reactphysics3d::ConvexMeshShape Class Reference

This class represents a convex mesh shape. More...

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

Inheritance diagram for reactphysics3d::ConvexMeshShape:

Public Member Functions
	ConvexMeshShape (const ConvexMeshShape &shape)=delete
	Deleted copy-constructor.
ConvexMeshShape &	operator= (const ConvexMeshShape &shape)=delete
	Deleted assignment operator.
const Vector3 &	getScale () const
	Return the scale.
void	setScale (const Vector3 &scale)
	Set the scale.
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 uint32	getNbFaces () const override
	Return the number of faces of the mesh.
virtual const HalfEdgeStructure::Face &	getFace (uint32 faceIndex) const override
	Return a given face of the mesh.
virtual uint32	getNbVertices () const override
	Return the number of vertices of the mesh.
virtual const HalfEdgeStructure::Vertex &	getVertex (uint32 vertexIndex) const override
	Return a given vertex of the mesh.
virtual uint32	getNbHalfEdges () const override
	Return the number of half-edges of the mesh.
virtual const HalfEdgeStructure::Edge &	getHalfEdge (uint32 edgeIndex) const override
	Return a given half-edge of the mesh.
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 mesh.
virtual Vector3	getCentroid () const override
	Return the centroid of the mesh.
virtual decimal	getVolume () const override
	Compute and return the volume of the collision shape.
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 convex mesh shape.

In order to create a convex mesh shape, you need to indicate the local-space position of the mesh vertices. The center of mass of the shape will be at the origin of the local-space geometry that you use to create the mesh.

Member Function Documentation

getCentroid()

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

overridevirtual

Return the centroid of the mesh.

Implements reactphysics3d::ConvexPolyhedronShape.

getFace()

RP3D_FORCE_INLINE const HalfEdgeStructure::Face & reactphysics3d::ConvexMeshShape::getFace ( uint32  faceIndex ) const

overridevirtual

Return a given face of the mesh.

Implements reactphysics3d::ConvexPolyhedronShape.

getFaceNormal()

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

overridevirtual

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

Implements reactphysics3d::ConvexPolyhedronShape.

getHalfEdge()

RP3D_FORCE_INLINE const HalfEdgeStructure::Edge & reactphysics3d::ConvexMeshShape::getHalfEdge ( uint32  edgeIndex ) const

overridevirtual

Return a given half-edge of the mesh.

Implements reactphysics3d::ConvexPolyhedronShape.

getLocalBounds()

AABB ConvexMeshShape::getLocalBounds ( ) const

overridevirtual

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

Returns

The AABB with the min/max bounds

Implements reactphysics3d::CollisionShape.

getLocalInertiaTensor()

RP3D_FORCE_INLINE Vector3 reactphysics3d::ConvexMeshShape::getLocalInertiaTensor ( decimal  mass ) const

overridevirtual

Return the local inertia tensor of the collision shape.

The local inertia tensor of the convex mesh is approximated using the inertia tensor of its bounding box.

Parameters

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

Implements reactphysics3d::CollisionShape.

getNbFaces()

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

overridevirtual

Return the number of faces of the mesh.

Implements reactphysics3d::ConvexPolyhedronShape.

getNbHalfEdges()

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

overridevirtual

Return the number of half-edges of the mesh.

Implements reactphysics3d::ConvexPolyhedronShape.

getNbVertices()

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

overridevirtual

Return the number of vertices of the mesh.

Implements reactphysics3d::ConvexPolyhedronShape.

getVertex()

RP3D_FORCE_INLINE const HalfEdgeStructure::Vertex & reactphysics3d::ConvexMeshShape::getVertex ( uint32  vertexIndex ) const

overridevirtual

Return a given vertex of the mesh.

Implements reactphysics3d::ConvexPolyhedronShape.

getVertexPosition()

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

overridevirtual

Return the position of a given vertex.

Implements reactphysics3d::ConvexPolyhedronShape.

getVolume()

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

overridevirtual

Compute and return the volume of the collision shape.

Implements reactphysics3d::CollisionShape.

setScale()

RP3D_FORCE_INLINE void reactphysics3d::ConvexMeshShape::setScale

(

const Vector3 &

scale

)

Set the scale.

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.

to_string()

std::string ConvexMeshShape::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/ConvexMeshShape.h
• src/collision/shapes/ConvexMeshShape.cpp