reactphysics3d::BoxShape Class Reference

This class represents a 3D box shape. More...

#include <include/reactphysics3d/collision/shapes/BoxShape.h>

Inheritance diagram for reactphysics3d::BoxShape:

Public Member Functions
	BoxShape (const BoxShape &shape)=delete
	Deleted copy-constructor.
BoxShape &	operator= (const BoxShape &shape)=delete
	Deleted assignment operator.
const Vector3 &	getHalfExtents () const
	Return the half-extents of the box.
void	setHalfExtents (const Vector3 &halfExtents)
	Set the half-extents of the box.
virtual AABB	getLocalBounds () const override
	Return the local bounds of the shape in x, y and z directions.
virtual Vector3	getLocalInertiaTensor (decimal mass) const override
	Return the local inertia tensor of the collision shape.
virtual decimal	getVolume () const override
	Compute and return the volume of the collision shape.
virtual uint32	getNbFaces () const override
	Return the number of faces of the polyhedron.
virtual const HalfEdgeStructure::Face &	getFace (uint32 faceIndex) const override
	Return a given face of the polyhedron.
virtual uint32	getNbVertices () const override
	Return the number of vertices of the polyhedron.
virtual const HalfEdgeStructure::Vertex &	getVertex (uint32 vertexIndex) const override
	Return a given vertex of the polyhedron.
virtual uint32	getNbHalfEdges () const override
	Return the number of half-edges of the polyhedron.
virtual const HalfEdgeStructure::Edge &	getHalfEdge (uint32 edgeIndex) const override
	Return a given half-edge of the polyhedron.
virtual Vector3	getVertexPosition (uint32 vertexIndex) const override
	Return the position of a given vertex.
virtual Vector3	getFaceNormal (uint32 faceIndex) const override
	Return the normal vector of a given face of the polyhedron.
virtual Vector3	getCentroid () const override
	Return the centroid of the polyhedron.
virtual std::string	to_string () const override
	Return the string representation of the shape.
Public Member Functions inherited from reactphysics3d::ConvexPolyhedronShape
	ConvexPolyhedronShape (CollisionShapeName name, MemoryAllocator &allocator)
	Constructor.
virtual	~ConvexPolyhedronShape () override=default
	Destructor.
	ConvexPolyhedronShape (const ConvexPolyhedronShape &shape)=delete
	Deleted copy-constructor.
ConvexPolyhedronShape &	operator= (const ConvexPolyhedronShape &shape)=delete
	Deleted assignment operator.
virtual bool	isPolyhedron () const override
	Return true if the collision shape is a polyhedron.
uint32	findMostAntiParallelFace (const Vector3 &direction) const
	Find and return the index of the polyhedron face with the most anti-parallel face normal given a direction vector.
Public Member Functions inherited from reactphysics3d::ConvexShape
	ConvexShape (CollisionShapeName name, CollisionShapeType type, MemoryAllocator &allocator, decimal margin=decimal(0.0))
	Constructor.
virtual	~ConvexShape () override=default
	Destructor.
	ConvexShape (const ConvexShape &shape)=delete
	Deleted copy-constructor.
ConvexShape &	operator= (const ConvexShape &shape)=delete
	Deleted assignment operator.
decimal	getMargin () const
	Return the current object margin.
virtual bool	isConvex () const override
	Return true if the collision shape is convex, false if it is concave.
Public Member Functions inherited from reactphysics3d::CollisionShape
	CollisionShape (CollisionShapeName name, CollisionShapeType type, MemoryAllocator &allocator)
	Constructor.
virtual	~CollisionShape ()=default
	Destructor.
	CollisionShape (const CollisionShape &shape)=delete
	Deleted copy-constructor.
CollisionShape &	operator= (const CollisionShape &shape)=delete
	Deleted assignment operator.
CollisionShapeName	getName () const
	Return the name of the collision shape.
CollisionShapeType	getType () const
	Return the type of the collision shape.
uint32	getId () const
	Return the id of the shape.
virtual AABB	computeTransformedAABB (const Transform &transform) const
	Compute the transformed AABB of the collision shape given a transform.

Detailed Description

This class represents a 3D box shape.

Those axis are unit length. The three extents are half-widths of the box along the three axis x, y, z local axis. The "transform" of the corresponding body will give an orientation and a position to the box.

Member Function Documentation

getCentroid()

RP3D_FORCE_INLINE Vector3 reactphysics3d::BoxShape::getCentroid ( ) const

overridevirtual

Return the centroid of the polyhedron.

Implements reactphysics3d::ConvexPolyhedronShape.

getFace()

const HalfEdgeStructure::Face & BoxShape::getFace ( uint32  faceIndex ) const

overridevirtual

Return a given face of the polyhedron.

Implements reactphysics3d::ConvexPolyhedronShape.

getFaceNormal()

RP3D_FORCE_INLINE Vector3 reactphysics3d::BoxShape::getFaceNormal ( uint32  faceIndex ) const

overridevirtual

Return the normal vector of a given face of the polyhedron.

Implements reactphysics3d::ConvexPolyhedronShape.

getHalfEdge()

const HalfEdgeStructure::Edge & BoxShape::getHalfEdge ( uint32  edgeIndex ) const

overridevirtual

Return a given half-edge of the polyhedron.

Implements reactphysics3d::ConvexPolyhedronShape.

getHalfExtents()

RP3D_FORCE_INLINE const Vector3 & reactphysics3d::BoxShape::getHalfExtents

(

)

const

Return the half-extents of the box.

Returns

The vector with the three half-extents of the box shape

getLocalBounds()

AABB BoxShape::getLocalBounds ( ) const

overridevirtual

Return the local bounds of the shape in x, y and z directions.

This method is used to compute the AABB of the box.

Returns

The AABB of the shape

Implements reactphysics3d::CollisionShape.

getLocalInertiaTensor()

Vector3 BoxShape::getLocalInertiaTensor ( decimal  mass ) const

overridevirtual

Return the local inertia tensor of the collision shape.

Parameters

mass	Mass to use to compute the inertia tensor of the collision shape

Implements reactphysics3d::CollisionShape.

getNbFaces()

RP3D_FORCE_INLINE uint32 reactphysics3d::BoxShape::getNbFaces ( ) const

overridevirtual

Return the number of faces of the polyhedron.

Implements reactphysics3d::ConvexPolyhedronShape.

getNbHalfEdges()

RP3D_FORCE_INLINE uint32 reactphysics3d::BoxShape::getNbHalfEdges ( ) const

overridevirtual

Return the number of half-edges of the polyhedron.

Implements reactphysics3d::ConvexPolyhedronShape.

getNbVertices()

RP3D_FORCE_INLINE uint32 reactphysics3d::BoxShape::getNbVertices ( ) const

overridevirtual

Return the number of vertices of the polyhedron.

Implements reactphysics3d::ConvexPolyhedronShape.

getVertex()

const HalfEdgeStructure::Vertex & BoxShape::getVertex ( uint32  vertexIndex ) const

overridevirtual

Return a given vertex of the polyhedron.

Implements reactphysics3d::ConvexPolyhedronShape.

getVertexPosition()

RP3D_FORCE_INLINE Vector3 reactphysics3d::BoxShape::getVertexPosition ( uint32  vertexIndex ) const

overridevirtual

Return the position of a given vertex.

Implements reactphysics3d::ConvexPolyhedronShape.

getVolume()

RP3D_FORCE_INLINE decimal reactphysics3d::BoxShape::getVolume ( ) const

overridevirtual

Compute and return the volume of the collision shape.

Implements reactphysics3d::CollisionShape.

setHalfExtents()

RP3D_FORCE_INLINE void reactphysics3d::BoxShape::setHalfExtents

(

const Vector3 &

halfExtents

)

Set the half-extents of the box.

Note that you might want to recompute the inertia tensor and center of mass of the body after changing the size of the collision shape.

Parameters

halfExtents

The vector with the three half-extents of the box

to_string()

RP3D_FORCE_INLINE std::string reactphysics3d::BoxShape::to_string ( ) const

overridevirtual

Return the string representation of the shape.

Implements reactphysics3d::CollisionShape.

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The documentation for this class was generated from the following files:

• include/reactphysics3d/collision/shapes/BoxShape.h
• src/collision/shapes/BoxShape.cpp