16 #ifndef BT_CONTINUOUS_COLLISION_CONVEX_CAST_H 17 #define BT_CONTINUOUS_COLLISION_CONVEX_CAST_H 53 #endif //BT_CONTINUOUS_COLLISION_CONVEX_CAST_H void computeClosestPoints(const btTransform &transA, const btTransform &transB, struct btPointCollector &pointCollector)
Typically the conservative advancement reaches solution in a few iterations, clip it to 32 for degene...
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
btContinuousConvexCollision implements angular and linear time of impact for convex objects...
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
#define btSimplexSolverInterface
btSimplexSolverInterface * m_simplexSolver
const btConvexShape * m_convexA
btConvexPenetrationDepthSolver * m_penetrationDepthSolver
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
cast a convex against another convex object
const btConvexShape * m_convexB1
btContinuousConvexCollision(const btConvexShape *shapeA, const btConvexShape *shapeB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
The btStaticPlaneShape simulates an infinite non-moving (static) collision plane. ...
const btStaticPlaneShape * m_planeShape