Bullet Collision Detection & Physics Library
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16 #ifndef BT_CONVEX_CONVEX_ALGORITHM_H
17 #define BT_CONVEX_CONVEX_ALGORITHM_H
43 #ifdef USE_SEPDISTANCE_UTIL2
101 #endif //BT_CONVEX_CONVEX_ALGORITHM_H
btConvexPenetrationDepthSolver * m_pdSolver
btCollisionObject can be used to manage collision detection objects.
int m_numPerturbationIterations
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
int m_minimumPointsPerturbationThreshold
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
virtual void * allocateCollisionAlgorithm(int size)=0
CreateFunc(btConvexPenetrationDepthSolver *pdSolver)
Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation.
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
btConvexConvexAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btConvexPenetrationDepthSolver *pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
cache separating vector to speedup collision detection
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
btPersistentManifold * m_manifoldPtr
btConvexPenetrationDepthSolver * m_pdSolver
btManifoldResult is a helper class to manage contact results.
virtual ~btConvexConvexAlgorithm()
The btConvexSeparatingDistanceUtil can help speed up convex collision detection by conservatively upd...
void setLowLevelOfDetail(bool useLowLevel)
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btPersistentManifold * m_manifold
btDispatcher * m_dispatcher1
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
int m_minimumPointsPerturbationThreshold
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
void push_back(const T &_Val)
btVertexArray worldVertsB1
btVertexArray worldVertsB2
const btPersistentManifold * getManifold()
int m_numPerturbationIterations