com.bulletphysics.collision.shapes

Class CompoundShape

java.lang.Object

com.bulletphysics.collision.shapes.CollisionShape

com.bulletphysics.collision.shapes.CompoundShape

public class CompoundShape
extends CollisionShape

CompoundShape allows to store multiple other CollisionShapes. This allows for moving concave collision objects. This is more general than the BvhTriangleMeshShape.

Author:

jezek2

Field Summary

Fields

Modifier and Type	Field and Description
protected javax.vecmath.Vector3f	localScaling

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

userPointer

Constructor Summary

Constructors

Constructor and Description
CompoundShape()

Method Summary

Methods

Modifier and Type	Method and Description
void	addChildShape(Transform localTransform, CollisionShape shape)
void	calculateLocalInertia(float mass, javax.vecmath.Vector3f inertia)
void	calculatePrincipalAxisTransform(float[] masses, Transform principal, javax.vecmath.Vector3f inertia) Computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia and the center of mass to the current coordinate system.
void	getAabb(Transform trans, javax.vecmath.Vector3f aabbMin, javax.vecmath.Vector3f aabbMax) getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version.
OptimizedBvh	getAabbTree()
ObjectArrayList<CompoundShapeChild>	getChildList()
CollisionShape	getChildShape(int index)
Transform	getChildTransform(int index, Transform out)
javax.vecmath.Vector3f	getLocalScaling(javax.vecmath.Vector3f out)
float	getMargin()
String	getName()
int	getNumChildShapes()
BroadphaseNativeType	getShapeType()
void	recalculateLocalAabb() Re-calculate the local Aabb.
void	removeChildShape(CollisionShape shape) Remove all children shapes that contain the specified shape.
void	setLocalScaling(javax.vecmath.Vector3f scaling)
void	setMargin(float margin)

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

calculateTemporalAabb, getAngularMotionDisc, getBoundingSphere, getUserPointer, isCompound, isConcave, isConvex, isInfinite, isPolyhedral, setUserPointer

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

localScaling

protected final javax.vecmath.Vector3f localScaling

Constructor Detail

CompoundShape

public CompoundShape()

Method Detail

addChildShape

public void addChildShape(Transform localTransform,
                 CollisionShape shape)

removeChildShape

public void removeChildShape(CollisionShape shape)

Remove all children shapes that contain the specified shape.

getNumChildShapes

public int getNumChildShapes()

getChildShape

public CollisionShape getChildShape(int index)

getChildTransform

public Transform getChildTransform(int index,
                          Transform out)

getChildList

public ObjectArrayList<CompoundShapeChild> getChildList()

getAabb

public void getAabb(Transform trans,
           javax.vecmath.Vector3f aabbMin,
           javax.vecmath.Vector3f aabbMax)

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

Specified by:

getAabb in class CollisionShape

recalculateLocalAabb

public void recalculateLocalAabb()

Re-calculate the local Aabb. Is called at the end of removeChildShapes. Use this yourself if you modify the children or their transforms.

setLocalScaling

public void setLocalScaling(javax.vecmath.Vector3f scaling)

Specified by:

setLocalScaling in class CollisionShape

getLocalScaling

public javax.vecmath.Vector3f getLocalScaling(javax.vecmath.Vector3f out)

Specified by:

getLocalScaling in class CollisionShape

calculateLocalInertia

public void calculateLocalInertia(float mass,
                         javax.vecmath.Vector3f inertia)

Specified by:

calculateLocalInertia in class CollisionShape

getShapeType

public BroadphaseNativeType getShapeType()

Specified by:

getShapeType in class CollisionShape

setMargin

public void setMargin(float margin)

Specified by:

setMargin in class CollisionShape

getMargin

public float getMargin()

Specified by:

getMargin in class CollisionShape

getName

public String getName()

Specified by:

getName in class CollisionShape

getAabbTree

public OptimizedBvh getAabbTree()

calculatePrincipalAxisTransform

public void calculatePrincipalAxisTransform(float[] masses,
                                   Transform principal,
                                   javax.vecmath.Vector3f inertia)

Computes the exact moment of inertia and the transform from the coordinate system defined by the principal axes of the moment of inertia and the center of mass to the current coordinate system. "masses" points to an array of masses of the children. The resulting transform "principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform of the collision object by the principal transform.