33 m_btConvexTriangleCallback(
ci.m_dispatcher1, body0Wrap, body1Wrap,
isSwapped),
77 BT_PROFILE(
"btConvexTriangleCallback::processTriangle");
106#ifndef BT_DISABLE_CONVEX_CONCAVE_EARLY_OUT
187 colAlgo->~btCollisionAlgorithm();
188 ci.m_dispatcher1->freeCollisionAlgorithm(
colAlgo);
222 BT_PROFILE(
"btConvexConcaveCollisionAlgorithm::processCollision");
237 if (
convex->isPolyhedral())
240 for (
int v = 0; v <
poly->getNumVertices(); v++)
382 if (
triBody->getCollisionShape()->isConcave())
bool TestTriangleAgainstAabb2(const btVector3 *vertices, const btVector3 &aabbMin, const btVector3 &aabbMax)
conservative test for overlap between triangle and aabb
@ BT_CLOSEST_POINT_ALGORITHMS
@ BT_CONTACT_POINT_ALGORITHMS
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...
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
void push_back(const T &_Val)
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
btCollisionObject can be used to manage collision detection objects.
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
virtual btScalar getMargin() const
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const =0
btConvexConcaveCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
virtual ~btConvexConcaveCollisionAlgorithm()
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btConvexTriangleCallback m_btConvexTriangleCallback
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
const btVector3 & getAabbMax() const
virtual ~btConvexTriangleCallback()
btScalar m_collisionMarginTriangle
const btVector3 & getAabbMin() const
btDispatcher * m_dispatcher
btConvexTriangleCallback(btDispatcher *dispatcher, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
void setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo &dispatchInfo, const btCollisionObjectWrapper *convexBodyWrap, const btCollisionObjectWrapper *triBodyWrap, btManifoldResult *resultOut)
btManifoldResult * m_resultOut
const btDispatcherInfo * m_dispatchInfoPtr
btPersistentManifold * m_manifoldPtr
const btCollisionObjectWrapper * m_convexBodyWrap
const btCollisionObjectWrapper * m_triBodyWrap
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
virtual void clearManifold(btPersistentManifold *manifold)=0
virtual void releaseManifold(btPersistentManifold *manifold)=0
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
virtual void drawLine(const btVector3 &from, const btVector3 &to, const btVector3 &color)=0
virtual int getDebugMode() const =0
btManifoldResult is a helper class to manage contact results.
virtual void setShapeIdentifiersA(int partId0, int index0)
setShapeIdentifiersA/B provides experimental support for per-triangle material / custom material comb...
void setBody0Wrap(const btCollisionObjectWrapper *obj0Wrap)
const btCollisionObjectWrapper * getBody1Wrap() const
void setBody1Wrap(const btCollisionObjectWrapper *obj1Wrap)
const btCollisionObject * getBody0Internal() const
virtual void setShapeIdentifiersB(int partId1, int index1)
btScalar m_closestPointDistanceThreshold
const btCollisionObjectWrapper * getBody0Wrap() const
btMatrix3x3 inverse() const
Return the inverse of the matrix.
void setBodies(const btCollisionObject *body0, const btCollisionObject *body1)
btScalar getContactBreakingThreshold() const
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
The btSphereShape implements an implicit sphere, centered around a local origin with radius.
btScalar getRadius() const
btSubsimplexConvexCast implements Gino van den Bergens' paper "Ray Casting against bteral Convex Obje...
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
btVector3 can be used to represent 3D points and vectors.
void setMax(const btVector3 &other)
Set each element to the max of the current values and the values of another btVector3.
btVector3 & safeNormalize()
void setMin(const btVector3 &other)
Set each element to the min of the current values and the values of another btVector3.
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points...
btDispatcher * m_dispatcher1
const btCollisionShape * getCollisionShape() const
const btCollisionObject * getCollisionObject() const
const btTransform & getWorldTransform() const
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
class btIDebugDraw * m_debugDraw