btConvexConvexAlgorithm Class Reference

Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. More...

#include <btConvexConvexAlgorithm.h>

Inheritance diagram for btConvexConvexAlgorithm:

Collaboration diagram for btConvexConvexAlgorithm:

Classes
struct	CreateFunc

Public Member Functions
	btConvexConvexAlgorithm (btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btConvexPenetrationDepthSolver *pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
	cache separating vector to speedup collision detection More...
virtual	~btConvexConvexAlgorithm ()
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
btConvexPenetrationDepthSolver *	m_pdSolver
btVertexArray	worldVertsB1
btVertexArray	worldVertsB2
bool	m_ownManifold
btPersistentManifold *	m_manifoldPtr
bool	m_lowLevelOfDetail
int	m_numPerturbationIterations
int	m_minimumPointsPerturbationThreshold

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

Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation.

However, when using large size ratios GJK can be imprecise so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions. Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util for certain pairs that have a small size ratio The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects. Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal. This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888

Definition at line 41 of file btConvexConvexAlgorithm.h.

Constructor & Destructor Documentation

btConvexConvexAlgorithm()

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

cache separating vector to speedup collision detection

Definition at line 184 of file btConvexConvexAlgorithm.cpp.

~btConvexConvexAlgorithm()

btConvexConvexAlgorithm::~btConvexConvexAlgorithm ( )

virtual

Definition at line 201 of file btConvexConvexAlgorithm.cpp.

Member Function Documentation

calculateTimeOfImpact()

btScalar btConvexConvexAlgorithm::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 792 of file btConvexConvexAlgorithm.cpp.

getAllContactManifolds()

virtual void btConvexConvexAlgorithm::getAllContactManifolds ( btManifoldArray &  manifoldArray )

inlinevirtual

should we use m_ownManifold to avoid adding duplicates?

Implements btCollisionAlgorithm.

Definition at line 69 of file btConvexConvexAlgorithm.h.

getManifold()

const btPersistentManifold * btConvexConvexAlgorithm::getManifold ( )

inline

Definition at line 78 of file btConvexConvexAlgorithm.h.

processCollision()

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

virtual

btBoxShape is an exception: its vertices are created WITH margin so don't subtract it

Implements btCollisionAlgorithm.

Definition at line 273 of file btConvexConvexAlgorithm.cpp.

setLowLevelOfDetail()

void btConvexConvexAlgorithm::setLowLevelOfDetail

(

bool

useLowLevel

)

Definition at line 210 of file btConvexConvexAlgorithm.cpp.

Member Data Documentation

m_lowLevelOfDetail

bool btConvexConvexAlgorithm::m_lowLevelOfDetail

private

Definition at line 53 of file btConvexConvexAlgorithm.h.

m_manifoldPtr

btPersistentManifold* btConvexConvexAlgorithm::m_manifoldPtr

private

Definition at line 52 of file btConvexConvexAlgorithm.h.

m_minimumPointsPerturbationThreshold

int btConvexConvexAlgorithm::m_minimumPointsPerturbationThreshold

private

Definition at line 56 of file btConvexConvexAlgorithm.h.

m_numPerturbationIterations

int btConvexConvexAlgorithm::m_numPerturbationIterations

private

Definition at line 55 of file btConvexConvexAlgorithm.h.

m_ownManifold

bool btConvexConvexAlgorithm::m_ownManifold

private

Definition at line 51 of file btConvexConvexAlgorithm.h.

m_pdSolver

btConvexPenetrationDepthSolver* btConvexConvexAlgorithm::m_pdSolver

private

Definition at line 46 of file btConvexConvexAlgorithm.h.

worldVertsB1

btVertexArray btConvexConvexAlgorithm::worldVertsB1

private

Definition at line 48 of file btConvexConvexAlgorithm.h.

worldVertsB2

btVertexArray btConvexConvexAlgorithm::worldVertsB2

private

Definition at line 49 of file btConvexConvexAlgorithm.h.

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The documentation for this class was generated from the following files:

• btConvexConvexAlgorithm.h
• btConvexConvexAlgorithm.cpp