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

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

Inheritance diagram for reactphysics3d::ConvexPolyhedronShape:

Public Member Functions
	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 uint32	getNbFaces () const =0
	Return the number of faces of the polyhedron.

virtual const HalfEdgeStructure::Face &	getFace (uint32 faceIndex) const =0
	Return a given face of the polyhedron.

virtual uint32	getNbVertices () const =0
	Return the number of vertices of the polyhedron.

virtual const HalfEdgeStructure::Vertex &	getVertex (uint32 vertexIndex) const =0
	Return a given vertex of the polyhedron.

virtual Vector3	getVertexPosition (uint32 vertexIndex) const =0
	Return the position of a given vertex.

virtual Vector3	getFaceNormal (uint32 faceIndex) const =0
	Return the normal vector of a given face of the polyhedron.

virtual uint32	getNbHalfEdges () const =0
	Return the number of half-edges of the polyhedron.

virtual const HalfEdgeStructure::Edge &	getHalfEdge (uint32 edgeIndex) const =0
	Return a given half-edge of the polyhedron.

virtual bool	isPolyhedron () const override
	Return true if the collision shape is a polyhedron.

virtual Vector3	getCentroid () const =0
	Return the centroid of the 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.

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 Vector3	getLocalInertiaTensor (decimal mass) const =0
	Return the local inertia tensor of the collision shapes.

virtual decimal	getVolume () const =0
	Compute and return the volume of the collision 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.