16#ifndef BT_CONVEX_CONVEX_ALGORITHM_H
17#define BT_CONVEX_CONVEX_ALGORITHM_H
43#ifdef USE_SEPDISTANCE_UTIL2
btAlignedObjectArray< btPersistentManifold * > btManifoldArray
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btActivatingCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci)
void push_back(const T &_Val)
btCollisionObject can be used to manage collision detection objects.
btPersistentManifold * m_manifoldPtr
const btPersistentManifold * getManifold()
virtual ~btConvexConvexAlgorithm()
btConvexPenetrationDepthSolver * m_pdSolver
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
void setLowLevelOfDetail(bool useLowLevel)
btConvexConvexAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btConvexPenetrationDepthSolver *pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
cache separating vector to speedup collision detection
int m_minimumPointsPerturbationThreshold
btVertexArray worldVertsB2
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btVertexArray worldVertsB1
int m_numPerturbationIterations
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
The btConvexSeparatingDistanceUtil can help speed up convex collision detection by conservatively upd...
virtual void * allocateCollisionAlgorithm(int size)=0
btManifoldResult is a helper class to manage contact results.
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
btPersistentManifold * m_manifold
btDispatcher * m_dispatcher1
btCollisionAlgorithmCreateFunc()
CreateFunc(btConvexPenetrationDepthSolver *pdSolver)
int m_numPerturbationIterations
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
int m_minimumPointsPerturbationThreshold
btConvexPenetrationDepthSolver * m_pdSolver