void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
const T & btMax(const T &a, const T &b)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
const btVector3 & getHalfExtentsWithoutMargin() const
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
btVector3 getHalfExtentsWithMargin() const
virtual btScalar getMargin() const
btVector3 can be used to represent 3D points and vectors.