Bullet Collision Detection & Physics Library
btSdfCollisionShape.h
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1 #ifndef BT_SDF_COLLISION_SHAPE_H
2 #define BT_SDF_COLLISION_SHAPE_H
3 
4 #include "btConcaveShape.h"
5 
7 {
9 
10 public:
12  virtual ~btSdfCollisionShape();
13 
14  bool initializeSDF(const char* sdfData, int sizeInBytes);
15 
16  virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
17  virtual void setLocalScaling(const btVector3& scaling);
18  virtual const btVector3& getLocalScaling() const;
19  virtual void calculateLocalInertia(btScalar mass, btVector3& inertia) const;
20  virtual const char* getName() const;
21  virtual void setMargin(btScalar margin);
22  virtual btScalar getMargin() const;
23 
24  virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
25 
26  bool queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal);
27 };
28 
29 #endif //BT_SDF_COLLISION_SHAPE_H
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
bool initializeSDF(const char *sdfData, int sizeInBytes)
bool queryPoint(const btVector3 &ptInSDF, btScalar &distOut, btVector3 &normal)
virtual const char * getName() const
struct btSdfCollisionShapeInternalData * m_data
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
virtual btScalar getMargin() const
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
virtual void setMargin(btScalar margin)
virtual void setLocalScaling(const btVector3 &scaling)
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
virtual const btVector3 & getLocalScaling() const
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82