Bullet Collision Detection & Physics Library
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15 #define CLEAR_MANIFOLD 1
68 #ifndef CLEAR_MANIFOLD
70 #endif //CLEAR_MANIFOLD
74 btScalar dist = len - (radius0 + radius1);
79 normalOnSurfaceB = diff / len;
91 #ifndef CLEAR_MANIFOLD
93 #endif //CLEAR_MANIFOLD
btCollisionObject can be used to manage collision detection objects.
btScalar length() const
Return the length of the vector.
btDispatcher * m_dispatcher
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btPersistentManifold * m_manifoldPtr
virtual ~btSphereSphereCollisionAlgorithm()
const btTransform & getWorldTransform() const
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
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
const btCollisionShape * getCollisionShape() const
btSphereSphereCollisionAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *col0Wrap, const btCollisionObjectWrapper *col1Wrap)
const btCollisionObject * getCollisionObject() const
The btSphereShape implements an implicit sphere, centered around a local origin with radius.
btVector3 can be used to represent 3D points and vectors.
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
void setPersistentManifold(btPersistentManifold *manifoldPtr)
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
void refreshContactPoints()
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
btScalar m_closestPointDistanceThreshold
btScalar getRadius() const