This interface is made to be used by an iterative approach to do TimeOfImpact calculations This interface allows to query for closest points and penetration depth between two (convex) objects the closest point is on the second object (B), and the normal points from the surface on B towards A. More...
#include <btDiscreteCollisionDetectorInterface.h>
Classes | |
| struct | ClosestPointInput |
| struct | Result |
Public Member Functions | |
| virtual | ~btDiscreteCollisionDetectorInterface () |
| virtual void | getClosestPoints (const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)=0 |
Detailed Description
This interface is made to be used by an iterative approach to do TimeOfImpact calculations This interface allows to query for closest points and penetration depth between two (convex) objects the closest point is on the second object (B), and the normal points from the surface on B towards A.
distance is between closest points on B and closest point on A. So you can calculate closest point on A by taking closestPointInA = closestPointInB + m_distance * m_normalOnSurfaceB
Definition at line 27 of file btDiscreteCollisionDetectorInterface.h.
Constructor & Destructor Documentation
◆ ~btDiscreteCollisionDetectorInterface()
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inlinevirtual |
Definition at line 51 of file btDiscreteCollisionDetectorInterface.h.
Member Function Documentation
◆ getClosestPoints()
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pure virtual |
Implemented in btBoxBoxDetector, SphereTriangleDetector, and btGjkPairDetector.
The documentation for this struct was generated from the following file:
