34 return supVertexA - supVertexB;
40 for (
int i=0;i<numVectors;i++)
62 getAabb(identity,aabbMin,aabbMax);
76 inertia = scaledmass * (
btVector3(y2+z2,x2+z2,x2+y2));
const btConvexShape * m_shapeB
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
btMinkowskiSumShape(const btConvexShape *shapeA, const btConvexShape *shapeB)
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const =0
virtual btScalar getMargin() const
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
const btScalar & x() const
Return the x value.
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
const btConvexShape * m_shapeA
virtual btScalar getMargin() const =0
const btScalar & y() const
Return the y value.
btVector3 can be used to represent 3D points and vectors.
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
const btScalar & z() const
Return the z value.