21#define NUM_UNITSPHERE_POINTS 42
22#define NUM_UNITSPHERE_POINTS_HIGHRES 256
44 for (i = 0; i < numSampleDirections; i++)
49 int numPDA =
m_shape->getNumPreferredPenetrationDirections();
52 for (
int s = 0; s < numPDA; s++)
55 m_shape->getPreferredPenetrationDirection(s, norm);
56 supportPoints[i++] =
m_shape->localGetSupportingVertex(norm);
57 numSampleDirections++;
62 hd.
mVcount =
static_cast<unsigned int>(numSampleDirections);
64#ifdef BT_USE_DOUBLE_PRECISION
419 return sUnitSpherePointsHighres;
420 return sUnitSpherePoints;
#define MAX_PREFERRED_PENETRATION_DIRECTIONS
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define NUM_UNITSPHERE_POINTS_HIGHRES
#define NUM_UNITSPHERE_POINTS
const btVector3 * mVertices
unsigned int mVertexStride
The HullLibrary class can create a convex hull from a collection of vertices, using the ComputeHull m...
HullError ReleaseResult(HullResult &result)
HullError CreateConvexHull(const HullDesc &desc, HullResult &result)
btAlignedObjectArray< btVector3 > m_OutputVertices
btAlignedObjectArray< unsigned int > m_Indices
unsigned int mNumOutputVertices
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
btShapeHull(const btConvexShape *shape)
btAlignedObjectArray< btVector3 > m_vertices
static btVector3 * getUnitSpherePoints(int highres=0)
unsigned int m_numIndices
btAlignedObjectArray< unsigned int > m_indices
const btConvexShape * m_shape
bool buildHull(btScalar margin, int highres=0)
btVector3 can be used to represent 3D points and vectors.