferredPenetrationDirections in class btConvexShape

getPreferredPenetrationDirection

public void getPreferredPenetrationDirection(int index,
                                             @ByRef
                                             btVector3 penetrationVector)

Overrides:

getPreferredPenetrationDirection in class btConvexShape

calculateSerializeBufferSize

public int calculateSerializeBufferSize()

Overrides:

calculateSerializeBufferSize in class btCollisionShape

serialize

@Cast(value="const char*")
public BytePointer serialize(Pointer dataBuffer,
                                                        btSerializer serializer)

fills the dataBuffer and returns the struct name (and 0 on failure)

Overrides:

serialize in class btCollisionShape