btSphereSphereCollisionAlgorithm Class Reference

#include <btSphereSphereCollisionAlgorithm.h>

Inheritance diagram for btSphereSphereCollisionAlgorithm:

List of all members.

Classes
struct	CreateFunc
Public Member Functions
	btSphereSphereCollisionAlgorithm (btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, btCollisionObject *body0, btCollisionObject *body1)
	btSphereSphereCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo &ci)
virtual void	processCollision (btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual btScalar	calculateTimeOfImpact (btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual void	getAllContactManifolds (btManifoldArray &manifoldArray)
virtual	~btSphereSphereCollisionAlgorithm ()

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Detailed Description

btSphereSphereCollisionAlgorithm provides sphere-sphere collision detection. Other features are frame-coherency (persistent data) and collision response. Also provides the most basic sample for custom/user btCollisionAlgorithm

Definition at line 29 of file btSphereSphereCollisionAlgorithm.h.

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Constructor & Destructor Documentation

btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm	(	btPersistentManifold *	mf,
		const btCollisionAlgorithmConstructionInfo &	ci,
		btCollisionObject *	body0,
		btCollisionObject *	body1
	)

Definition at line 21 of file btSphereSphereCollisionAlgorithm.cpp.

References btDispatcher::getNewManifold(), and btCollisionAlgorithm::m_dispatcher.

Referenced by btSphereSphereCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm().

btSphereSphereCollisionAlgorithm::btSphereSphereCollisionAlgorithm

(

const btCollisionAlgorithmConstructionInfo &

ci

)

[inline]

Definition at line 37 of file btSphereSphereCollisionAlgorithm.h.

btSphereSphereCollisionAlgorithm::~btSphereSphereCollisionAlgorithm

(

)

[virtual]

Definition at line 33 of file btSphereSphereCollisionAlgorithm.cpp.

References btCollisionAlgorithm::m_dispatcher, and btDispatcher::releaseManifold().

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Member Function Documentation

btScalar btSphereSphereCollisionAlgorithm::calculateTimeOfImpact	(	btCollisionObject *	body0,
		btCollisionObject *	body1,
		const btDispatcherInfo &	dispatchInfo,
		btManifoldResult *	resultOut
	)		[virtual]

Implements btCollisionAlgorithm.

Definition at line 96 of file btSphereSphereCollisionAlgorithm.cpp.

virtual void btSphereSphereCollisionAlgorithm::getAllContactManifolds

(

btManifoldArray &

manifoldArray

)

[inline, virtual]

Implements btCollisionAlgorithm.

Definition at line 44 of file btSphereSphereCollisionAlgorithm.h.

References btAlignedObjectArray< T >::push_back().

void btSphereSphereCollisionAlgorithm::processCollision	(	btCollisionObject *	body0,
		btCollisionObject *	body1,
		const btDispatcherInfo &	dispatchInfo,
		btManifoldResult *	resultOut
	)		[virtual]

iff distance positive, don't generate a new contact

distance (negative means penetration)

point on A (worldspace) btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB; point on B (worldspace)

report a contact. internally this will be kept persistent, and contact reduction is done

Implements btCollisionAlgorithm.

Definition at line 42 of file btSphereSphereCollisionAlgorithm.cpp.

References btManifoldResult::addContactPoint(), KDL::diff(), len(), btManifoldResult::refreshContactPoints(), btManifoldResult::setPersistentManifold(), and SIMD_EPSILON.

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

• btSphereSphereCollisionAlgorithm.h
• btSphereSphereCollisionAlgorithm.cpp