16 #ifndef BT_CONVEX_CONVEX_ALGORITHM_H
17 #define BT_CONVEX_CONVEX_ALGORITHM_H
42 #ifdef USE_SEPDISTANCE_UTIL2
108 #endif //BT_CONVEX_CONVEX_ALGORITHM_H
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
void push_back(const T &_Val)
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
CreateFunc(btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *pdSolver)
int m_minimumPointsPerturbationThreshold
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
btPersistentManifold * m_manifoldPtr
btManifoldResult is a helper class to manage contact results.
btSimplexSolverInterface * m_simplexSolver
btSimplexSolverInterface * m_simplexSolver
void setLowLevelOfDetail(bool useLowLevel)
#define btSimplexSolverInterface
virtual void * allocateCollisionAlgorithm(int size)=0
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
virtual ~btConvexConvexAlgorithm()
The btConvexSeparatingDistanceUtil can help speed up convex collision detection by conservatively upd...
btCollisionObject can be used to manage collision detection objects.
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
int m_numPerturbationIterations
const btPersistentManifold * getManifold()
Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation.
btConvexPenetrationDepthSolver * m_pdSolver
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
btPersistentManifold * m_manifold
btDispatcher * m_dispatcher1
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
int m_minimumPointsPerturbationThreshold
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
btConvexPenetrationDepthSolver * m_pdSolver
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btConvexConvexAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
cache separating vector to speedup collision detection
int m_numPerturbationIterations