The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape Currently it requires the btMinkowskiPenetrationDepthSolver, it has support for 2d penetration depth computation. More...

#include <btConvex2dConvex2dAlgorithm.h>

Inheritance diagram for btConvex2dConvex2dAlgorithm:

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Collaboration diagram for btConvex2dConvex2dAlgorithm:

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Classes
struct	CreateFunc

Public Member Functions
	btConvex2dConvex2dAlgorithm (btPersistentManifold mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap, btSimplexSolverInterface simplexSolver, btConvexPenetrationDepthSolver *pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)

virtual	~btConvex2dConvex2dAlgorithm ()

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)

virtual void	getAllContactManifolds (btManifoldArray &manifoldArray)

void	setLowLevelOfDetail (bool useLowLevel)

const btPersistentManifold *	getManifold ()

Public Member Functions inherited from btActivatingCollisionAlgorithm
virtual	~btActivatingCollisionAlgorithm ()

Public Member Functions inherited from btCollisionAlgorithm
	btCollisionAlgorithm ()

	btCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo &ci)

virtual	~btCollisionAlgorithm ()

virtual void	processCollision (const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)=0

virtual btScalar	calculateTimeOfImpact (btCollisionObject body0, btCollisionObject body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)=0

virtual void	getAllContactManifolds (btManifoldArray &manifoldArray)=0

Private Attributes
btSimplexSolverInterface *	m_simplexSolver

btConvexPenetrationDepthSolver *	m_pdSolver

bool	m_ownManifold

btPersistentManifold *	m_manifoldPtr

bool	m_lowLevelOfDetail

Additional Inherited Members
Protected Member Functions inherited from btActivatingCollisionAlgorithm
	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo &ci)

	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper body0Wrap, const btCollisionObjectWrapper body1Wrap)

Protected Attributes inherited from btCollisionAlgorithm
btDispatcher *	m_dispatcher

Detailed Description

The convex2dConvex2dAlgorithm collision algorithm support 2d collision detection for btConvex2dShape Currently it requires the btMinkowskiPenetrationDepthSolver, it has support for 2d penetration depth computation.

Definition at line 32 of file btConvex2dConvex2dAlgorithm.h.

Constructor & Destructor Documentation

◆ btConvex2dConvex2dAlgorithm()

btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm	(	btPersistentManifold *	mf,
		const btCollisionAlgorithmConstructionInfo &	ci,
		const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap,
		btSimplexSolverInterface *	simplexSolver,
		btConvexPenetrationDepthSolver *	pdSolver,
		int	numPerturbationIterations,
		int	minimumPointsPerturbationThreshold
	)

Definition at line 55 of file btConvex2dConvex2dAlgorithm.cpp.

◆ ~btConvex2dConvex2dAlgorithm()

btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm ( )

virtual

Definition at line 67 of file btConvex2dConvex2dAlgorithm.cpp.

Member Function Documentation

◆ calculateTimeOfImpact()

btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact	(	btCollisionObject *	body0,
		btCollisionObject *	body1,
		const btDispatcherInfo &	dispatchInfo,
		btManifoldResult *	resultOut
	)

virtual

Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold

Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold col0->m_worldTransform,

Convex0 against sphere for Convex1

Simplification, one object is simplified as a sphere

Sphere (for convex0) against Convex1

Simplification, one object is simplified as a sphere

Implements btCollisionAlgorithm.

Definition at line 133 of file btConvex2dConvex2dAlgorithm.cpp.

◆ getAllContactManifolds()

virtual void btConvex2dConvex2dAlgorithm::getAllContactManifolds ( btManifoldArray & manifoldArray )

inlinevirtual

should we use m_ownManifold to avoid adding duplicates?

Implements btCollisionAlgorithm.

Definition at line 50 of file btConvex2dConvex2dAlgorithm.h.

◆ getManifold()

const btPersistentManifold * btConvex2dConvex2dAlgorithm::getManifold ( )

inline

Definition at line 59 of file btConvex2dConvex2dAlgorithm.h.

◆ processCollision()

void btConvex2dConvex2dAlgorithm::processCollision	(	const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap,
		const btDispatcherInfo &	dispatchInfo,
		btManifoldResult *	resultOut
	)