btConvexConvexAlgorithm.cpp File Reference

#include "btConvexConvexAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"

Go to the source code of this file.

Classes
struct	btPerturbedContactResult
Functions
static SIMD_FORCE_INLINE void	segmentsClosestPoints (btVector3 &ptsVector, btVector3 &offsetA, btVector3 &offsetB, btScalar &tA, btScalar &tB, const btVector3 &translation, const btVector3 &dirA, btScalar hlenA, const btVector3 &dirB, btScalar hlenB)
static SIMD_FORCE_INLINE btScalar	capsuleCapsuleDistance (btVector3 &normalOnB, btVector3 &pointOnB, btScalar capsuleLengthA, btScalar capsuleRadiusA, btScalar capsuleLengthB, btScalar capsuleRadiusB, int capsuleAxisA, int capsuleAxisB, const btTransform &transformA, const btTransform &transformB, btScalar distanceThreshold)
Variables
btScalar	gContactBreakingThreshold
bool	disableCcd = false

---

Function Documentation

static SIMD_FORCE_INLINE btScalar capsuleCapsuleDistance	(	btVector3 &	normalOnB,
		btVector3 &	pointOnB,
		btScalar	capsuleLengthA,
		btScalar	capsuleRadiusA,
		btScalar	capsuleLengthB,
		btScalar	capsuleRadiusB,
		int	capsuleAxisA,
		int	capsuleAxisB,
		const btTransform &	transformA,
		const btTransform &	transformB,
		btScalar	distanceThreshold
	)		[static]

Definition at line 114 of file btConvexConvexAlgorithm.cpp.

References btPlaneSpace1(), btRecipSqrt, distance(), btTransform::getBasis(), btMatrix3x3::getColumn(), btTransform::getOrigin(), segmentsClosestPoints(), and SIMD_EPSILON.

Referenced by btConvexConvexAlgorithm::processCollision().

static SIMD_FORCE_INLINE void segmentsClosestPoints	(	btVector3 &	ptsVector,
		btVector3 &	offsetA,
		btVector3 &	offsetB,
		btScalar &	tA,
		btScalar &	tB,
		const btVector3 &	translation,
		const btVector3 &	dirA,
		btScalar	hlenA,
		const btVector3 &	dirB,
		btScalar	hlenB
	)		[static]

Specialized capsule-capsule collision algorithm has been added for Bullet 2.75 release to increase ragdoll performance If you experience problems with capsule-capsule collision, try to define BT_DISABLE_CAPSULE_CAPSULE_COLLIDER and report it in the Bullet forums with reproduction case

Definition at line 58 of file btConvexConvexAlgorithm.cpp.

References btDot().

Referenced by capsuleCapsuleDistance().

---

Variable Documentation

bool disableCcd = false

Definition at line 485 of file btConvexConvexAlgorithm.cpp.

Referenced by btConvexConvexAlgorithm::calculateTimeOfImpact().

btScalar gContactBreakingThreshold

Definition at line 21 of file btPersistentManifold.cpp.