Bullet Collision Detection & Physics Library
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Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. More...
#include <btConvexConvexAlgorithm.h>
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struct | CreateFunc |
Private Attributes | |
btSimplexSolverInterface * | m_simplexSolver |
btConvexPenetrationDepthSolver * | m_pdSolver |
bool | m_ownManifold |
btPersistentManifold * | m_manifoldPtr |
bool | m_lowLevelOfDetail |
int | m_numPerturbationIterations |
int | m_minimumPointsPerturbationThreshold |
Additional Inherited Members | |
Protected Attributes inherited from btCollisionAlgorithm | |
btDispatcher * | m_dispatcher |
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 40 of file btConvexConvexAlgorithm.h.
btConvexConvexAlgorithm::btConvexConvexAlgorithm | ( | btPersistentManifold * | mf, |
const btCollisionAlgorithmConstructionInfo & | ci, | ||
const btCollisionObjectWrapper * | body0Wrap, | ||
const btCollisionObjectWrapper * | body1Wrap, | ||
btSimplexSolverInterface * | simplexSolver, | ||
btConvexPenetrationDepthSolver * | pdSolver, | ||
int | numPerturbationIterations, | ||
int | minimumPointsPerturbationThreshold | ||
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cache separating vector to speedup collision detection
Definition at line 194 of file btConvexConvexAlgorithm.cpp.
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Definition at line 215 of file btConvexConvexAlgorithm.cpp.
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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 689 of file btConvexConvexAlgorithm.cpp.
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should we use m_ownManifold to avoid adding duplicates?
Implements btCollisionAlgorithm.
Definition at line 70 of file btConvexConvexAlgorithm.h.
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Definition at line 81 of file btConvexConvexAlgorithm.h.
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btBoxShape is an exception: its vertices are created WITH margin so don't subtract it
Implements btCollisionAlgorithm.
Definition at line 292 of file btConvexConvexAlgorithm.cpp.
void btConvexConvexAlgorithm::setLowLevelOfDetail | ( | bool | useLowLevel | ) |
Definition at line 224 of file btConvexConvexAlgorithm.cpp.
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Definition at line 51 of file btConvexConvexAlgorithm.h.
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Definition at line 50 of file btConvexConvexAlgorithm.h.
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Definition at line 54 of file btConvexConvexAlgorithm.h.
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Definition at line 53 of file btConvexConvexAlgorithm.h.
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Definition at line 49 of file btConvexConvexAlgorithm.h.
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Definition at line 46 of file btConvexConvexAlgorithm.h.
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Definition at line 45 of file btConvexConvexAlgorithm.h.