btDiscreteCollisionDetectorInterface Struct Reference

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>

Inheritance diagram for btDiscreteCollisionDetectorInterface:

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 28 of file btDiscreteCollisionDetectorInterface.h.

Constructor & Destructor Documentation

virtual btDiscreteCollisionDetectorInterface::~btDiscreteCollisionDetectorInterface ( )

inlinevirtual

Definition at line 54 of file btDiscreteCollisionDetectorInterface.h.

Member Function Documentation

virtual void btDiscreteCollisionDetectorInterface::getClosestPoints ( const ClosestPointInput &  input, Result &  output, class btIDebugDraw *  debugDraw, bool  swapResults = false  )

pure virtual

Implemented in btGjkPairDetector, btBoxBoxDetector, and SphereTriangleDetector.

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The documentation for this struct was generated from the following file:

• btDiscreteCollisionDetectorInterface.h