| Bullet Collision Detection & Physics Library
    | 
 
 
 
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   47         triangleNormal = v10.
cross(v20);
 
   55         if (dist_a * dist_b >= 
btScalar(0.0))
 
   66         const btScalar proj_length = dist_a - dist_b;
 
   67         const btScalar distance = (dist_a) / (proj_length);
 
   87                         if ((
btScalar)(cp0.
dot(triangleNormal)) >= edge_tolerance)
 
   93                                 if ((
btScalar)(cp1.
dot(triangleNormal)) >= edge_tolerance)
 
   98                                         if ((
btScalar)(cp2.
dot(triangleNormal)) >= edge_tolerance)
 
  141 #ifdef USE_SUBSIMPLEX_CONVEX_CAST 
  146 #endif  //#USE_SUBSIMPLEX_CONVEX_CAST 
  
virtual btScalar reportHit(const btVector3 &hitNormalLocal, const btVector3 &hitPointLocal, btScalar hitFraction, int partId, int triangleIndex)=0
btTriangleRaycastCallback(const btVector3 &from, const btVector3 &to, unsigned int flags=0)
btTransform m_triangleToWorld
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
virtual btScalar reportHit(const btVector3 &hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)=0
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
btVector3 cross(const btVector3 &v) const
Return the cross product between this and another vector.
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
cast a convex against another convex object
btScalar dot(const btVector3 &v) const
Return the dot product.
btContinuousConvexCollision implements angular and linear time of impact for convex objects.
void setInterpolate3(const btVector3 &v0, const btVector3 &v1, btScalar rt)
EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to calculate the penetration depth be...
btSubsimplexConvexCast implements Gino van den Bergens' paper "Ray Casting against bteral Convex Obje...
const btConvexShape * m_convexShape
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...
btTransform m_convexShapeTo
btScalar m_allowedPenetration
btVector3 can be used to represent 3D points and vectors.
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
btScalar m_triangleCollisionMargin
btTriangleConvexcastCallback(const btConvexShape *convexShape, const btTransform &convexShapeFrom, const btTransform &convexShapeTo, const btTransform &triangleToWorld, const btScalar triangleCollisionMargin)
virtual void setMargin(btScalar margin)
btScalar m_allowedPenetration
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
btTransform m_convexShapeFrom
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
btScalar length2() const
Return the length of the vector squared.