btConvexConvexAlgorithm Class Reference

#include <btConvexConvexAlgorithm.h>

Inheritance diagram for btConvexConvexAlgorithm:

Classes
struct	CreateFunc
Public Member Functions
	btConvexConvexAlgorithm (btPersistentManifold mf, const btCollisionAlgorithmConstructionInfo &ci, btCollisionObject body0, btCollisionObject body1, btSimplexSolverInterface simplexSolver, btConvexPenetrationDepthSolver *pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
	cache separating vector to speedup collision detection
virtual btScalar	calculateTimeOfImpact (btCollisionObject body0, btCollisionObject body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual void	getAllContactManifolds (btManifoldArray &manifoldArray)
const btPersistentManifold *	getManifold ()
virtual void	processCollision (btCollisionObject body0, btCollisionObject body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
void	setLowLevelOfDetail (bool useLowLevel)
virtual	~btConvexConvexAlgorithm ()
Private Attributes
bool	m_lowLevelOfDetail
btPersistentManifold *	m_manifoldPtr
int	m_minimumPointsPerturbationThreshold
int	m_numPerturbationIterations
bool	m_ownManifold
btConvexPenetrationDepthSolver *	m_pdSolver
btSimplexSolverInterface *	m_simplexSolver

Detailed Description

Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. However, when using large size ratios GJK can be imprecise so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions. Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util for certain pairs that have a small size ratio The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects. Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal. This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888

Definition at line 40 of file btConvexConvexAlgorithm.h.

Constructor & Destructor Documentation

btConvexConvexAlgorithm::btConvexConvexAlgorithm	(	btPersistentManifold *	mf,
		const btCollisionAlgorithmConstructionInfo &	ci,
		btCollisionObject *	body0,
		btCollisionObject *	body1,
		btSimplexSolverInterface *	simplexSolver,
		btConvexPenetrationDepthSolver *	pdSolver,
		int	numPerturbationIterations,
		int	minimumPointsPerturbationThreshold
	)

cache separating vector to speedup collision detection

virtual btConvexConvexAlgorithm::~btConvexConvexAlgorithm ( ) [virtual]

Member Function Documentation

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

Implements btCollisionAlgorithm.

virtual void btConvexConvexAlgorithm::getAllContactManifolds ( btManifoldArray & manifoldArray ) [inline, virtual]

should we use m_ownManifold to avoid adding duplicates?

Implements btCollisionAlgorithm.

Definition at line 71 of file btConvexConvexAlgorithm.h.

const btPersistentManifold* btConvexConvexAlgorithm::getManifold ( ) [inline]

Definition at line 82 of file btConvexConvexAlgorithm.h.

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