Bullet Collision Detection & Physics Library
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25 : m_simplexSolver(simplexSolver),
56 v = supVertexA - supVertexB;
75 w = supVertexA - supVertexB;
92 lambda = lambda - VdotW / VdotR;
99 w = supVertexA - supVertexB;
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
int m_subSimplexCastMaxIterations
btScalar dot(const btVector3 &v) const
Return the dot product.
void setInterpolate3(const btVector3 &v0, const btVector3 &v1, btScalar rt)
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const =0
const btConvexShape * m_convexA
btScalar m_subSimplexCastEpsilon
const btConvexShape * m_convexB
btSimplexSolverInterface * m_simplexSolver
btVector3 can be used to represent 3D points and vectors.
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (...
btSubsimplexConvexCast(const btConvexShape *shapeA, const btConvexShape *shapeB, btSimplexSolverInterface *simplexSolver)
btScalar m_allowedPenetration
#define btSimplexSolverInterface
btVector3 normalized() const
Return a normalized version of this vector.
btScalar length2() const
Return the length of the vector squared.