btSubsimplexConvexCast Class Reference

#include <btSubSimplexConvexCast.h>

Inheritance diagram for btSubsimplexConvexCast:

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List of all members.

Public Member Functions
	btSubsimplexConvexCast (const btConvexShape *shapeA, const btConvexShape *shapeB, btSimplexSolverInterface *simplexSolver)
virtual bool	calcTimeOfImpact (const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
Private Attributes
const btConvexShape *	m_convexA
const btConvexShape *	m_convexB
btSimplexSolverInterface *	m_simplexSolver

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Detailed Description

btSubsimplexConvexCast implements Gino van den Bergens' paper "Ray Casting against bteral Convex Objects with Application to Continuous Collision Detection" GJK based Ray Cast, optimized version Objects should not start in overlap, otherwise results are not defined.

Definition at line 28 of file btSubSimplexConvexCast.h.

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Constructor & Destructor Documentation

btSubsimplexConvexCast::btSubsimplexConvexCast	(	const btConvexShape *	shapeA,
		const btConvexShape *	shapeB,
		btSimplexSolverInterface *	simplexSolver
	)

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Member Function Documentation

virtual bool btSubsimplexConvexCast::calcTimeOfImpact	(	const btTransform &	fromA,
		const btTransform &	toA,
		const btTransform &	fromB,
		const btTransform &	toB,
		CastResult &	result
	)			[virtual]

SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects. Precondition is that objects should not penetration/overlap at the start from the interval. Overlap can be tested using btGjkPairDetector.

Implements btConvexCast.

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Member Data Documentation

const btConvexShape* btSubsimplexConvexCast::m_convexA [private]

Definition at line 31 of file btSubSimplexConvexCast.h.

const btConvexShape* btSubsimplexConvexCast::m_convexB [private]

Definition at line 32 of file btSubSimplexConvexCast.h.

btSimplexSolverInterface* btSubsimplexConvexCast::m_simplexSolver [private]

Definition at line 30 of file btSubSimplexConvexCast.h.

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The documentation for this class was generated from the following file:

• btSubSimplexConvexCast.h