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)
btScalar length2() const
Return the length of the vector squared. 
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)
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. 
btScalar dot(const btVector3 &v) const
Return the dot product. 
btVector3 can be used to represent 3D points and vectors. 
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...