#include <btContinuousConvexCollision.h>

Inheritance diagram for btContinuousConvexCollision:

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
Private Member Functions
void	computeClosestPoints (const btTransform &transA, const btTransform &transB, struct btPointCollector &pointCollector)
Private Attributes
const btConvexShape *	m_convexA
const btConvexShape *	m_convexB1
btConvexPenetrationDepthSolver *	m_penetrationDepthSolver
const btStaticPlaneShape *	m_planeShape
btSimplexSolverInterface *	m_simplexSolver

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 inbetween 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
	)

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

Member Function Documentation

virtual 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

Implements btConvexCast.

void btContinuousConvexCollision::computeClosestPoints	(	const btTransform &	transA,
		const btTransform &	transB,
		struct btPointCollector &	pointCollector
	)		`[private]`