reactphysics3d::TriangleShape Class Reference

This class represents a triangle collision shape that is centered at the origin and defined three points. More...

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

Inheritance diagram for reactphysics3d::TriangleShape:

Public Member Functions
	TriangleShape (const TriangleShape &shape)=delete
	Deleted copy-constructor.
TriangleShape &	operator= (const TriangleShape &shape)=delete
	Deleted assignment operator.
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 AABB	computeTransformedAABB (const Transform &transform) const override
	Compute the transformed AABB of the collision shape given a transform.
TriangleRaycastSide	getRaycastTestType () const
	Return the raycast test type (front, back, front-back)
void	setRaycastTestType (TriangleRaycastSide testType)
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 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 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	getCentroid () const override
	Return the centroid of the polyhedron.
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.

Static Public Member Functions
static void	computeSmoothTriangleMeshContact (const CollisionShape *shape1, const CollisionShape *shape2, Vector3 &localContactPointShape1, Vector3 &localContactPointShape2, const Transform &shape1ToWorld, const Transform &shape2ToWorld, decimal penetrationDepth, Vector3 &outSmoothVertexNormal)
	This method compute the smooth mesh contact with a triangle in case one of the two collision shapes is a triangle. The idea in this case is to use a smooth vertex normal of the triangle mesh.

Detailed Description

This class represents a triangle collision shape that is centered at the origin and defined three points.

A user cannot instanciate an object of this class. This class is for internal use only. Instances of this class are created when the user creates an HeightFieldShape and a ConcaveMeshShape

Member Function Documentation

computeTransformedAABB()

AABB TriangleShape::computeTransformedAABB ( const Transform &  transform ) const

overridevirtual

Compute the transformed AABB of the collision shape given a transform.

Parameters

transform

Transform to use for the space conversion

Returns

aabb The transformed axis-aligned bounding box (AABB) of the collision shape

Reimplemented from reactphysics3d::CollisionShape.

getCentroid()

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

overridevirtual

Return the centroid of the polyhedron.

Implements reactphysics3d::ConvexPolyhedronShape.

getFace()

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

overridevirtual

Return a given face of the polyhedron.

Implements reactphysics3d::ConvexPolyhedronShape.

getFaceNormal()

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

overridevirtual

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

Implements reactphysics3d::ConvexPolyhedronShape.

getHalfEdge()

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

overridevirtual

Return a given half-edge of the polyhedron.

Implements reactphysics3d::ConvexPolyhedronShape.

getLocalBounds()

RP3D_FORCE_INLINE AABB reactphysics3d::TriangleShape::getLocalBounds ( ) const

overridevirtual

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

Returns

The AABB with the min/max bounds of the shape

Implements reactphysics3d::CollisionShape.

getLocalInertiaTensor()

RP3D_FORCE_INLINE Vector3 reactphysics3d::TriangleShape::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

Returns

A vector with the three diagonal values of the local inertia tensor

Implements reactphysics3d::CollisionShape.

getNbFaces()

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

overridevirtual

Return the number of faces of the polyhedron.

Implements reactphysics3d::ConvexPolyhedronShape.

getNbHalfEdges()

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

overridevirtual

Return the number of half-edges of the polyhedron.

Implements reactphysics3d::ConvexPolyhedronShape.

getNbVertices()

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

overridevirtual

Return the number of vertices of the polyhedron.

Implements reactphysics3d::ConvexPolyhedronShape.

getVertex()

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

overridevirtual

Return a given vertex of the polyhedron.

Implements reactphysics3d::ConvexPolyhedronShape.

getVertexPosition()

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

overridevirtual

Return the position of a given vertex.

Implements reactphysics3d::ConvexPolyhedronShape.

getVolume()

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

overridevirtual

Compute and return the volume of the collision shape.

Implements reactphysics3d::CollisionShape.

setRaycastTestType()

RP3D_FORCE_INLINE void reactphysics3d::TriangleShape::setRaycastTestType

(

TriangleRaycastSide

testType

)

Parameters

testType

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

to_string()

RP3D_FORCE_INLINE std::string reactphysics3d::TriangleShape::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/TriangleShape.h
• src/collision/shapes/TriangleShape.cpp