Bullet Collision Detection & Physics Library
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16 #ifndef BT_GJK_PAIR_DETECTOR_H
17 #define BT_GJK_PAIR_DETECTOR_H
93 #endif //BT_GJK_PAIR_DETECTOR_H
void getClosestPointsNonVirtual(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw)
btSimplexSolverInterface * m_simplexSolver
btScalar m_cachedSeparatingDistance
const btConvexShape * m_minkowskiA
btScalar getCachedSeparatingDistance() const
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btConvexPenetrationDepthSolver * m_penetrationDepthSolver
btGjkPairDetector(const btConvexShape *objectA, const btConvexShape *objectB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
void setMinkowskiA(const btConvexShape *minkA)
void setMinkowskiB(const btConvexShape *minkB)
This interface is made to be used by an iterative approach to do TimeOfImpact calculations This inter...
const btVector3 & getCachedSeparatingAxis() const
int m_fixContactNormalDirection
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
void setPenetrationDepthSolver(btConvexPenetrationDepthSolver *penetrationDepthSolver)
btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
btVector3 can be used to represent 3D points and vectors.
virtual ~btGjkPairDetector()
const btConvexShape * m_minkowskiB
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
void setCachedSeperatingAxis(const btVector3 &seperatingAxis)
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
void setIgnoreMargin(bool ignoreMargin)
don't use setIgnoreMargin, it's for Bullet's internal use
btVector3 m_cachedSeparatingAxis
#define btSimplexSolverInterface