#include <btContinuousConvexCollision.h>

Inheritance diagram for btContinuousConvexCollision:

Public Member Functions
	btContinuousConvexCollision (const btConvexShape shapeA, const btConvexShape shapeB, btSimplexSolverInterface simplexSolver, btConvexPenetrationDepthSolver penetrationDepthSolver)
virtual bool	calcTimeOfImpact (const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
	cast a convex against another convex object

Detailed Description

btContinuousConvexCollision implements angular and linear time of impact for convex objects. Based on Brian Mirtich's Conservative Advancement idea (PhD thesis). Algorithm operates in worldspace, in order to keep inbetween motion globally consistent. It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops

Definition at line 29 of file btContinuousConvexCollision.h.

Constructor & Destructor Documentation

btContinuousConvexCollision::btContinuousConvexCollision	(	const btConvexShape *	shapeA,
		const btConvexShape *	shapeB,
		btSimplexSolverInterface *	simplexSolver,
		btConvexPenetrationDepthSolver *	penetrationDepthSolver
	)

Definition at line 28 of file btContinuousConvexCollision.cpp.

Member Function Documentation

bool btContinuousConvexCollision::calcTimeOfImpact	(	const btTransform &	fromA,
		const btTransform &	toA,
		const btTransform &	fromB,
		const btTransform &	toB,
		CastResult &	result
	)		`[virtual]`

cast a convex against another convex object

compute linear and angular velocity for this interval, to interpolate

Implements btConvexCast.

Definition at line 39 of file btContinuousConvexCollision.cpp.

References btTransformUtil::calculateVelocity(), btConvexCast::CastResult::DebugDraw(), btIDebugDraw::drawSphere(), btGjkPairDetector::getClosestPoints(), btTransform::getOrigin(), btTransformUtil::integrateTransform(), btTransform::inverseTimes(), length(), btConvexCast::CastResult::m_allowedPenetration, btConvexCast::CastResult::m_debugDrawer, btPointCollector::m_distance, btConvexCast::CastResult::m_fraction, btPointCollector::m_hasResult, btConvexCast::CastResult::m_hitPoint, btConvexCast::CastResult::m_normal, btPointCollector::m_normalOnBInWorld, btPointCollector::m_pointInWorld, btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformA, btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformB, MAX_ITERATIONS, btTransform::setIdentity(), and SIMD_EPSILON.

Referenced by btTriangleConvexcastCallback::processTriangle().

The documentation for this class was generated from the following files:

btContinuousConvexCollision Class Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation