56         if ( dist_a * dist_b >= 
btScalar(0.0) )
    68         const btScalar proj_length=dist_a-dist_b;
    69         const btScalar distance = (dist_a)/(proj_length);
    87                         if ( (
btScalar)(cp0.
dot(triangleNormal)) >=edge_tolerance) 
    93                                 cp1 = v1p.
cross( v2p);
    94                                 if ( (
btScalar)(cp1.
dot(triangleNormal)) >=edge_tolerance) 
    99                                         if ( (
btScalar)(cp2.
dot(triangleNormal)) >=edge_tolerance) 
   124         m_convexShape = convexShape;
   125         m_convexShapeFrom = convexShapeFrom;
   126         m_convexShapeTo = convexShapeTo;
   127         m_triangleToWorld = triangleToWorld;
   129         m_triangleCollisionMargin = triangleCollisionMargin;
   130         m_allowedPenetration = 0.f;
   137     triangleShape.
setMargin(m_triangleCollisionMargin);
   144 #ifdef USE_SUBSIMPLEX_CONVEX_CAST   149 #endif //#USE_SUBSIMPLEX_CONVEX_CAST   154         if (convexCaster.
calcTimeOfImpact(m_convexShapeFrom,m_convexShapeTo,m_triangleToWorld, m_triangleToWorld, castResult))
 
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
btContinuousConvexCollision implements angular and linear time of impact for convex objects...
btTriangleConvexcastCallback(const btConvexShape *convexShape, const btTransform &convexShapeFrom, const btTransform &convexShapeTo, const btTransform &triangleToWorld, const btScalar triangleCollisionMargin)
btScalar dot(const btVector3 &v) const 
Return the dot product. 
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1. 
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
btScalar m_allowedPenetration
virtual void setMargin(btScalar margin)
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points...
btVector3 cross(const btVector3 &v) const 
Return the cross product between this and another vector. 
btVector3 can be used to represent 3D points and vectors. 
btScalar length2() const 
Return the length of the vector squared. 
virtual btScalar reportHit(const btVector3 &hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)=0
btSubsimplexConvexCast implements Gino van den Bergens' paper "Ray Casting against bteral Convex Obje...
EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to calculate the penetration depth be...
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
cast a convex against another convex object 
btTriangleRaycastCallback(const btVector3 &from, const btVector3 &to, unsigned int flags=0)
void setInterpolate3(const btVector3 &v0, const btVector3 &v1, btScalar rt)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...