Bullet Collision Detection & Physics Library: btDefaultCollisionConfiguration.cpp Source File

Bullet Collision Detection & Physics Library

- Main Page
- Namespaces
- Classes
- Files

- File List
- File Members

btDefaultCollisionConfiguration.cpp
Go to the documentation of this file.
1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #include "btDefaultCollisionConfiguration.h"
17
18 #include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
19 #include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
20 #include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
21 #include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
22 #include "BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h"
23
24 #include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
25 #include "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h"
26 #include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
27 #ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
28 #include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
29 #endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
30 #include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
31 #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
32 #include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
33 #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
34
35
36
37 #include "LinearMath/btPoolAllocator.h"
38
39
40
41
42
43 btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
44 //btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool)
45 {
46
47 void* mem = btAlignedAlloc(sizeof(btVoronoiSimplexSolver),16);
48 m_simplexSolver = new (mem)btVoronoiSimplexSolver();
49
50 if (constructionInfo.m_useEpaPenetrationAlgorithm)
51 {
52 mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16);
53 m_pdSolver = new (mem)btGjkEpaPenetrationDepthSolver;
54 }else
55 {
56 mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver),16);
57 m_pdSolver = new (mem)btMinkowskiPenetrationDepthSolver;
58 }
59
60 //default CreationFunctions, filling the m_doubleDispatch table
61 mem = btAlignedAlloc(sizeof(btConvexConvexAlgorithm::CreateFunc),16);
62 m_convexConvexCreateFunc = new(mem) btConvexConvexAlgorithm::CreateFunc(m_simplexSolver,m_pdSolver);
63 mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16);
64 m_convexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::CreateFunc;
65 mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16);
66 m_swappedConvexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::SwappedCreateFunc;
67 mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::CreateFunc),16);
68 m_compoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::CreateFunc;
69
70 mem = btAlignedAlloc(sizeof(btCompoundCompoundCollisionAlgorithm::CreateFunc),16);
71 m_compoundCompoundCreateFunc = new (mem)btCompoundCompoundCollisionAlgorithm::CreateFunc;
72
73 mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::SwappedCreateFunc),16);
74 m_swappedCompoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::SwappedCreateFunc;
75 mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc),16);
76 m_emptyCreateFunc = new(mem) btEmptyAlgorithm::CreateFunc;
77
78 mem = btAlignedAlloc(sizeof(btSphereSphereCollisionAlgorithm::CreateFunc),16);
79 m_sphereSphereCF = new(mem) btSphereSphereCollisionAlgorithm::CreateFunc;
80 #ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
81 mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
82 m_sphereBoxCF = new(mem) btSphereBoxCollisionAlgorithm::CreateFunc;
83 mem = btAlignedAlloc(sizeof(btSphereBoxCollisionAlgorithm::CreateFunc),16);
84 m_boxSphereCF = new (mem)btSphereBoxCollisionAlgorithm::CreateFunc;
85 m_boxSphereCF->m_swapped = true;
86 #endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
87
88 mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16);
89 m_sphereTriangleCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc;
90 mem = btAlignedAlloc(sizeof(btSphereTriangleCollisionAlgorithm::CreateFunc),16);
91 m_triangleSphereCF = new (mem)btSphereTriangleCollisionAlgorithm::CreateFunc;
92 m_triangleSphereCF->m_swapped = true;
93
94 mem = btAlignedAlloc(sizeof(btBoxBoxCollisionAlgorithm::CreateFunc),16);
95 m_boxBoxCF = new(mem)btBoxBoxCollisionAlgorithm::CreateFunc;
96
97 //convex versus plane
98 mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16);
99 m_convexPlaneCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc;
100 mem = btAlignedAlloc (sizeof(btConvexPlaneCollisionAlgorithm::CreateFunc),16);
101 m_planeConvexCF = new (mem) btConvexPlaneCollisionAlgorithm::CreateFunc;
102 m_planeConvexCF->m_swapped = true;
103
105 int maxSize = sizeof(btConvexConvexAlgorithm);
106 int maxSize2 = sizeof(btConvexConcaveCollisionAlgorithm);
107 int maxSize3 = sizeof(btCompoundCollisionAlgorithm);
108 int maxSize4 = sizeof(btCompoundCompoundCollisionAlgorithm);
109
110 int collisionAlgorithmMaxElementSize = btMax(maxSize,constructionInfo.m_customCollisionAlgorithmMaxElementSize);
111 collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
112 collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
113 collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize4);
114
115 if (constructionInfo.m_persistentManifoldPool)
116 {
117 m_ownsPersistentManifoldPool = false;
118 m_persistentManifoldPool = constructionInfo.m_persistentManifoldPool;
119 } else
120 {
121 m_ownsPersistentManifoldPool = true;
122 void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
123 m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold),constructionInfo.m_defaultMaxPersistentManifoldPoolSize);
124 }
125
126 if (constructionInfo.m_collisionAlgorithmPool)
127 {
128 m_ownsCollisionAlgorithmPool = false;
129 m_collisionAlgorithmPool = constructionInfo.m_collisionAlgorithmPool;
130 } else
131 {
132 m_ownsCollisionAlgorithmPool = true;
133 void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
134 m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
135 }
136
137
138 }
139
140 btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
141 {
142 if (m_ownsCollisionAlgorithmPool)
143 {
144 m_collisionAlgorithmPool->~btPoolAllocator();
145 btAlignedFree(m_collisionAlgorithmPool);
146 }
147 if (m_ownsPersistentManifoldPool)
148 {
149 m_persistentManifoldPool->~btPoolAllocator();
150 btAlignedFree(m_persistentManifoldPool);
151 }
152
153 m_convexConvexCreateFunc->~btCollisionAlgorithmCreateFunc();
154 btAlignedFree( m_convexConvexCreateFunc);
155
156 m_convexConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
157 btAlignedFree( m_convexConcaveCreateFunc);
158 m_swappedConvexConcaveCreateFunc->~btCollisionAlgorithmCreateFunc();
159 btAlignedFree( m_swappedConvexConcaveCreateFunc);
160
161 m_compoundCreateFunc->~btCollisionAlgorithmCreateFunc();
162 btAlignedFree( m_compoundCreateFunc);
163
164 m_compoundCompoundCreateFunc->~btCollisionAlgorithmCreateFunc();
165 btAlignedFree(m_compoundCompoundCreateFunc);
166
167 m_swappedCompoundCreateFunc->~btCollisionAlgorithmCreateFunc();
168 btAlignedFree( m_swappedCompoundCreateFunc);
169
170 m_emptyCreateFunc->~btCollisionAlgorithmCreateFunc();
171 btAlignedFree( m_emptyCreateFunc);
172
173 m_sphereSphereCF->~btCollisionAlgorithmCreateFunc();
174 btAlignedFree( m_sphereSphereCF);
175
176 #ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
177 m_sphereBoxCF->~btCollisionAlgorithmCreateFunc();
178 btAlignedFree( m_sphereBoxCF);
179 m_boxSphereCF->~btCollisionAlgorithmCreateFunc();
180 btAlignedFree( m_boxSphereCF);
181 #endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
182
183 m_sphereTriangleCF->~btCollisionAlgorithmCreateFunc();
184 btAlignedFree( m_sphereTriangleCF);
185 m_triangleSphereCF->~btCollisionAlgorithmCreateFunc();
186 btAlignedFree( m_triangleSphereCF);
187 m_boxBoxCF->~btCollisionAlgorithmCreateFunc();
188 btAlignedFree( m_boxBoxCF);
189
190 m_convexPlaneCF->~btCollisionAlgorithmCreateFunc();
191 btAlignedFree( m_convexPlaneCF);
192 m_planeConvexCF->~btCollisionAlgorithmCreateFunc();
193 btAlignedFree( m_planeConvexCF);
194
195 m_simplexSolver->~btVoronoiSimplexSolver();
196 btAlignedFree(m_simplexSolver);
197
198 m_pdSolver->~btConvexPenetrationDepthSolver();
199
200 btAlignedFree(m_pdSolver);
201
202
203 }
204
205
206 btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1)
207 {
208
209
210
211 if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
212 {
213 return m_sphereSphereCF;
214 }
215 #ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM
216 if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1==BOX_SHAPE_PROXYTYPE))
217 {
218 return m_sphereBoxCF;
219 }
220
221 if ((proxyType0 == BOX_SHAPE_PROXYTYPE ) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
222 {
223 return m_boxSphereCF;
224 }
225 #endif //USE_BUGGY_SPHERE_BOX_ALGORITHM
226
227
228 if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE ) && (proxyType1==TRIANGLE_SHAPE_PROXYTYPE))
229 {
230 return m_sphereTriangleCF;
231 }
232
233 if ((proxyType0 == TRIANGLE_SHAPE_PROXYTYPE ) && (proxyType1==SPHERE_SHAPE_PROXYTYPE))
234 {
235 return m_triangleSphereCF;
236 }
237
238 if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE))
239 {
240 return m_boxBoxCF;
241 }
242
243 if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE))
244 {
245 return m_convexPlaneCF;
246 }
247
248 if (btBroadphaseProxy::isConvex(proxyType1) && (proxyType0 == STATIC_PLANE_PROXYTYPE))
249 {
250 return m_planeConvexCF;
251 }
252
253
254
255 if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1))
256 {
257 return m_convexConvexCreateFunc;
258 }
259
260 if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConcave(proxyType1))
261 {
262 return m_convexConcaveCreateFunc;
263 }
264
265 if (btBroadphaseProxy::isConvex(proxyType1) && btBroadphaseProxy::isConcave(proxyType0))
266 {
267 return m_swappedConvexConcaveCreateFunc;
268 }
269
270
271 if (btBroadphaseProxy::isCompound(proxyType0) && btBroadphaseProxy::isCompound(proxyType1))
272 {
273 return m_compoundCompoundCreateFunc;
274 }
275
276 if (btBroadphaseProxy::isCompound(proxyType0))
277 {
278 return m_compoundCreateFunc;
279 } else
280 {
281 if (btBroadphaseProxy::isCompound(proxyType1))
282 {
283 return m_swappedCompoundCreateFunc;
284 }
285 }
286
287 //failed to find an algorithm
288 return m_emptyCreateFunc;
289 }
290
291 void btDefaultCollisionConfiguration::setConvexConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold)
292 {
293 btConvexConvexAlgorithm::CreateFunc* convexConvex = (btConvexConvexAlgorithm::CreateFunc*) m_convexConvexCreateFunc;
294 convexConvex->m_numPerturbationIterations = numPerturbationIterations;
295 convexConvex->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
296 }
297
298 void btDefaultCollisionConfiguration::setPlaneConvexMultipointIterations(int numPerturbationIterations, int minimumPointsPerturbationThreshold)
299 {
300 btConvexPlaneCollisionAlgorithm::CreateFunc* cpCF = (btConvexPlaneCollisionAlgorithm::CreateFunc*)m_convexPlaneCF;
301 cpCF->m_numPerturbationIterations = numPerturbationIterations;
302 cpCF->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
303
304 btConvexPlaneCollisionAlgorithm::CreateFunc* pcCF = (btConvexPlaneCollisionAlgorithm::CreateFunc*)m_planeConvexCF;
305 pcCF->m_numPerturbationIterations = numPerturbationIterations;
306 pcCF->m_minimumPointsPerturbationThreshold = minimumPointsPerturbationThreshold;
307 }
btConvexConvexAlgorithm::CreateFunc
Definition: btConvexConvexAlgorithm.h:86
btMinkowskiPenetrationDepthSolver.h
btDefaultCollisionConfiguration::m_convexPlaneCF
btCollisionAlgorithmCreateFunc * m_convexPlaneCF
Definition: btDefaultCollisionConfiguration.h:84
btDefaultCollisionConstructionInfo::m_persistentManifoldPool
btPoolAllocator * m_persistentManifoldPool
Definition: btDefaultCollisionConfiguration.h:25
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:54
btDefaultCollisionConfiguration::m_ownsCollisionAlgorithmPool
bool m_ownsCollisionAlgorithmPool
Definition: btDefaultCollisionConfiguration.h:61
SPHERE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:40
btCompoundCompoundCollisionAlgorithm
btCompoundCompoundCollisionAlgorithm supports collision between two btCompoundCollisionShape shapes ...
Definition: btCompoundCompoundCollisionAlgorithm.h:40
btSphereTriangleCollisionAlgorithm.h
btConvexConcaveCollisionAlgorithm::CreateFunc
Definition: btConvexConcaveCollisionAlgorithm.h:101
btDefaultCollisionConfiguration::setConvexConvexMultipointIterations
void setConvexConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold=3)
Use this method to allow to generate multiple contact points between at once, between two objects usi...
Definition: btDefaultCollisionConfiguration.cpp:291
btBoxBoxCollisionAlgorithm.h
btDefaultCollisionConfiguration::m_collisionAlgorithmPool
btPoolAllocator * m_collisionAlgorithmPool
Definition: btDefaultCollisionConfiguration.h:60
btDefaultCollisionConfiguration::m_pdSolver
btConvexPenetrationDepthSolver * m_pdSolver
Definition: btDefaultCollisionConfiguration.h:65
btConvexPlaneCollisionAlgorithm::CreateFunc::m_numPerturbationIterations
int m_numPerturbationIterations
Definition: btConvexPlaneCollisionAlgorithm.h:59
btSphereSphereCollisionAlgorithm.h
btBroadphaseProxy::isCompound
static bool isCompound(int proxyType)
Definition: btBroadphaseProxy.h:154
btConvexPlaneCollisionAlgorithm::CreateFunc
Definition: btConvexPlaneCollisionAlgorithm.h:57
btDefaultCollisionConstructionInfo
Definition: btDefaultCollisionConfiguration.h:23
btCompoundCollisionAlgorithm::SwappedCreateFunc
Definition: btCompoundCollisionAlgorithm.h:89
btDefaultCollisionConstructionInfo::m_customCollisionAlgorithmMaxElementSize
int m_customCollisionAlgorithmMaxElementSize
Definition: btDefaultCollisionConfiguration.h:29
btDefaultCollisionConstructionInfo::m_collisionAlgorithmPool
btPoolAllocator * m_collisionAlgorithmPool
Definition: btDefaultCollisionConfiguration.h:26
BOX_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:31
btDefaultCollisionConfiguration::m_boxBoxCF
btCollisionAlgorithmCreateFunc * m_boxBoxCF
Definition: btDefaultCollisionConfiguration.h:80
btDefaultCollisionConfiguration.h
btDefaultCollisionConfiguration::m_triangleSphereCF
btCollisionAlgorithmCreateFunc * m_triangleSphereCF
Definition: btDefaultCollisionConfiguration.h:82
btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc
virtual btCollisionAlgorithmCreateFunc * getCollisionAlgorithmCreateFunc(int proxyType0, int proxyType1)
Definition: btDefaultCollisionConfiguration.cpp:206
btDefaultCollisionConfiguration::m_ownsPersistentManifoldPool
bool m_ownsPersistentManifoldPool
Definition: btDefaultCollisionConfiguration.h:57
btDefaultCollisionConstructionInfo::m_defaultMaxCollisionAlgorithmPoolSize
int m_defaultMaxCollisionAlgorithmPoolSize
Definition: btDefaultCollisionConfiguration.h:28
btCompoundCollisionAlgorithm.h
btDefaultCollisionConfiguration::btDefaultCollisionConfiguration
btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo &constructionInfo=btDefaultCollisionConstructionInfo())
Definition: btDefaultCollisionConfiguration.cpp:43
btConvexPenetrationDepthSolver::~btConvexPenetrationDepthSolver
virtual ~btConvexPenetrationDepthSolver()
Definition: btConvexPenetrationDepthSolver.h:30
btConvexConcaveCollisionAlgorithm.h
btCompoundCollisionAlgorithm::CreateFunc
Definition: btCompoundCollisionAlgorithm.h:80
btSphereSphereCollisionAlgorithm::CreateFunc
Definition: btSphereSphereCollisionAlgorithm.h:54
btVoronoiSimplexSolver
btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points...
Definition: btVoronoiSimplexSolver.h:95
btDefaultCollisionConfiguration::m_swappedConvexConcaveCreateFunc
btCollisionAlgorithmCreateFunc * m_swappedConvexConcaveCreateFunc
Definition: btDefaultCollisionConfiguration.h:70
TRIANGLE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:32
btDefaultCollisionConfiguration::m_simplexSolver
btVoronoiSimplexSolver * m_simplexSolver
Definition: btDefaultCollisionConfiguration.h:64
btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration
virtual ~btDefaultCollisionConfiguration()
Definition: btDefaultCollisionConfiguration.cpp:140
btConvexPlaneCollisionAlgorithm.h
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:26
btSphereBoxCollisionAlgorithm.h
btAlignedFree
#define btAlignedFree(ptr)
Definition: btAlignedAllocator.h:42
btDefaultCollisionConstructionInfo::m_useEpaPenetrationAlgorithm
int m_useEpaPenetrationAlgorithm
Definition: btDefaultCollisionConfiguration.h:30
btMinkowskiPenetrationDepthSolver
MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
Definition: btMinkowskiPenetrationDepthSolver.h:23
btDefaultCollisionConfiguration::m_persistentManifoldPool
btPoolAllocator * m_persistentManifoldPool
Definition: btDefaultCollisionConfiguration.h:56
btSphereBoxCollisionAlgorithm::CreateFunc
Definition: btSphereBoxCollisionAlgorithm.h:57
btBoxBoxCollisionAlgorithm::CreateFunc
Definition: btBoxBoxCollisionAlgorithm.h:53
btEmptyAlgorithm::CreateFunc
Definition: btEmptyCollisionAlgorithm.h:41
btPoolAllocator.h
btDefaultCollisionConfiguration::m_emptyCreateFunc
btCollisionAlgorithmCreateFunc * m_emptyCreateFunc
Definition: btDefaultCollisionConfiguration.h:75
btConvexConcaveCollisionAlgorithm
btConvexConcaveCollisionAlgorithm supports collision between convex shapes and (concave) trianges mes...
Definition: btConvexConcaveCollisionAlgorithm.h:78
btDefaultCollisionConfiguration::setPlaneConvexMultipointIterations
void setPlaneConvexMultipointIterations(int numPerturbationIterations=3, int minimumPointsPerturbationThreshold=3)
Definition: btDefaultCollisionConfiguration.cpp:298
btDefaultCollisionConfiguration::m_sphereTriangleCF
btCollisionAlgorithmCreateFunc * m_sphereTriangleCF
Definition: btDefaultCollisionConfiguration.h:81
btDefaultCollisionConfiguration::m_sphereSphereCF
btCollisionAlgorithmCreateFunc * m_sphereSphereCF
Definition: btDefaultCollisionConfiguration.h:76
btGjkEpaPenetrationDepthSolver
EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to calculate the penetration depth be...
Definition: btGjkEpaPenetrationDepthSolver.h:24
btDefaultCollisionConfiguration::m_planeConvexCF
btCollisionAlgorithmCreateFunc * m_planeConvexCF
Definition: btDefaultCollisionConfiguration.h:83
btDefaultCollisionConfiguration::m_compoundCreateFunc
btCollisionAlgorithmCreateFunc * m_compoundCreateFunc
Definition: btDefaultCollisionConfiguration.h:71
btConvexConvexAlgorithm::CreateFunc::m_numPerturbationIterations
int m_numPerturbationIterations
Definition: btConvexConvexAlgorithm.h:91
btEmptyCollisionAlgorithm.h
btPoolAllocator
The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamica...
Definition: btPoolAllocator.h:23
btCompoundCompoundCollisionAlgorithm::CreateFunc
Definition: btCompoundCompoundCollisionAlgorithm.h:69
btCompoundCollisionAlgorithm
btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision s...
Definition: btCompoundCollisionAlgorithm.h:37
btBroadphaseProxy::isConcave
static bool isConcave(int proxyType)
Definition: btBroadphaseProxy.h:149
btMax
const T & btMax(const T &a, const T &b)
Definition: btMinMax.h:29
btVoronoiSimplexSolver.h
btDefaultCollisionConfiguration::m_boxSphereCF
btCollisionAlgorithmCreateFunc * m_boxSphereCF
Definition: btDefaultCollisionConfiguration.h:78
btSphereTriangleCollisionAlgorithm::CreateFunc
Definition: btSphereTriangleCollisionAlgorithm.h:54
btConvexConvexAlgorithm
Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation.
Definition: btConvexConvexAlgorithm.h:40
btDefaultCollisionConfiguration::m_compoundCompoundCreateFunc
btCollisionAlgorithmCreateFunc * m_compoundCompoundCreateFunc
Definition: btDefaultCollisionConfiguration.h:72
btAlignedAlloc
#define btAlignedAlloc(size, alignment)
Definition: btAlignedAllocator.h:41
btDefaultCollisionConfiguration::m_convexConcaveCreateFunc
btCollisionAlgorithmCreateFunc * m_convexConcaveCreateFunc
Definition: btDefaultCollisionConfiguration.h:69
btDefaultCollisionConstructionInfo::m_defaultMaxPersistentManifoldPoolSize
int m_defaultMaxPersistentManifoldPoolSize
Definition: btDefaultCollisionConfiguration.h:27
btConvexPlaneCollisionAlgorithm::CreateFunc::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition: btConvexPlaneCollisionAlgorithm.h:60
btConvexConcaveCollisionAlgorithm::SwappedCreateFunc
Definition: btConvexConcaveCollisionAlgorithm.h:110
btConvexConvexAlgorithm::CreateFunc::m_minimumPointsPerturbationThreshold
int m_minimumPointsPerturbationThreshold
Definition: btConvexConvexAlgorithm.h:92
btBroadphaseProxy::isConvex
static bool isConvex(int proxyType)
Definition: btBroadphaseProxy.h:139
btPoolAllocator::~btPoolAllocator
~btPoolAllocator()
Definition: btPoolAllocator.h:50
btDefaultCollisionConfiguration::m_sphereBoxCF
btCollisionAlgorithmCreateFunc * m_sphereBoxCF
Definition: btDefaultCollisionConfiguration.h:77
btCollisionAlgorithmCreateFunc::m_swapped
bool m_swapped
Definition: btCollisionCreateFunc.h:28
btDefaultCollisionConfiguration::m_convexConvexCreateFunc
btCollisionAlgorithmCreateFunc * m_convexConvexCreateFunc
Definition: btDefaultCollisionConfiguration.h:68
btGjkEpaPenetrationDepthSolver.h
btConvexConvexAlgorithm.h
STATIC_PLANE_PROXYTYPE
Definition: btBroadphaseProxy.h:67
btDefaultCollisionConfiguration::m_swappedCompoundCreateFunc
btCollisionAlgorithmCreateFunc * m_swappedCompoundCreateFunc
Definition: btDefaultCollisionConfiguration.h:74
btCollisionAlgorithmCreateFunc::~btCollisionAlgorithmCreateFunc
virtual ~btCollisionAlgorithmCreateFunc()
Definition: btCollisionCreateFunc.h:34
btCompoundCompoundCollisionAlgorithm.h