41 #ifdef DEBUG_PERSISTENCY    43 void    btPersistentManifold::DebugPersistency()
    49                 printf(
"m_pointCache[%d].m_userPersistentData = %x\n",i,
m_pointCache[i].m_userPersistentData);
    52 #endif //DEBUG_PERSISTENCY    60 #ifdef DEBUG_PERSISTENCY    69                                         printf(
"error in clearUserCache\n");
    73 #endif //DEBUG_PERSISTENCY    81 #ifdef DEBUG_PERSISTENCY   114                 int maxPenetrationIndex = -1;
   115 #define KEEP_DEEPEST_POINT 1   116 #ifdef KEEP_DEEPEST_POINT   118                 for (
int i=0;i<4;i++)
   122                                 maxPenetrationIndex = i;
   126 #endif //KEEP_DEEPEST_POINT   132                 if (maxPenetrationIndex != 0)
   139                 if (maxPenetrationIndex != 1)
   147                 if (maxPenetrationIndex != 2)
   155                 if (maxPenetrationIndex != 3)
   165                 if(maxPenetrationIndex != 0) {
   169                 if(maxPenetrationIndex != 1) {
   173                 if(maxPenetrationIndex != 2) {
   177                 if(maxPenetrationIndex != 3) {
   192         int nearestPoint = -1;
   193         for( 
int i = 0; i < 
size; i++ )
   199                 if( distToManiPoint < shortestDist )
   201                         shortestDist = distToManiPoint;
   218 #if MANIFOLD_CACHE_SIZE >= 4   250 #ifdef DEBUG_PERSISTENCY   251         printf(
"refreshContactPoints posA = (%f,%f,%f) posB = (%f,%f,%f)\n",
   258 #endif //DEBUG_PERSISTENCY   271         btVector3 projectedDifference,projectedPoint;
   285                         distance2d = projectedDifference.
dot(projectedDifference);
   293                                         (*gContactProcessedCallback)(manifoldPoint,(
void*)
m_body0,(
void*)
m_body1);
   297 #ifdef DEBUG_PERSISTENCY const btCollisionObject * m_body1
btScalar getContactBreakingThreshold() const
void refreshContactPoints(const btTransform &trA, const btTransform &trB)
calculated new worldspace coordinates and depth, and reject points that exceed the collision margin ...
btScalar length2() const
Return the length of the vector squared. 
int getNumContacts() const
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
bool validContactDistance(const btManifoldPoint &pt) const
const btScalar & getY() const
Return the y value. 
ManifoldContactPoint collects and maintains persistent contactpoints. 
#define MANIFOLD_CACHE_SIZE
int sortCachedPoints(const btManifoldPoint &pt)
sort cached points so most isolated points come first 
const btScalar & getZ() const
Return the z value. 
btVector3 m_normalWorldOnB
void * m_userPersistentData
btVector3 m_positionWorldOnB
btVector3 cross(const btVector3 &v) const
Return the cross product between this and another vector. 
btScalar dot(const btVector3 &v) const
Return the dot product. 
static btScalar calcArea4Points(const btVector3 &p0, const btVector3 &p1, const btVector3 &p2, const btVector3 &p3)
btVector3 m_positionWorldOnA
m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity ...
bool(* ContactDestroyedCallback)(void *userPersistentData)
ContactDestroyedCallback gContactDestroyedCallback
btScalar gContactBreakingThreshold
maximum contact breaking and merging threshold 
btVector3 can be used to represent 3D points and vectors. 
void removeContactPoint(int index)
bool(* ContactProcessedCallback)(btManifoldPoint &cp, void *body0, void *body1)
rudimentary class to provide type info 
void clearUserCache(btManifoldPoint &pt)
bool gContactCalcArea3Points
gContactCalcArea3Points will approximate the convex hull area using 3 points when setting it to false...
const T & btMax(const T &a, const T &b)
btScalar dot(const btQuaternion &q1, const btQuaternion &q2)
Calculate the dot product between two quaternions. 
btScalar m_contactBreakingThreshold
const btCollisionObject * m_body0
this two body pointers can point to the physics rigidbody class. 
int addManifoldPoint(const btManifoldPoint &newPoint, bool isPredictive=false)
btScalar getDistance() const
const btScalar & getX() const
Return the x value. 
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
ContactProcessedCallback gContactProcessedCallback
btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE]
int getCacheEntry(const btManifoldPoint &newPoint) const