btContinuousConvexCollision implements angular and linear time of impact for convex objects. More...

#include <btContinuousConvexCollision.h>

Inheritance diagram for btContinuousConvexCollision:

Collaboration diagram for btContinuousConvexCollision:

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Public Member Functions
	btContinuousConvexCollision (const btConvexShape shapeA, const btConvexShape shapeB, btSimplexSolverInterface simplexSolver, btConvexPenetrationDepthSolver penetrationDepthSolver)

	btContinuousConvexCollision (const btConvexShape shapeA, const btStaticPlaneShape plane)

virtual bool	calcTimeOfImpact (const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
	cast a convex against another convex object More...

Public Member Functions inherited from btConvexCast
virtual	~btConvexCast ()

Private Member Functions
void	computeClosestPoints (const btTransform &transA, const btTransform &transB, struct btPointCollector &pointCollector)

Private Attributes
btSimplexSolverInterface *	m_simplexSolver

btConvexPenetrationDepthSolver *	m_penetrationDepthSolver

const btConvexShape *	m_convexA

const btConvexShape *	m_convexB1

const btStaticPlaneShape *	m_planeShape

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 in between motion globally consistent. It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops

Definition at line 30 of file btContinuousConvexCollision.h.

Constructor & Destructor Documentation

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

Definition at line 29 of file btContinuousConvexCollision.cpp.

btContinuousConvexCollision::btContinuousConvexCollision	(	const btConvexShape *	shapeA,
		const btStaticPlaneShape *	plane
	)

Definition at line 37 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 90 of file btContinuousConvexCollision.cpp.

void btContinuousConvexCollision::computeClosestPoints	(	const btTransform &	transA,
		const btTransform &	transB,
		struct btPointCollector &	pointCollector
	)