Bullet Collision Detection & Physics Library: btGImpactCollisionAlgorithm.h Source File

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btGImpactCollisionAlgorithm.h
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1
4 /*
5 This source file is part of GIMPACT Library.
6
7 For the latest info, see http://gimpact.sourceforge.net/
8
9 Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
10 email: projectileman@yahoo.com
11
12
13 This software is provided 'as-is', without any express or implied warranty.
14 In no event will the authors be held liable for any damages arising from the use of this software.
15 Permission is granted to anyone to use this software for any purpose,
16 including commercial applications, and to alter it and redistribute it freely,
17 subject to the following restrictions:
18
19 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
20 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
21 3. This notice may not be removed or altered from any source distribution.
22 */
23
24 #ifndef BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
25 #define BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
26
27 #include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
28 #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
29 #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
30 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
31 class btDispatcher;
32 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
33 #include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
34 #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
35
36 #include "LinearMath/btAlignedObjectArray.h"
37
38 #include "btGImpactShape.h"
39 #include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
40 #include "BulletCollision/CollisionShapes/btCompoundShape.h"
41 #include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
42 #include "LinearMath/btIDebugDraw.h"
43 #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
44
45
47
54 class btGImpactCollisionAlgorithm : public btActivatingCollisionAlgorithm
55 {
56 protected:
57 btCollisionAlgorithm * m_convex_algorithm;
58 btPersistentManifold * m_manifoldPtr;
59 btManifoldResult* m_resultOut;
60 const btDispatcherInfo * m_dispatchInfo;
61 int m_triface0;
62 int m_part0;
63 int m_triface1;
64 int m_part1;
65
66
68 SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(const btCollisionObject* body0,const btCollisionObject* body1)
69 {
70 m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
71 return m_manifoldPtr;
72 }
73
74 SIMD_FORCE_INLINE void destroyConvexAlgorithm()
75 {
76 if(m_convex_algorithm)
77 {
78 m_convex_algorithm->~btCollisionAlgorithm();
79 m_dispatcher->freeCollisionAlgorithm( m_convex_algorithm);
80 m_convex_algorithm = NULL;
81 }
82 }
83
84 SIMD_FORCE_INLINE void destroyContactManifolds()
85 {
86 if(m_manifoldPtr == NULL) return;
87 m_dispatcher->releaseManifold(m_manifoldPtr);
88 m_manifoldPtr = NULL;
89 }
90
91 SIMD_FORCE_INLINE void clearCache()
92 {
93 destroyContactManifolds();
94 destroyConvexAlgorithm();
95
96 m_triface0 = -1;
97 m_part0 = -1;
98 m_triface1 = -1;
99 m_part1 = -1;
100 }
101
102 SIMD_FORCE_INLINE btPersistentManifold* getLastManifold()
103 {
104 return m_manifoldPtr;
105 }
106
107
108 // Call before process collision
109 SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
110 {
111 if(getLastManifold() == 0)
112 {
113 newContactManifold(body0Wrap->getCollisionObject(),body1Wrap->getCollisionObject());
114 }
115
116 m_resultOut->setPersistentManifold(getLastManifold());
117 }
118
119 // Call before process collision
120 SIMD_FORCE_INLINE btCollisionAlgorithm * newAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
121 {
122 checkManifold(body0Wrap,body1Wrap);
123
124 btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm(
125 body0Wrap,body1Wrap,getLastManifold());
126 return convex_algorithm ;
127 }
128
129 // Call before process collision
130 SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
131 {
132 if(m_convex_algorithm) return;
133 m_convex_algorithm = newAlgorithm(body0Wrap,body1Wrap);
134 }
135
136
137
138
139 void addContactPoint(const btCollisionObjectWrapper * body0Wrap,
140 const btCollisionObjectWrapper * body1Wrap,
141 const btVector3 & point,
142 const btVector3 & normal,
143 btScalar distance);
144
147
148 void collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap,
149 const btCollisionObjectWrapper* body1Wrap,
150 const btGImpactMeshShapePart * shape0,
151 const btGImpactMeshShapePart * shape1,
152 const int * pairs, int pair_count);
153
154 void collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap,
155 const btCollisionObjectWrapper* body1Wrap,
156 const btGImpactMeshShapePart * shape0,
157 const btGImpactMeshShapePart * shape1,
158 const int * pairs, int pair_count);
159
160
161
162
163 void shape_vs_shape_collision(
164 const btCollisionObjectWrapper* body0,
165 const btCollisionObjectWrapper* body1,
166 const btCollisionShape * shape0,
167 const btCollisionShape * shape1);
168
169 void convex_vs_convex_collision(const btCollisionObjectWrapper* body0Wrap,
170 const btCollisionObjectWrapper* body1Wrap,
171 const btCollisionShape* shape0,
172 const btCollisionShape* shape1);
173
174
175
176 void gimpact_vs_gimpact_find_pairs(
177 const btTransform & trans0,
178 const btTransform & trans1,
179 const btGImpactShapeInterface * shape0,
180 const btGImpactShapeInterface * shape1,btPairSet & pairset);
181
182 void gimpact_vs_shape_find_pairs(
183 const btTransform & trans0,
184 const btTransform & trans1,
185 const btGImpactShapeInterface * shape0,
186 const btCollisionShape * shape1,
187 btAlignedObjectArray<int> & collided_primitives);
188
189
190 void gimpacttrimeshpart_vs_plane_collision(
191 const btCollisionObjectWrapper * body0Wrap,
192 const btCollisionObjectWrapper * body1Wrap,
193 const btGImpactMeshShapePart * shape0,
194 const btStaticPlaneShape * shape1,bool swapped);
195
196
197 public:
198
199 btGImpactCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
200
201 virtual ~btGImpactCollisionAlgorithm();
202
203 virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
204
205 btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
206
207 virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
208 {
209 if (m_manifoldPtr)
210 manifoldArray.push_back(m_manifoldPtr);
211 }
212
213 btManifoldResult* internalGetResultOut()
214 {
215 return m_resultOut;
216 }
217
218 struct CreateFunc :public btCollisionAlgorithmCreateFunc
219 {
220 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
221 {
222 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm));
223 return new(mem) btGImpactCollisionAlgorithm(ci,body0Wrap,body1Wrap);
224 }
225 };
226
228 static void registerAlgorithm(btCollisionDispatcher * dispatcher);
229 #ifdef TRI_COLLISION_PROFILING
230 static float getAverageTreeCollisionTime();
232
234 static float getAverageTriangleCollisionTime();
235 #endif //TRI_COLLISION_PROFILING
236
238
243 void gimpact_vs_gimpact(const btCollisionObjectWrapper* body0Wrap,
244 const btCollisionObjectWrapper * body1Wrap,
245 const btGImpactShapeInterface * shape0,
246 const btGImpactShapeInterface * shape1);
247
248 void gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
249 const btCollisionObjectWrapper* body1Wrap,
250 const btGImpactShapeInterface * shape0,
251 const btCollisionShape * shape1,bool swapped);
252
253 void gimpact_vs_compoundshape(const btCollisionObjectWrapper * body0Wrap,
254 const btCollisionObjectWrapper * body1Wrap,
255 const btGImpactShapeInterface * shape0,
256 const btCompoundShape * shape1,bool swapped);
257
258 void gimpact_vs_concave(
259 const btCollisionObjectWrapper * body0Wrap,
260 const btCollisionObjectWrapper * body1Wrap,
261 const btGImpactShapeInterface * shape0,
262 const btConcaveShape * shape1,bool swapped);
263
264
265
266
268 void setFace0(int value)
269 {
270 m_triface0 = value;
271 }
272 int getFace0()
273 {
274 return m_triface0;
275 }
276 void setFace1(int value)
277 {
278 m_triface1 = value;
279 }
280 int getFace1()
281 {
282 return m_triface1;
283 }
284 void setPart0(int value)
285 {
286 m_part0 = value;
287 }
288 int getPart0()
289 {
290 return m_part0;
291 }
292 void setPart1(int value)
293 {
294 m_part1 = value;
295 }
296 int getPart1()
297 {
298 return m_part1;
299 }
300
301 };
302
303
304 //algorithm details
305 //#define BULLET_TRIANGLE_COLLISION 1
306 #define GIMPACT_VS_PLANE_COLLISION 1
307
308
309
310 #endif //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
btDispatcher::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold)=0
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:54
btGImpactCollisionAlgorithm::newContactManifold
btPersistentManifold * newContactManifold(const btCollisionObject *body0, const btCollisionObject *body1)
Creates a new contact point.
Definition: btGImpactCollisionAlgorithm.h:68
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:268
btDispatcher::findAlgorithm
virtual btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold=0)=0
btAlignedObjectArray< int >
btGImpactCollisionAlgorithm::collide_gjk_triangles
void collide_gjk_triangles(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactMeshShapePart *shape0, const btGImpactMeshShapePart *shape1, const int *pairs, int pair_count)
Collision routines.
Definition: btGImpactCollisionAlgorithm.cpp:349
btGImpactCollisionAlgorithm::setPart1
void setPart1(int value)
Definition: btGImpactCollisionAlgorithm.h:292
btGImpactCollisionAlgorithm::getLastManifold
btPersistentManifold * getLastManifold()
Definition: btGImpactCollisionAlgorithm.h:102
btGImpactCollisionAlgorithm::getFace0
int getFace0()
Definition: btGImpactCollisionAlgorithm.h:272
btManifoldResult::setPersistentManifold
void setPersistentManifold(btPersistentManifold *manifoldPtr)
Definition: btManifoldResult.h:70
btGImpactCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btGImpactCollisionAlgorithm.h:58
btStaticPlaneShape.h
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition: btActivatingCollisionAlgorithm.h:22
btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm
virtual ~btGImpactCollisionAlgorithm()
Definition: btGImpactCollisionAlgorithm.cpp:203
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:27
btGImpactCollisionAlgorithm::CreateFunc
Definition: btGImpactCollisionAlgorithm.h:218
btGImpactShape.h
btGImpactCollisionAlgorithm::checkManifold
void checkManifold(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btGImpactCollisionAlgorithm.h:109
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:63
btGImpactCollisionAlgorithm::setFace1
void setFace1(int value)
Definition: btGImpactCollisionAlgorithm.h:276
btCollisionDispatcher
btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs...
Definition: btCollisionDispatcher.h:43
btPersistentManifold.h
btCollisionAlgorithm::~btCollisionAlgorithm
virtual ~btCollisionAlgorithm()
Definition: btCollisionAlgorithm.h:71
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:39
btGImpactCollisionAlgorithm::getPart1
int getPart1()
Definition: btGImpactCollisionAlgorithm.h:296
btCollisionCreateFunc.h
btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs
void gimpact_vs_shape_find_pairs(const btTransform &trans0, const btTransform &trans1, const btGImpactShapeInterface *shape0, const btCollisionShape *shape1, btAlignedObjectArray< int > &collided_primitives)
Definition: btGImpactCollisionAlgorithm.cpp:307
btBroadphaseInterface.h
btCollisionAlgorithm::m_dispatcher
btDispatcher * m_dispatcher
Definition: btCollisionAlgorithm.h:60
btGImpactCollisionAlgorithm::gimpact_vs_concave
void gimpact_vs_concave(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btConcaveShape *shape1, bool swapped)
Definition: btGImpactCollisionAlgorithm.cpp:841
btGImpactCollisionAlgorithm::gimpact_vs_gimpact
void gimpact_vs_gimpact(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btGImpactShapeInterface *shape1)
Collides two gimpact shapes.
Definition: btGImpactCollisionAlgorithm.cpp:461
btGImpactCollisionAlgorithm::gimpact_vs_compoundshape
void gimpact_vs_compoundshape(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btCompoundShape *shape1, bool swapped)
Definition: btGImpactCollisionAlgorithm.cpp:685
btPairSet
A pairset array.
Definition: btGImpactBvh.h:59
btGImpactCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btGImpactCollisionAlgorithm.h:220
btGImpactShapeInterface
Base class for gimpact shapes.
Definition: btGImpactShape.h:79
btGImpactMeshShapePart
This class manages a sub part of a mesh supplied by the btStridingMeshInterface interface.
Definition: btGImpactShape.h:531
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btGImpactCollisionAlgorithm::m_part0
int m_part0
Definition: btGImpactCollisionAlgorithm.h:62
btGImpactCollisionAlgorithm::btGImpactCollisionAlgorithm
btGImpactCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btGImpactCollisionAlgorithm.cpp:196
btGImpactCollisionAlgorithm::convex_vs_convex_collision
void convex_vs_convex_collision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btCollisionShape *shape0, const btCollisionShape *shape1)
Definition: btGImpactCollisionAlgorithm.cpp:249
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:26
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btBroadphaseProxy.h
btDispatcher::freeCollisionAlgorithm
virtual void freeCollisionAlgorithm(void *ptr)=0
btDispatcher::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
btCollisionObjectWrapper.h
btGImpactCollisionAlgorithm::m_triface0
int m_triface0
Definition: btGImpactCollisionAlgorithm.h:61
btGImpactCollisionAlgorithm::m_triface1
int m_triface1
Definition: btGImpactCollisionAlgorithm.h:63
btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision
void gimpacttrimeshpart_vs_plane_collision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactMeshShapePart *shape0, const btStaticPlaneShape *shape1, bool swapped)
Definition: btGImpactCollisionAlgorithm.cpp:725
btGImpactCollisionAlgorithm::getFace1
int getFace1()
Definition: btGImpactCollisionAlgorithm.h:280
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btGImpactCollisionAlgorithm::destroyConvexAlgorithm
void destroyConvexAlgorithm()
Definition: btGImpactCollisionAlgorithm.h:74
btGImpactCollisionAlgorithm::registerAlgorithm
static void registerAlgorithm(btCollisionDispatcher *dispatcher)
Use this function for register the algorithm externally.
Definition: btGImpactCollisionAlgorithm.cpp:915
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btGImpactCollisionAlgorithm::getPart0
int getPart0()
Definition: btGImpactCollisionAlgorithm.h:288
btIDebugDraw.h
btCollisionDispatcher.h
btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs
void gimpact_vs_gimpact_find_pairs(const btTransform &trans0, const btTransform &trans1, const btGImpactShapeInterface *shape0, const btGImpactShapeInterface *shape1, btPairSet &pairset)
Definition: btGImpactCollisionAlgorithm.cpp:270
btConcaveShape
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
Definition: btConcaveShape.h:36
btGImpactCollisionAlgorithm::calculateTimeOfImpact
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btGImpactCollisionAlgorithm.cpp:904
btGImpactCollisionAlgorithm::m_convex_algorithm
btCollisionAlgorithm * m_convex_algorithm
Definition: btGImpactCollisionAlgorithm.h:57
btGImpactCollisionAlgorithm::setFace0
void setFace0(int value)
Accessor/Mutator pairs for Part and triangleID.
Definition: btGImpactCollisionAlgorithm.h:268
btAlignedObjectArray.h
btGImpactCollisionAlgorithm::setPart0
void setPart0(int value)
Definition: btGImpactCollisionAlgorithm.h:284
btGImpactCollisionAlgorithm::newAlgorithm
btCollisionAlgorithm * newAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btGImpactCollisionAlgorithm.h:120
btGImpactCollisionAlgorithm::m_dispatchInfo
const btDispatcherInfo * m_dispatchInfo
Definition: btGImpactCollisionAlgorithm.h:60
btGImpactCollisionAlgorithm::destroyContactManifolds
void destroyContactManifolds()
Definition: btGImpactCollisionAlgorithm.h:84
btCompoundShape
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
Definition: btCompoundShape.h:54
btActivatingCollisionAlgorithm.h
btCompoundShape.h
btGImpactCollisionAlgorithm::shape_vs_shape_collision
void shape_vs_shape_collision(const btCollisionObjectWrapper *body0, const btCollisionObjectWrapper *body1, const btCollisionShape *shape0, const btCollisionShape *shape1)
Definition: btGImpactCollisionAlgorithm.cpp:225
btDispatcherInfo
Definition: btDispatcher.h:30
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
btStaticPlaneShape
The btStaticPlaneShape simulates an infinite non-moving (static) collision plane. ...
Definition: btStaticPlaneShape.h:23
btGImpactCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btGImpactCollisionAlgorithm.h:207
btGImpactCollisionAlgorithm::collide_sat_triangles
void collide_sat_triangles(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactMeshShapePart *shape0, const btGImpactMeshShapePart *shape1, const int *pairs, int pair_count)
Definition: btGImpactCollisionAlgorithm.cpp:388
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:32
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:69
btGImpactCollisionAlgorithm::internalGetResultOut
btManifoldResult * internalGetResultOut()
Definition: btGImpactCollisionAlgorithm.h:213
btGImpactCollisionAlgorithm::m_resultOut
btManifoldResult * m_resultOut
Definition: btGImpactCollisionAlgorithm.h:59
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:55
btGImpactCollisionAlgorithm
Collision Algorithm for GImpact Shapes.
Definition: btGImpactCollisionAlgorithm.h:54
btGImpactCollisionAlgorithm::m_part1
int m_part1
Definition: btGImpactCollisionAlgorithm.h:64
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:17
btGImpactCollisionAlgorithm::addContactPoint
void addContactPoint(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btVector3 &point, const btVector3 &normal, btScalar distance)
Definition: btGImpactCollisionAlgorithm.cpp:212
btDispatcher.h
btGImpactCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btGImpactCollisionAlgorithm.cpp:870
btGImpactCollisionAlgorithm::clearCache
void clearCache()
Definition: btGImpactCollisionAlgorithm.h:91
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btGImpactCollisionAlgorithm::gimpact_vs_shape
void gimpact_vs_shape(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btCollisionShape *shape1, bool swapped)
Definition: btGImpactCollisionAlgorithm.cpp:565
btGImpactCollisionAlgorithm::checkConvexAlgorithm
void checkConvexAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btGImpactCollisionAlgorithm.h:130
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition: btCollisionObjectWrapper.h:39
btConvexConvexAlgorithm.h