Bullet Collision Detection & Physics Library
Functions | Variables
btPolyhedralContactClipping.cpp File Reference
#include "btPolyhedralContactClipping.h"
#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
#include <float.h>
Include dependency graph for btPolyhedralContactClipping.cpp:

Go to the source code of this file.

Functions

static bool TestSepAxis (const btConvexPolyhedron &hullA, const btConvexPolyhedron &hullB, const btTransform &transA, const btTransform &transB, const btVector3 &sep_axis, btScalar &depth, btVector3 &witnessPointA, btVector3 &witnessPointB)
 
bool IsAlmostZero (const btVector3 &v)
 
void BoxSupport (const btScalar extents[3], const btScalar sv[3], btScalar p[3])
 
void InverseTransformPoint3x3 (btVector3 &out, const btVector3 &in, const btTransform &tr)
 
bool TestInternalObjects (const btTransform &trans0, const btTransform &trans1, const btVector3 &delta_c, const btVector3 &axis, const btConvexPolyhedron &convex0, const btConvexPolyhedron &convex1, btScalar dmin)
 
void btSegmentsClosestPoints (btVector3 &ptsVector, btVector3 &offsetA, btVector3 &offsetB, btScalar &tA, btScalar &tB, const btVector3 &translation, const btVector3 &dirA, btScalar hlenA, const btVector3 &dirB, btScalar hlenB)
 

Variables

int gExpectedNbTests =0
 This file was written by Erwin Coumans Separating axis rest based on work from Pierre Terdiman, see And contact clipping based on work from Simon Hobbs. More...
 
int gActualNbTests = 0
 
bool gUseInternalObject = true
 
static int gActualSATPairTests =0
 

Function Documentation

void BoxSupport ( const btScalar  extents[3],
const btScalar  sv[3],
btScalar  p[3] 
)
inline

Definition at line 125 of file btPolyhedralContactClipping.cpp.

void btSegmentsClosestPoints ( btVector3 ptsVector,
btVector3 offsetA,
btVector3 offsetB,
btScalar tA,
btScalar tB,
const btVector3 translation,
const btVector3 dirA,
btScalar  hlenA,
const btVector3 dirB,
btScalar  hlenB 
)
inline

Definition at line 183 of file btPolyhedralContactClipping.cpp.

void InverseTransformPoint3x3 ( btVector3 out,
const btVector3 in,
const btTransform tr 
)

Definition at line 136 of file btPolyhedralContactClipping.cpp.

bool IsAlmostZero ( const btVector3 v)
inline

Definition at line 117 of file btPolyhedralContactClipping.cpp.

bool TestInternalObjects ( const btTransform trans0,
const btTransform trans1,
const btVector3 delta_c,
const btVector3 axis,
const btConvexPolyhedron convex0,
const btConvexPolyhedron convex1,
btScalar  dmin 
)

Definition at line 150 of file btPolyhedralContactClipping.cpp.

static bool TestSepAxis ( const btConvexPolyhedron hullA,
const btConvexPolyhedron hullB,
const btTransform transA,
const btTransform transB,
const btVector3 sep_axis,
btScalar depth,
btVector3 witnessPointA,
btVector3 witnessPointB 
)
static

Definition at line 80 of file btPolyhedralContactClipping.cpp.

Variable Documentation

int gActualNbTests = 0

Definition at line 28 of file btPolyhedralContactClipping.cpp.

int gActualSATPairTests =0
static

Definition at line 115 of file btPolyhedralContactClipping.cpp.

int gExpectedNbTests =0

This file was written by Erwin Coumans Separating axis rest based on work from Pierre Terdiman, see And contact clipping based on work from Simon Hobbs.

Definition at line 27 of file btPolyhedralContactClipping.cpp.

bool gUseInternalObject = true

Definition at line 29 of file btPolyhedralContactClipping.cpp.