67 : m_dispatcher1(dispatcher),
68 m_broadphasePairCache(pairCache),
70 m_forceUpdateAllAabbs(true)
117 collisionFilterGroup,
147 collisionFilterGroup,
158 minAabb -= contactThreshold;
159 maxAabb += contactThreshold;
165 minAabb2 -= contactThreshold;
166 maxAabb2 += contactThreshold;
184 static bool reportMe =
true;
222 BT_PROFILE(
"performDiscreteCollisionDetection");
306 btGjkConvexCast gjkConvexCaster(castShape, convexShape, &simplexSolver);
313 convexCasterPtr = &gjkConvexCaster;
315 convexCasterPtr = &subSimplexConvexCaster;
319 if (convexCaster.
calcTimeOfImpact(rayFromTrans, rayToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
327 #ifdef USE_SUBSIMPLEX_CONVEX_CAST 330 #endif //USE_SUBSIMPLEX_CONVEX_CAST 339 bool normalInWorldSpace =
true;
361 m_resultCallback(resultCallback),
362 m_collisionObject(collisionObject),
363 m_triangleMesh(triangleMesh),
364 m_colObjWorldTransform(colObjWorldTransform)
381 bool normalInWorldSpace =
true;
382 return m_resultCallback->
addSingleResult(rayResult, normalInWorldSpace);
396 BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->
getCollisionObject(), triangleMesh, colObjWorldTransform);
408 btVector3 rayFromLocalScaled = rayFromLocal / scale;
409 btVector3 rayToLocalScaled = rayToLocal / scale;
412 BridgeTriangleRaycastCallback rcb(rayFromLocalScaled, rayToLocalScaled, &resultCallback, collisionObjectWrap->
getCollisionObject(), triangleMesh, colObjWorldTransform);
414 triangleMesh->
performRaycast(&rcb, rayFromLocalScaled, rayToLocalScaled);
439 m_resultCallback(resultCallback),
440 m_collisionObject(collisionObject),
441 m_triangleMesh(triangleMesh),
442 m_colObjWorldTransform(colObjWorldTransform)
459 bool normalInWorldSpace =
true;
460 return m_resultCallback->
addSingleResult(rayResult, normalInWorldSpace);
464 BridgeTriangleRaycastCallback rcb(rayFromLocal, rayToLocal, &resultCallback, collisionObjectWrap->
getCollisionObject(), concaveShape, colObjWorldTransform);
467 btVector3 rayAabbMinLocal = rayFromLocal;
468 rayAabbMinLocal.
setMin(rayToLocal);
469 btVector3 rayAabbMaxLocal = rayFromLocal;
470 rayAabbMaxLocal.
setMax(rayToLocal);
486 : m_userCallback(user), m_i(i)
489 m_flags = m_userCallback->
m_flags;
525 m_compoundShape(compoundShape),
526 m_colObjWorldTransform(colObjWorldTransform),
527 m_rayFromTrans(rayFromTrans),
528 m_rayToTrans(rayToTrans),
529 m_resultCallback(resultCallback)
533 void ProcessLeaf(
int i)
537 btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
542 LocalInfoAdder2 my_cb(i, &m_resultCallback);
563 colObjWorldTransform,
567 #ifndef DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION 570 btVector3 localRayFrom = colObjWorldTransform.inverseTimes(rayFromTrans).getOrigin();
571 btVector3 localRayTo = colObjWorldTransform.inverseTimes(rayToTrans).getOrigin();
575 #endif //DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION 579 rayCB.ProcessLeaf(i);
621 if (castPtr->
calcTimeOfImpact(convexFromTrans, convexToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
636 bool normalInWorldSpace =
true;
665 m_resultCallback(resultCallback),
666 m_collisionObject(collisionObject),
667 m_triangleMesh(triangleMesh)
676 if (hitFraction <= m_resultCallback->m_closestHitFraction)
684 bool normalInWorldSpace =
true;
686 return m_resultCallback->addSingleResult(convexResult, normalInWorldSpace);
692 BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans, convexToTrans, &resultCallback, colObjWrap->
getCollisionObject(), triangleMesh, colObjWorldTransform);
694 tccb.m_allowedPenetration = allowedPenetration;
696 castShape->
getAabb(rotationXform, boxMinLocal, boxMaxLocal);
697 triangleMesh->
performConvexcast(&tccb, convexFromLocal, convexToLocal, boxMinLocal, boxMaxLocal);
710 if (castPtr->
calcTimeOfImpact(convexFromTrans, convexToTrans, colObjWorldTransform, colObjWorldTransform, castResult))
725 bool normalInWorldSpace =
true;
750 m_resultCallback(resultCallback),
751 m_collisionObject(collisionObject),
752 m_triangleMesh(triangleMesh)
761 if (hitFraction <= m_resultCallback->m_closestHitFraction)
769 bool normalInWorldSpace =
true;
771 return m_resultCallback->addSingleResult(convexResult, normalInWorldSpace);
777 BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans, convexToTrans, &resultCallback, colObjWrap->
getCollisionObject(), concaveShape, colObjWorldTransform);
779 tccb.m_allowedPenetration = allowedPenetration;
781 castShape->
getAabb(rotationXform, boxMinLocal, boxMaxLocal);
783 btVector3 rayAabbMinLocal = convexFromLocal;
784 rayAabbMinLocal.
setMin(convexToLocal);
785 btVector3 rayAabbMaxLocal = convexFromLocal;
786 rayAabbMaxLocal.
setMax(convexToLocal);
787 rayAabbMinLocal += boxMinLocal;
788 rayAabbMaxLocal += boxMaxLocal;
808 : m_colObjWrap(colObjWrap),
809 m_castShape(castShape),
810 m_convexFromTrans(convexFromTrans),
811 m_convexToTrans(convexToTrans),
812 m_allowedPenetration(allowedPenetration),
813 m_compoundShape(compoundShape),
814 m_colObjWorldTransform(colObjWorldTransform),
815 m_resultCallback(resultCallback)
831 btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
839 : m_userCallback(user), m_i(i)
860 LocalInfoAdder my_cb(index, &m_resultCallback);
875 ProcessChild(index, childTrans, childCollisionShape);
882 btVector3 fromLocalAabbMin, fromLocalAabbMax;
883 btVector3 toLocalAabbMin, toLocalAabbMax;
885 castShape->
getAabb(colObjWorldTransform.
inverse() * convexFromTrans, fromLocalAabbMin, fromLocalAabbMax);
886 castShape->
getAabb(colObjWorldTransform.
inverse() * convexToTrans, toLocalAabbMin, toLocalAabbMax);
888 fromLocalAabbMin.setMin(toLocalAabbMin);
889 fromLocalAabbMax.
setMax(toLocalAabbMax);
892 allowedPenetration, compoundShape, colObjWorldTransform, resultCallback);
907 callback.ProcessChild(i, childTrans, childCollisionShape);
937 btVector3 rayDir = (rayToWorld - rayFromWorld);
965 #ifdef RECALCULATE_AABB 966 btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
996 #ifndef USE_BRUTEFORCE_RAYBROADPHASE 1003 #endif //USE_BRUTEFORCE_RAYBROADPHASE 1069 convexFromTrans = convexFromWorld;
1070 convexToTrans = convexToWorld;
1071 btVector3 castShapeAabbMin, castShapeAabbMax;
1084 #ifndef USE_BRUTEFORCE_RAYBROADPHASE 1086 btSingleSweepCallback convexCB(castShape, convexFromWorld, convexToWorld,
this, resultCallback, allowedCcdPenetration);
1101 btVector3 collisionObjectAabbMin, collisionObjectAabbMax;
1103 AabbExpand(collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
1106 if (
btRayAabb(convexFromWorld.
getOrigin(), convexToWorld.
getOrigin(), collisionObjectAabbMin, collisionObjectAabbMax, hitLambda, hitNormal))
1113 allowedCcdPenetration);
1117 #endif //USE_BRUTEFORCE_RAYBROADPHASE 1133 btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
1207 algorithm->~btCollisionAlgorithm();
1239 algorithm->processCollision(&obA, &obB,
getDispatchInfo(), &contactPointResult);
1241 algorithm->~btCollisionAlgorithm();
1267 (void)triangleIndex;
1277 btVector3 normal = (wv1 - wv0).cross(wv2 - wv0);
1333 for (
int i = multiSphereShape->
getSphereCount() - 1; i >= 0; i--)
1397 int lastV = poly->
m_faces[i].m_indices[numVerts - 1];
1398 for (
int v = 0; v < poly->
m_faces[i].m_indices.
size(); v++)
1400 int curVert = poly->
m_faces[i].m_indices[v];
1411 getDebugDrawer()->
drawLine(worldTransform * centroid, worldTransform * (centroid + faceNormal), normalColor);
1469 for (
int i = 0; i < numManifolds; i++)
1476 for (
int j = 0; j < numContacts; j++)
1531 minAabb -= contactThreshold;
1532 maxAabb += contactThreshold;
1539 minAabb2 -= contactThreshold;
1540 maxAabb2 += contactThreshold;
1541 minAabb.
setMin(minAabb2);
1542 maxAabb.
setMax(maxAabb2);
1565 if (!serializedShapes.
find(shape))
1567 serializedShapes.
insert(shape, shape);
1588 for (
int i = 0; i < numManifolds; i++)
1597 const char* structType = manifold->
serialize(manifold, chunk->
m_oldPtr, serializer);
btVector3 getHalfExtentsWithMargin() const
virtual void finishSerialization()=0
btSingleSweepCallback(const btConvexShape *castShape, const btTransform &convexFromTrans, const btTransform &convexToTrans, const btCollisionWorld *world, btCollisionWorld::ConvexResultCallback &resultCallback, btScalar allowedPenetration)
void serializeCollisionObjects(btSerializer *serializer)
btAlignedObjectArray< btVector3 > m_vertices
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good...
void push_back(const T &_Val)
btScalar getSphereRadius(int index) const
Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degene...
#define BT_CONTACTMANIFOLD_CODE
virtual DefaultColors getDefaultColors() const
void serializeContactManifolds(btSerializer *serializer)
btVector3 m_wantsDeactivationObject
btScalar getRadius() const
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
void performRaycast(btTriangleCallback *callback, const btVector3 &raySource, const btVector3 &rayTarget)
LocalShapeInfo * m_localShapeInfo
virtual void updateAabbs()
btVector3 m_deactivatedObject
virtual void clearLines()
btPersistentManifold * m_manifoldPtr
int findLinearSearch(const T &key) const
btCollisionWorld(btDispatcher *dispatcher, btBroadphaseInterface *broadphasePairCache, btCollisionConfiguration *collisionConfiguration)
for debug drawing
virtual void reportErrorWarning(const char *warningString)=0
virtual btPersistentManifold * getManifoldByIndexInternal(int index)=0
const Value * find(const Key &key) const
bool m_forceUpdateAllAabbs
m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs it is...
virtual void addCollisionObject(btCollisionObject *collisionObject, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
btScalar length2() const
Return the length of the vector squared.
virtual void drawLine(const btVector3 &from, const btVector3 &to, const btVector3 &color)=0
virtual void dispatchAllCollisionPairs(btOverlappingPairCache *pairCache, const btDispatcherInfo &dispatchInfo, btDispatcher *dispatcher)=0
virtual void startSerialization()=0
The btMultiSphereShape represents the convex hull of a collection of spheres.
const btScalar & getPlaneConstant() const
virtual btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold, ebtDispatcherQueryType queryType)=0
virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
virtual void drawBox(const btVector3 &bbMin, const btVector3 &bbMax, const btVector3 &color)
int getNumContacts() const
The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned ...
const btDbvt * getDynamicAabbTree() const
virtual void drawPlane(const btVector3 &planeNormal, btScalar planeConst, const btTransform &transform, const btVector3 &color)
btVector3 getHalfExtentsWithMargin() const
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size...
virtual void serializeSingleShape(btSerializer *serializer) const
The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes ...
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
RayResultCallback is used to report new raycast results.
btContinuousConvexCollision implements angular and linear time of impact for convex objects...
void setWorldArrayIndex(int ix)
The btSphereShape implements an implicit sphere, centered around a local origin with radius...
btCollisionWorld::RayResultCallback & m_resultCallback
ManifoldContactPoint collects and maintains persistent contactpoints.
const btCollisionWorld * m_world
int getActivationState() const
btDispatcher * m_dispatcher1
btManifoldResult is a helper class to manage contact results.
btVector3 m_disabledSimulationObject
static DBVT_PREFIX void rayTest(const btDbvtNode *root, const btVector3 &rayFrom, const btVector3 &rayTo, DBVT_IPOLICY)
rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thre...
static void rayTestSingleInternal(const btTransform &rayFromTrans, const btTransform &rayToTrans, const btCollisionObjectWrapper *collisionObjectWrap, RayResultCallback &resultCallback)
const btCollisionShape * getCollisionShape() const
virtual void computeOverlappingPairs()
the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSi...
bool isStaticOrKinematicObject() const
virtual void drawCapsule(btScalar radius, btScalar halfHeight, int upAxis, const btTransform &transform, const btVector3 &color)
int getNumChildShapes() const
virtual const btVector3 & getLocalScaling() const
btScalar m_closestHitFraction
btSingleRayCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const btCollisionWorld *world, btCollisionWorld::RayResultCallback &resultCallback)
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const =0
void swap(int index0, int index1)
virtual void drawContactPoint(const btVector3 &PointOnB, const btVector3 &normalOnB, btScalar distance, int lifeTime, const btVector3 &color)=0
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t...
const btCollisionObjectWrapper * m_body1Wrap
The btHashMap template class implements a generic and lightweight hashmap.
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
btTransform m_convexToTrans
int getNumCollisionObjects() const
btVector3 normalized() const
Return a normalized version of this vector.
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
virtual bool needsCollision(btBroadphaseProxy *proxy0) const
GjkConvexCast performs a raycast on a convex object using support mapping.
const btManifoldPoint & getContactPoint(int index) const
The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly...
btScalar m_allowedPenetration
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const =0
int m_collisionFilterMask
void AabbExpand(btVector3 &aabbMin, btVector3 &aabbMax, const btVector3 &expansionMin, const btVector3 &expansionMax)
virtual btOverlappingPairCache * getOverlappingPairCache()=0
The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving ...
btIDebugDraw * m_debugDrawer
virtual btScalar addSingleResult(LocalRayResult &rayResult, bool normalInWorldSpace)=0
btBvhTriangleMeshShape * getChildShape()
int getSphereCount() const
btTransform & getWorldTransform()
btVector3 m_normalWorldOnB
btScalar getHalfHeight() const
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
btScalar m_closestPointDistanceThreshold
btVector3 m_positionWorldOnB
virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform &transform, const btVector3 &color)
virtual int getSerializationFlags() const =0
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
btBroadphaseProxy * getBroadphaseHandle()
int getConeUpIndex() const
btTransform m_convexFromTrans
btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points...
const btCollisionWorld * m_world
btCollisionWorld::ConvexResultCallback & m_resultCallback
btIDebugDraw * m_debugDrawer
virtual btIDebugDraw * getDebugDrawer()
void contactPairTest(btCollisionObject *colObjA, btCollisionObject *colObjB, ContactResultCallback &resultCallback)
contactTest performs a discrete collision test between two collision objects and calls the resultCall...
btAlignedObjectArray< btFace > m_faces
const btCollisionObject * getBody0() const
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
DebugDrawcallback(btIDebugDraw *debugDrawer, const btTransform &worldTrans, const btVector3 &color)
bool isStaticObject() const
The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y ...
btTransform & getChildTransform(int index)
virtual void cleanProxyFromPairs(btBroadphaseProxy *proxy, btDispatcher *dispatcher)=0
static btDbvtAabbMm FromMM(const btVector3 &mi, const btVector3 &mx)
virtual bool needsCollision(btBroadphaseProxy *proxy0) const
btScalar dot(const btVector3 &v) const
Return the dot product.
const btCollisionObject * getCollisionObject() const
virtual void debugDrawObject(const btTransform &worldTransform, const btCollisionShape *shape, const btVector3 &color)
void contactTest(btCollisionObject *colObj, ContactResultCallback &resultCallback)
contactTest performs a discrete collision test between colObj against all objects in the btCollisionW...
btCollisionObject can be used to manage collision detection objects.
void insert(const Key &key, const Value &value)
#define DISABLE_SIMULATION
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
DBVT_PREFIX void collideTV(const btDbvtNode *root, const btDbvtVolume &volume, DBVT_IPOLICY) const
static void rayTestSingle(const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback)
rayTestSingle performs a raycast call and calls the resultCallback.
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
const btTransform & getInterpolationWorldTransform() const
btScalar getRadius() const
LocalShapeInfo gives extra information for complex shapes Currently, only btTriangleMeshShape is avai...
virtual void drawAabb(const btVector3 &from, const btVector3 &to, const btVector3 &color)
btVector3 m_positionWorldOnA
m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity ...
btScalar getHeight() const
virtual void removeCollisionObject(btCollisionObject *collisionObject)
int m_collisionFilterGroup
virtual void freeCollisionAlgorithm(void *ptr)=0
void performConvexcast(btTriangleCallback *callback, const btVector3 &boxSource, const btVector3 &boxTarget, const btVector3 &boxMin, const btVector3 &boxMax)
virtual ~btCollisionWorld()
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs...
int calculateSerializeBufferSize() const
btDispatcher * getDispatcher()
int getWorldArrayIndex() const
int getCollisionFlags() const
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
virtual void rayTest(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, RayResultCallback &resultCallback) const
rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback This ...
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by ...
virtual btPersistentManifold ** getInternalManifoldPointer()=0
virtual void setMargin(btScalar margin)
btVector3 can be used to represent 3D points and vectors.
#define ATTRIBUTE_ALIGNED16(a)
virtual void serialize(btSerializer *serializer)
Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bulle...
int size() const
return the number of elements in the array
bool isPolyhedral() const
virtual int getNumManifolds() const =0
static void objectQuerySingle(const btConvexShape *castShape, const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, ConvexResultCallback &resultCallback, btScalar allowedPenetration)
objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
btSubsimplexConvexCast implements Gino van den Bergens' paper "Ray Casting against bteral Convex Obje...
virtual void finalizeChunk(btChunk *chunk, const char *structType, int chunkCode, void *oldPtr)=0
const btVector3 & getPlaneNormal() const
CollisionWorld is interface and container for the collision detection.
void convexSweepTest(const btConvexShape *castShape, const btTransform &from, const btTransform &to, ConvexResultCallback &resultCallback, btScalar allowedCcdPenetration=btScalar(0.)) const
convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultC...
EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to calculate the penetration depth be...
void setBroadphaseHandle(btBroadphaseProxy *handle)
btDispatcherInfo & getDispatchInfo()
#define WANTS_DEACTIVATION
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
void remove(const T &key)
virtual void drawTransform(const btTransform &transform, btScalar orthoLen)
int getInternalType() const
reserved for Bullet internal usage
virtual btScalar getRadius() const
virtual int getDebugMode() const =0
btAlignedObjectArray< btCollisionObject * > m_collisionObjects
const btTransform & getWorldTransform() const
The btCylinderShape class implements a cylinder shape primitive, centered around the origin...
#define DISABLE_DEACTIVATION
virtual bool process(const btBroadphaseProxy *proxy)
bool getCustomDebugColor(btVector3 &colorRGB) const
btVector3 m_rayDirectionInverse
added some cached data to accelerate ray-AABB tests
virtual void performDiscreteCollisionDetection()
virtual void serializeSingleObject(class btSerializer *serializer) const
void calculateTemporalAabb(const btTransform &curTrans, const btVector3 &linvel, const btVector3 &angvel, btScalar timeStep, btVector3 &temporalAabbMin, btVector3 &temporalAabbMax) const
calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0...
LocalShapeInfo * m_localShapeInfo
virtual void refreshBroadphaseProxy(btCollisionObject *collisionObject)
The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMesh...
const char * serialize(const class btPersistentManifold *manifold, void *dataBuffer, class btSerializer *serializer) const
btBroadphaseInterface * m_broadphasePairCache
btScalar m_closestHitFraction
virtual void setAabb(btBroadphaseProxy *proxy, const btVector3 &aabbMin, const btVector3 &aabbMax, btDispatcher *dispatcher)=0
static btDbvtVolume bounds(btDbvtNode **leaves, int count)
const btCollisionObjectWrapper * m_body0Wrap
btScalar m_allowedCcdPenetration
const btConvexShape * m_castShape
virtual btScalar addSingleResult(LocalConvexResult &convexResult, bool normalInWorldSpace)=0
void updateSingleAabb(btCollisionObject *colObj)
virtual btScalar getMargin() const
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
void setMax(const btVector3 &other)
Set each element to the max of the current values and the values of another btVector3.
class btStridingMeshInterface * getMeshInterface()
The btStaticPlaneShape simulates an infinite non-moving (static) collision plane. ...
RayResultCallback is used to report new raycast results.
btBridgedManifoldResult(const btCollisionObjectWrapper *obj0Wrap, const btCollisionObjectWrapper *obj1Wrap, btCollisionWorld::ContactResultCallback &resultCallback)
virtual bool process(const btBroadphaseProxy *proxy)
btCollisionShape * getChildShape(int index)
virtual void internalProcessTriangleIndex(btVector3 *triangle, int partId, int triangleIndex)
virtual void debugDrawWorld()
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
btScalar gContactBreakingThreshold
virtual void drawSphere(btScalar radius, const btTransform &transform, const btVector3 &color)
bool btRayAabb(const btVector3 &rayFrom, const btVector3 &rayTo, const btVector3 &aabbMin, const btVector3 &aabbMax, btScalar ¶m, btVector3 &normal)
virtual void destroyProxy(btBroadphaseProxy *proxy, btDispatcher *dispatcher)=0
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
const btBroadphaseInterface * getBroadphase() const
btVector3 m_disabledDeactivationObject
btCollisionWorld::ContactResultCallback & m_resultCallback
void setActivationState(int newState) const
btTransform m_rayFromTrans
virtual btChunk * allocate(size_t size, int numElements)=0
virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform &transform, const btVector3 &color)
virtual void rayTest(const btVector3 &rayFrom, const btVector3 &rayTo, btBroadphaseRayCallback &rayCallback, const btVector3 &aabbMin=btVector3(0, 0, 0), const btVector3 &aabbMax=btVector3(0, 0, 0))=0
static void objectQuerySingleInternal(const btConvexShape *castShape, const btTransform &convexFromTrans, const btTransform &convexToTrans, const btCollisionObjectWrapper *colObjWrap, ConvexResultCallback &resultCallback, btScalar allowedPenetration)
btScalar getDistance() const
const btVector3 & getSpherePosition(int index) const
const btConvexPolyhedron * getConvexPolyhedron() const
virtual void calculateOverlappingPairs(btDispatcher *dispatcher)=0
calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during th...
void setMin(const btVector3 &other)
Set each element to the min of the current values and the values of another btVector3.
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
const btCollisionShape * getCollisionShape() const
virtual btScalar getMargin() const
virtual void aabbTest(const btVector3 &aabbMin, const btVector3 &aabbMax, btBroadphaseAabbCallback &callback)=0
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)=0
cast a convex against another convex object
virtual int getNumEdges() const =0