24           m_contactBreakingThreshold(contactBreakingThreshold)
 
   47                         btVector3 pointOnA = transformB * point + normalOnB * depth;
 
   48                         output.addContactPoint(normalOnA, pointOnA, depth);
 
   52                         output.addContactPoint(transformB.
getBasis() * normal, transformB * point, depth);
 
   84         nearest = from + t * v;
 
   85         return diff.
dot(diff);
 
  101         btScalar radiusWithThreshold = radius + contactBreakingThreshold;
 
  103         btVector3 normal = (vertices[1] - vertices[0]).cross(vertices[2] - vertices[0]);
 
  106         bool hasContact = 
false;
 
  113                 btVector3 p1ToCentre = sphereCenter - vertices[0];
 
  114                 btScalar distanceFromPlane = p1ToCentre.
dot(normal);
 
  116                 if (distanceFromPlane < 
btScalar(0.))
 
  123                 bool isInsideContactPlane = distanceFromPlane < radiusWithThreshold;
 
  127                 if (isInsideContactPlane)
 
  133                                 contactPoint = sphereCenter - normal * distanceFromPlane;
 
  138                                 btScalar contactCapsuleRadiusSqr = radiusWithThreshold * radiusWithThreshold;
 
  139                                 btScalar minDistSqr = contactCapsuleRadiusSqr;
 
  149                                         if (distanceSqr < minDistSqr)
 
  152                                                 minDistSqr = distanceSqr;
 
  154                                                 contactPoint = nearestOnEdge;
 
  163                 btVector3 contactToCentre = sphereCenter - contactPoint;
 
  166                 if (distanceSqr < radiusWithThreshold * radiusWithThreshold)
 
  171                                 resultNormal = contactToCentre;
 
  173                                 point = contactPoint;
 
  174                                 depth = -(radius - distance);
 
  178                                 resultNormal = normal;
 
  179                                 point = contactPoint;
 
  208         r1 = edge1_normal.
dot(p1_to_p);
 
  209         r2 = edge2_normal.dot(p2_to_p);
 
  210         r3 = edge3_normal.dot(p3_to_p);
 
  211         if ((r1 > 0 && r2 > 0 && r3 > 0) ||
 
  212                 (r1 <= 0 && r2 <= 0 && r3 <= 0))