16#ifndef BT_CAPSULE_SHAPE_H
17#define BT_CAPSULE_SHAPE_H
51 (void)collisionMargin;
60 btVector3 extent = halfExtents.
dot3(abs_b[0], abs_b[1], abs_b[2]);
62 aabbMin = center - extent;
63 aabbMax = center + extent;
68 return "CapsuleShape";
104 virtual int calculateSerializeBufferSize()
const;
107 virtual const char* serialize(
void* dataBuffer,
btSerializer* serializer)
const;
170 return "btCapsuleShapeData";
@ CAPSULE_SHAPE_PROXYTYPE
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define ATTRIBUTE_ALIGNED16(a)
#define SIMD_FORCE_INLINE
btCapsuleShapeX(btScalar radius, btScalar height)
virtual const char * getName() const
virtual const char * getName() const
btCapsuleShapeZ(btScalar radius, btScalar height)
btCapsuleShape()
only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
btScalar getRadius() const
virtual int calculateSerializeBufferSize() const
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
void deSerializeFloat(struct btCapsuleShapeData *dataBuffer)
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
btConvexShape Interface
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
CollisionShape Interface.
virtual void setLocalScaling(const btVector3 &scaling)
BT_DECLARE_ALIGNED_ALLOCATOR()
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char * getName() const
btScalar getHalfHeight() const
virtual void setMargin(btScalar collisionMargin)
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
btScalar m_collisionMargin
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
btVector3 m_implicitShapeDimensions
virtual void setLocalScaling(const btVector3 &scaling)
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
btVector3 can be used to represent 3D points and vectors.
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
btConvexInternalShapeData m_convexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
btVector3FloatData m_implicitShapeDimensions
btVector3FloatData m_localScaling