reactphysics3d::ConcaveShape Class Reference

This abstract class represents a concave collision shape associated with a body that is used during the narrow-phase collision detection. More...

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

Inheritance diagram for reactphysics3d::ConcaveShape:

Public Member Functions
	ConcaveShape (CollisionShapeName name, MemoryAllocator &allocator, const Vector3 &scaling)
	Constructor.
virtual	~ConcaveShape () override=default
	Destructor.
	ConcaveShape (const ConcaveShape &shape)=delete
	Deleted copy-constructor.
ConcaveShape &	operator= (const ConcaveShape &shape)=delete
	Deleted assignment operator.
TriangleRaycastSide	getRaycastTestType () const
	Return the raycast test type (front, back, front-back)
void	setRaycastTestType (TriangleRaycastSide testType)
const Vector3 &	getScale () const
	Return the scale of the shape.
virtual void	setScale (const Vector3 &scale)
	Set the scale of the shape.
virtual Vector3	getLocalInertiaTensor (decimal mass) const override
	Return the local inertia tensor of the collision shape.
virtual bool	isConvex () const override
	Return true if the collision shape is convex, false if it is concave.
virtual bool	isPolyhedron () const override
	Return true if the collision shape is a polyhedron.
virtual void	computeOverlappingTriangles (const AABB &localAABB, Array< Vector3 > &triangleVertices, Array< Vector3 > &triangleVerticesNormals, Array< uint32 > &shapeIds, MemoryAllocator &allocator) const =0
	Use a callback method on all triangles of the concave shape inside a given AABB.
virtual decimal	getVolume () const override
	Compute and return the volume of the collision shape.
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.
virtual AABB	getLocalBounds () const =0
	Return the local bounds of the shape in x, y and z directions.
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.
virtual std::string	to_string () const =0
	Return the string representation of the shape.

Detailed Description

This abstract class represents a concave collision shape associated with a body that is used during the narrow-phase collision detection.

Member Function Documentation

computeOverlappingTriangles()

virtual void reactphysics3d::ConcaveShape::computeOverlappingTriangles ( const AABB &  localAABB, Array< Vector3 > &  triangleVertices, Array< Vector3 > &  triangleVerticesNormals, Array< uint32 > &  shapeIds, MemoryAllocator &  allocator  ) const

pure virtual

Use a callback method on all triangles of the concave shape inside a given AABB.

Implemented in reactphysics3d::HeightFieldShape.

getLocalInertiaTensor()

RP3D_FORCE_INLINE Vector3 reactphysics3d::ConcaveShape::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.

getVolume()

decimal ConcaveShape::getVolume ( ) const

overridevirtual

Compute and return the volume of the collision shape.

Note that we approximate the volume of a concave shape with the volume of its AABB.

Implements reactphysics3d::CollisionShape.

isConvex()

RP3D_FORCE_INLINE bool reactphysics3d::ConcaveShape::isConvex ( ) const

overridevirtual

Return true if the collision shape is convex, false if it is concave.

Implements reactphysics3d::CollisionShape.

isPolyhedron()

RP3D_FORCE_INLINE bool reactphysics3d::ConcaveShape::isPolyhedron ( ) const

overridevirtual

Return true if the collision shape is a polyhedron.

Implements reactphysics3d::CollisionShape.

setRaycastTestType()

RP3D_FORCE_INLINE void reactphysics3d::ConcaveShape::setRaycastTestType

(

TriangleRaycastSide

testType

)

Parameters

testType

Raycast test type for the triangle (front, back, front-back)

setScale()

RP3D_FORCE_INLINE void reactphysics3d::ConcaveShape::setScale ( const Vector3 &  scale )

virtual

Set the scale of the shape.

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

Reimplemented in reactphysics3d::ConcaveMeshShape.

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

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