Bullet Collision Detection & Physics Library
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22 #ifdef BT_USE_DOUBLE_PRECISION
23 #define MAX_ITERATIONS 64
25 #define MAX_ITERATIONS 32
29 : m_simplexSolver(simplexSolver),
58 bool hasResult =
false;
98 if (numIter > maxIter)
106 dLambda = dist / (projectedLinearVelocity);
108 lambda = lambda - dLambda;
117 if (lambda <= lastLambda)
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...
const btConvexShape * m_convexA
const btConvexShape * m_convexB
btSimplexSolverInterface * m_simplexSolver
btScalar dot(const btVector3 &v) const
Return the dot product.
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
cast a convex against another convex object
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 ...
btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
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...
btGjkConvexCast(const btConvexShape *convexA, const btConvexShape *convexB, btSimplexSolverInterface *simplexSolver)
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
btScalar m_allowedPenetration
virtual void DebugDraw(btScalar fraction)
btVector3 m_normalOnBInWorld
#define btSimplexSolverInterface