Bullet Collision Detection & Physics Library
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67 detector.getClosestPoints(input, *resultOut, dispatchInfo.
m_debugDraw, swapResults);
btCollisionObject can be used to manage collision detection objects.
btDispatcher * m_dispatcher
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
class btIDebugDraw * m_debugDraw
btSphereTriangleCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool swapped)
const btTransform & getWorldTransform() const
virtual ~btSphereTriangleCollisionAlgorithm()
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
btManifoldResult is a helper class to manage contact results.
virtual void releaseManifold(btPersistentManifold *manifold)=0
const btCollisionShape * getCollisionShape() const
const btCollisionObject * getCollisionObject() const
sphere-triangle to match the btDiscreteCollisionDetectorInterface
The btSphereShape implements an implicit sphere, centered around a local origin with radius.
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
void setPersistentManifold(btPersistentManifold *manifoldPtr)
btPersistentManifold * m_manifoldPtr
void refreshContactPoints()
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
btScalar getContactBreakingThreshold() const
btScalar m_closestPointDistanceThreshold