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