com.bulletphysics.collision.shapes
Class ConvexShape

java.lang.Object
  com.bulletphysics.collision.shapes.CollisionShape
      com.bulletphysics.collision.shapes.ConvexShape

Direct Known Subclasses:

ConvexInternalShape, UniformScalingShape

public abstract class ConvexShape
extends CollisionShape

ConvexShape is an abstract shape class. It describes general convex shapes using the localGetSupportingVertex interface used in combination with GJK or ConvexCast.

Field Summary

static int

MAX_PREFERRED_PENETRATION_DIRECTIONS

Constructor Summary

ConvexShape()

Method Summary

abstract void	batchedUnitVectorGetSupportingVertexWithoutMargin(Vector3f[] vectors, Vector3f[] supportVerticesOut, int numVectors)
abstract void	getAabbSlow(Transform t, Vector3f aabbMin, Vector3f aabbMax)
abstract Vector3f	getLocalScaling(Vector3f out)
abstract float	getMargin()
abstract int	getNumPreferredPenetrationDirections()
abstract void	getPreferredPenetrationDirection(int index, Vector3f penetrationVector)
abstract Vector3f	localGetSupportingVertex(Vector3f vec, Vector3f out)
abstract Vector3f	localGetSupportingVertexWithoutMargin(Vector3f vec, Vector3f out)
abstract void	setLocalScaling(Vector3f scaling)
abstract void	setMargin(float margin)

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

calculateLocalInertia, calculateTemporalAabb, getAabb, 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

Field Detail

MAX_PREFERRED_PENETRATION_DIRECTIONS

public static final int MAX_PREFERRED_PENETRATION_DIRECTIONS

See Also:

Constant Field Values

Constructor Detail

ConvexShape

public ConvexShape()

Method Detail

localGetSupportingVertex

public abstract Vector3f localGetSupportingVertex(Vector3f vec,
                                                  Vector3f out)

localGetSupportingVertexWithoutMargin

public abstract Vector3f localGetSupportingVertexWithoutMargin(Vector3f vec,
                                                               Vector3f out)

batchedUnitVectorGetSupportingVertexWithoutMargin

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

getAabbSlow

public abstract void getAabbSlow(Transform t,
                                 Vector3f aabbMin,
                                 Vector3f aabbMax)

setLocalScaling

public abstract void setLocalScaling(Vector3f scaling)

Specified by:

setLocalScaling in class CollisionShape

getLocalScaling

public abstract Vector3f getLocalScaling(Vector3f out)

Specified by:

getLocalScaling in class CollisionShape

setMargin

public abstract void setMargin(float margin)

Specified by:

setMargin in class CollisionShape

getMargin

public abstract float getMargin()

Specified by:

getMargin in class CollisionShape

getNumPreferredPenetrationDirections

public abstract int getNumPreferredPenetrationDirections()

getPreferredPenetrationDirection

public abstract void getPreferredPenetrationDirection(int index,
                                                      Vector3f penetrationVector)