58 btVector3 extent = localHalfExtents.
dot3(abs_b[0], abs_b[1], abs_b[2]);
59 aabbMin = center - extent;
60 aabbMax = center + extent;
93 m_supportVecLocal = supportVecWorld * m_worldTrans.
getBasis();
100 for (
int i=0;i<3;i++)
106 m_supportVertexLocal = triangle[i];
113 return m_worldTrans(m_supportVertexLocal);
118 return m_supportVertexLocal;
153 :m_callback(callback),
159 virtual void internalProcessTriangleIndex(
btVector3* triangle,
int partId,
int triangleIndex)
171 FilteredCallback filterCallback(callback,aabbMin,aabbMax);
204 return supportVertex;
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...
btVector3 m_supportVecLocal
virtual bool hasPremadeAabb() const
SupportVertexCallback(const btVector3 &supportVecWorld, const btTransform &trans)
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
btStridingMeshInterface * m_meshInterface
virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)=0
btScalar m_collisionMargin
void setScaling(const btVector3 &scaling)
btTriangleMeshShape(btStridingMeshInterface *meshInterface)
btTriangleMeshShape constructor has been disabled/protected, so that users will not mistakenly use th...
btVector3 m_supportVertexLocal
virtual const btVector3 & getLocalScaling() const
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
btScalar dot(const btVector3 &v) const
Return the dot product.
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
virtual void setLocalScaling(const btVector3 &scaling)
btVector3 can be used to represent 3D points and vectors.
btVector3 GetSupportVertexLocal()
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
btVector3 GetSupportVertexWorldSpace()
virtual void getPremadeAabb(btVector3 *aabbMin, btVector3 *aabbMax) const
The btStridingMeshInterface is the interface class for high performance generic access to triangle me...
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
const btVector3 & getScaling() const
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
btScalar dot(const btQuaternion &q1, const btQuaternion &q2)
Calculate the dot product between two quaternions.
virtual ~btTriangleMeshShape()
virtual btScalar getMargin() const
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
bool TestTriangleAgainstAabb2(const btVector3 *vertices, const btVector3 &aabbMin, const btVector3 &aabbMax)
conservative test for overlap between triangle and aabb
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...