57 m_simplexSolver(simplexSolver),
61 m_lowLevelOfDetail(false)
78 m_lowLevelOfDetail = useLowLevel;
114 input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
115 input.m_maximumDistanceSquared *=
input.m_maximumDistanceSquared;
143 btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).
length2();
144 btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).
length2();
147 squareMot1 < col1->getCcdSquareMotionThreshold())
148 return resultFraction;
167 if (ccd1.
calcTimeOfImpact(col0->getWorldTransform(), col0->getInterpolationWorldTransform(),
168 col1->getWorldTransform(), col1->getInterpolationWorldTransform(),
result))
172 if (col0->getHitFraction() >
result.m_fraction)
173 col0->setHitFraction(
result.m_fraction);
175 if (col1->getHitFraction() >
result.m_fraction)
176 col1->setHitFraction(
result.m_fraction);
178 if (resultFraction >
result.m_fraction)
179 resultFraction =
result.m_fraction;
194 if (ccd1.
calcTimeOfImpact(col0->getWorldTransform(), col0->getInterpolationWorldTransform(),
195 col1->getWorldTransform(), col1->getInterpolationWorldTransform(),
result))
199 if (col0->getHitFraction() >
result.m_fraction)
200 col0->setHitFraction(
result.m_fraction);
202 if (col1->getHitFraction() >
result.m_fraction)
203 col1->setHitFraction(
result.m_fraction);
205 if (resultFraction >
result.m_fraction)
206 resultFraction =
result.m_fraction;
210 return resultFraction;
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint GLsizei GLsizei GLenum type _GL_VOID_RET _GL_VOID GLsizei GLenum GLenum const void *pixels _GL_VOID_RET _GL_VOID const void *pointer _GL_VOID_RET _GL_VOID GLdouble v _GL_VOID_RET _GL_VOID GLfloat v _GL_VOID_RET _GL_VOID GLint GLint i2 _GL_VOID_RET _GL_VOID GLint j _GL_VOID_RET _GL_VOID GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble GLdouble GLdouble zFar _GL_VOID_RET _GL_UINT GLdouble *equation _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLenum GLfloat *v _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLfloat *values _GL_VOID_RET _GL_VOID GLushort *values _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLenum GLdouble *params _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_BOOL GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLushort pattern _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint GLdouble v1
btScalar getCcdSquareMotionThreshold() const
btScalar gContactBreakingThreshold
btConvexShape()
not supported on IBM SDK, until we fix the alignment of btVector3
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define btSimplexSolverInterface
btSphereShape(btScalar radius)
SIMD_FORCE_INLINE btScalar length2() const
Return the length of the vector squared.
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
btDispatcher * m_dispatcher
virtual ~btConvex2dConvex2dAlgorithm()
void setLowLevelOfDetail(bool useLowLevel)
virtual btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
btConvex2dConvex2dAlgorithm(btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
virtual void releaseManifold(btPersistentManifold *manifold)=0
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
GjkConvexCast performs a raycast on a convex object using support mapping.
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
cast a convex against another convex object
btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
virtual void getClosestPoints(const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
void setMinkowskiA(const btConvexShape *minkA)
void setMinkowskiB(const btConvexShape *minkB)
btManifoldResult is a helper class to manage contact results.
void setPersistentManifold(btPersistentManifold *manifoldPtr)
SIMD_FORCE_INLINE void refreshContactPoints()
SyclQueue void void size_t num_bytes void
ccl_global KernelShaderEvalInput * input
SIMD_FORCE_INLINE const btCollisionShape * getCollisionShape() const
SIMD_FORCE_INLINE const btTransform & getWorldTransform() const
SIMD_FORCE_INLINE const btCollisionObject * getCollisionObject() const
btConvexPenetrationDepthSolver * m_pdSolver
CreateFunc(btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *pdSolver)
btSimplexSolverInterface * m_simplexSolver
class btIDebugDraw * m_debugDraw