16 #ifndef BT_GJK_PAIR_DETECTOR_H
17 #define BT_GJK_PAIR_DETECTOR_H
69 m_cachedSeparatingAxis = separatingAxis;
74 return m_cachedSeparatingAxis;
78 return m_cachedSeparatingDistance;
83 m_penetrationDepthSolver = penetrationDepthSolver;
89 m_ignoreMargin = ignoreMargin;
btConvexShape()
not supported on IBM SDK, until we fix the alignment of btVector3
void debugDraw(btIDebugDraw *debugDrawer)
btActionInterface interface
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define btSimplexSolverInterface
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
void setPenetrationDepthSolver(btConvexPenetrationDepthSolver *penetrationDepthSolver)
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
btScalar getCachedSeparatingDistance() const
void setCachedSeparatingAxis(const btVector3 &separatingAxis)
btGjkPairDetector(const btConvexShape *objectA, const btConvexShape *objectB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
int m_fixContactNormalDirection
virtual ~btGjkPairDetector()
void setIgnoreMargin(bool ignoreMargin)
don't use setIgnoreMargin, it's for Bullet's internal use
void setMinkowskiA(const btConvexShape *minkA)
const btVector3 & getCachedSeparatingAxis() const
void getClosestPointsNonVirtual(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw)
void setMinkowskiB(const btConvexShape *minkB)
ccl_global KernelShaderEvalInput ccl_global float * output
ccl_global KernelShaderEvalInput * input