70 :m_dispatcher1(dispatcher),
71 m_broadphasePairCache(pairCache),
73 m_forceUpdateAllAabbs(true)
136 collisionFilterGroup,
154 minAabb -= contactThreshold;
155 maxAabb += contactThreshold;
161 minAabb2 -= contactThreshold;
162 maxAabb2 += contactThreshold;
179 static bool reportMe =
true;
218 BT_PROFILE(
"performDiscreteCollisionDetection");
317 convexCasterPtr = &gjkConvexCaster;
319 convexCasterPtr = &subSimplexConvexCaster;
323 if (convexCaster.
calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
331 #ifdef USE_SUBSIMPLEX_CONVEX_CAST 334 #endif //USE_SUBSIMPLEX_CONVEX_CAST 345 bool normalInWorldSpace =
true;
368 m_resultCallback(resultCallback),
369 m_collisionObject(collisionObject),
370 m_triangleMesh(triangleMesh),
371 m_colObjWorldTransform(colObjWorldTransform)
390 bool normalInWorldSpace =
true;
391 return m_resultCallback->
addSingleResult(rayResult,normalInWorldSpace);
406 BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->
getCollisionObject(),triangleMesh,colObjWorldTransform);
434 m_resultCallback(resultCallback),
435 m_collisionObject(collisionObject),
436 m_triangleMesh(triangleMesh),
437 m_colObjWorldTransform(colObjWorldTransform)
456 bool normalInWorldSpace =
true;
457 return m_resultCallback->
addSingleResult(rayResult,normalInWorldSpace);
463 BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->
getCollisionObject(),concaveShape, colObjWorldTransform);
466 btVector3 rayAabbMinLocal = rayFromLocal;
467 rayAabbMinLocal.
setMin(rayToLocal);
468 btVector3 rayAabbMaxLocal = rayFromLocal;
469 rayAabbMaxLocal.
setMax(rayToLocal);
483 : m_userCallback(user), m_i(i)
486 m_flags = m_userCallback->
m_flags;
522 m_collisionObject(collisionObject),
523 m_compoundShape(compoundShape),
524 m_colObjWorldTransform(colObjWorldTransform),
525 m_rayFromTrans(rayFromTrans),
526 m_rayToTrans(rayToTrans),
527 m_resultCallback(resultCallback)
532 void ProcessLeaf(
int i)
536 btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
543 LocalInfoAdder2 my_cb(i, &m_resultCallback);
559 const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
566 colObjWorldTransform,
570 #ifndef DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION 573 btVector3 localRayFrom = colObjWorldTransform.inverseTimes(rayFromTrans).getOrigin();
574 btVector3 localRayTo = colObjWorldTransform.inverseTimes(rayToTrans).getOrigin();
578 #endif //DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION 582 rayCB.ProcessLeaf(i);
626 if (castPtr->
calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
643 bool normalInWorldSpace =
true;
672 m_resultCallback(resultCallback),
673 m_collisionObject(collisionObject),
674 m_triangleMesh(triangleMesh)
684 if (hitFraction <= m_resultCallback->m_closestHitFraction)
694 bool normalInWorldSpace =
true;
697 return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
704 BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,colObjWrap->
getCollisionObject(),triangleMesh, colObjWorldTransform);
706 tccb.m_allowedPenetration = allowedPenetration;
708 castShape->
getAabb(rotationXform, boxMinLocal, boxMaxLocal);
709 triangleMesh->
performConvexcast(&tccb,convexFromLocal,convexToLocal,boxMinLocal, boxMaxLocal);
721 if (castPtr->
calcTimeOfImpact(convexFromTrans,convexToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
738 bool normalInWorldSpace =
true;
764 m_resultCallback(resultCallback),
765 m_collisionObject(collisionObject),
766 m_triangleMesh(triangleMesh)
776 if (hitFraction <= m_resultCallback->m_closestHitFraction)
786 bool normalInWorldSpace =
true;
788 return m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
795 BridgeTriangleConvexcastCallback tccb(castShape, convexFromTrans,convexToTrans,&resultCallback,colObjWrap->
getCollisionObject(),concaveShape, colObjWorldTransform);
797 tccb.m_allowedPenetration = allowedPenetration;
799 castShape->
getAabb(rotationXform, boxMinLocal, boxMaxLocal);
801 btVector3 rayAabbMinLocal = convexFromLocal;
802 rayAabbMinLocal.
setMin(convexToLocal);
803 btVector3 rayAabbMaxLocal = convexFromLocal;
804 rayAabbMaxLocal.
setMax(convexToLocal);
805 rayAabbMinLocal += boxMinLocal;
806 rayAabbMaxLocal += boxMaxLocal;
825 m_colObjWrap(colObjWrap),
826 m_castShape(castShape),
827 m_convexFromTrans(convexFromTrans),
828 m_convexToTrans(convexToTrans),
829 m_allowedPenetration(allowedPenetration),
830 m_compoundShape(compoundShape),
831 m_colObjWorldTransform(colObjWorldTransform),
832 m_resultCallback(resultCallback) {
848 btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
855 : m_userCallback(user), m_i(i)
877 LocalInfoAdder my_cb(index, &m_resultCallback);
892 ProcessChild(index, childTrans, childCollisionShape);
897 const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(collisionShape);
899 btVector3 fromLocalAabbMin, fromLocalAabbMax;
900 btVector3 toLocalAabbMin, toLocalAabbMax;
902 castShape->
getAabb(colObjWorldTransform.
inverse() * convexFromTrans, fromLocalAabbMin, fromLocalAabbMax);
903 castShape->
getAabb(colObjWorldTransform.
inverse() * convexToTrans, toLocalAabbMin, toLocalAabbMax);
905 fromLocalAabbMin.setMin(toLocalAabbMin);
906 fromLocalAabbMax.
setMax(toLocalAabbMax);
909 allowedPenetration, compoundShape, colObjWorldTransform, resultCallback);
921 callback.ProcessChild(i, childTrans, childCollisionShape);
953 btVector3 rayDir = (rayToWorld-rayFromWorld);
984 #ifdef RECALCULATE_AABB 985 btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
1015 #ifndef USE_BRUTEFORCE_RAYBROADPHASE 1022 #endif //USE_BRUTEFORCE_RAYBROADPHASE 1097 convexFromTrans = convexFromWorld;
1098 convexToTrans = convexToWorld;
1099 btVector3 castShapeAabbMin, castShapeAabbMax;
1112 #ifndef USE_BRUTEFORCE_RAYBROADPHASE 1114 btSingleSweepCallback convexCB(castShape,convexFromWorld,convexToWorld,
this,resultCallback,allowedCcdPenetration);
1128 btVector3 collisionObjectAabbMin,collisionObjectAabbMax;
1130 AabbExpand (collisionObjectAabbMin, collisionObjectAabbMax, castShapeAabbMin, castShapeAabbMax);
1133 if (
btRayAabb(convexFromWorld.
getOrigin(),convexToWorld.
getOrigin(),collisionObjectAabbMin,collisionObjectAabbMax,hitLambda,hitNormal))
1140 allowedCcdPenetration);
1144 #endif //USE_BRUTEFORCE_RAYBROADPHASE 1163 btVector3 pointA = pointInWorld + normalOnBInWorld * depth;
1241 algorithm->~btCollisionAlgorithm();
1275 algorithm->processCollision(&obA,&obB,
getDispatchInfo(),&contactPointResult);
1277 algorithm->~btCollisionAlgorithm();
1309 (void)triangleIndex;
1319 btVector3 normal = (wv1-wv0).cross(wv2-wv0);
1341 const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
1357 const btBoxShape* boxShape = static_cast<const btBoxShape*>(shape);
1365 const btSphereShape* sphereShape = static_cast<const btSphereShape*>(shape);
1373 const btMultiSphereShape* multiSphereShape = static_cast<const btMultiSphereShape*>(shape);
1388 const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
1399 const btConeShape* coneShape = static_cast<const btConeShape*>(shape);
1410 const btCylinderShape* cylinder = static_cast<const btCylinderShape*>(shape);
1420 const btStaticPlaneShape* staticPlaneShape = static_cast<const btStaticPlaneShape*>(shape);
1445 int lastV = poly->
m_faces[i].m_indices[numVerts-1];
1446 for (
int v=0;v<poly->
m_faces[i].m_indices.
size();v++)
1448 int curVert = poly->
m_faces[i].m_indices[v];
1529 for (
int i=0;i<numManifolds;i++)
1536 for (
int j=0;j<numContacts;j++)
1586 minAabb -= contactThreshold;
1587 maxAabb += contactThreshold;
1594 minAabb2 -= contactThreshold;
1595 maxAabb2 += contactThreshold;
1596 minAabb.
setMin(minAabb2);
1597 maxAabb.
setMax(maxAabb2);
1621 if (!serializedShapes.
find(shape))
1623 serializedShapes.
insert(shape,shape);
btVector3 getHalfExtentsWithMargin() const
virtual void finishSerialization()=0
btSingleSweepCallback(const btConvexShape *castShape, const btTransform &convexFromTrans, const btTransform &convexToTrans, const btCollisionWorld *world, btCollisionWorld::ConvexResultCallback &resultCallback, btScalar allowedPenetration)
void serializeCollisionObjects(btSerializer *serializer)
btAlignedObjectArray< btVector3 > m_vertices
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
The btConvexTriangleMeshShape is a convex hull of a triangle mesh, but the performance is not as good...
void push_back(const T &_Val)
btScalar getSphereRadius(int index) const
btConvexCast is an interface for Casting
virtual DefaultColors getDefaultColors() const
btVector3 m_wantsDeactivationObject
btScalar getRadius() const
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
void performRaycast(btTriangleCallback *callback, const btVector3 &raySource, const btVector3 &rayTarget)
LocalShapeInfo * m_localShapeInfo
virtual void updateAabbs()
btVector3 m_deactivatedObject
virtual void clearLines()
btPersistentManifold * m_manifoldPtr
int findLinearSearch(const T &key) const
btCollisionWorld(btDispatcher *dispatcher, btBroadphaseInterface *broadphasePairCache, btCollisionConfiguration *collisionConfiguration)
for debug drawing
virtual void reportErrorWarning(const char *warningString)=0
virtual btPersistentManifold * getManifoldByIndexInternal(int index)=0
const Value * find(const Key &key) const
bool m_forceUpdateAllAabbs
m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs it is...
virtual void addCollisionObject(btCollisionObject *collisionObject, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
btScalar length2() const
Return the length of the vector squared.
virtual void drawLine(const btVector3 &from, const btVector3 &to, const btVector3 &color)=0
virtual void dispatchAllCollisionPairs(btOverlappingPairCache *pairCache, const btDispatcherInfo &dispatchInfo, btDispatcher *dispatcher)=0
virtual void startSerialization()=0
The btMultiSphereShape represents the convex hull of a collection of spheres.
const btScalar & getPlaneConstant() const
virtual btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold, ebtDispatcherQueryType queryType)=0
virtual void InternalProcessAllTriangles(btInternalTriangleIndexCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const
virtual void drawBox(const btVector3 &bbMin, const btVector3 &bbMax, const btVector3 &color)
int getNumContacts() const
The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned ...
const btDbvt * getDynamicAabbTree() const
virtual void drawPlane(const btVector3 &planeNormal, btScalar planeConst, const btTransform &transform, const btVector3 &color)
btVector3 getHalfExtentsWithMargin() const
btCollisionConfiguration allows to configure Bullet collision detection stack allocator size,...
virtual void serializeSingleShape(btSerializer *serializer) const
The btDbvt class implements a fast dynamic bounding volume tree based on axis aligned bounding boxes ...
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
RayResultCallback is used to report new raycast results.
btContinuousConvexCollision implements angular and linear time of impact for convex objects.
void setWorldArrayIndex(int ix)
The btSphereShape implements an implicit sphere, centered around a local origin with radius.
btCollisionWorld::RayResultCallback & m_resultCallback
ManifoldContactPoint collects and maintains persistent contactpoints.
const btCollisionWorld * m_world
int getActivationState() const
btDispatcher * m_dispatcher1
btManifoldResult is a helper class to manage contact results.
btVector3 m_disabledSimulationObject
static DBVT_PREFIX void rayTest(const btDbvtNode *root, const btVector3 &rayFrom, const btVector3 &rayTo, DBVT_IPOLICY)
rayTest is a re-entrant ray test, and can be called in parallel as long as the btAlignedAlloc is thre...
static void rayTestSingleInternal(const btTransform &rayFromTrans, const btTransform &rayToTrans, const btCollisionObjectWrapper *collisionObjectWrap, RayResultCallback &resultCallback)
const btCollisionShape * getCollisionShape() const
virtual void computeOverlappingPairs()
the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSi...
bool isStaticOrKinematicObject() const
virtual void drawCapsule(btScalar radius, btScalar halfHeight, int upAxis, const btTransform &transform, const btVector3 &color)
int getNumChildShapes() const
btScalar m_closestHitFraction
btSingleRayCallback(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, const btCollisionWorld *world, btCollisionWorld::RayResultCallback &resultCallback)
virtual void processAllTriangles(btTriangleCallback *callback, const btVector3 &aabbMin, const btVector3 &aabbMax) const =0
void swap(int index0, int index1)
virtual void drawContactPoint(const btVector3 &PointOnB, const btVector3 &normalOnB, btScalar distance, int lifeTime, const btVector3 &color)=0
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
const btCollisionObjectWrapper * m_body1Wrap
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
btTransform m_convexToTrans
int getNumCollisionObjects() const
btVector3 normalized() const
Return a normalized version of this vector.
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
virtual bool needsCollision(btBroadphaseProxy *proxy0) const
GjkConvexCast performs a raycast on a convex object using support mapping.
const btManifoldPoint & getContactPoint(int index) const
The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly...
btScalar m_allowedPenetration
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const =0
void AabbExpand(btVector3 &aabbMin, btVector3 &aabbMax, const btVector3 &expansionMin, const btVector3 &expansionMax)
virtual btOverlappingPairCache * getOverlappingPairCache()=0
The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving ...
btIDebugDraw * m_debugDrawer
virtual btScalar addSingleResult(LocalRayResult &rayResult, bool normalInWorldSpace)=0
int getSphereCount() const
btTransform & getWorldTransform()
btVector3 m_normalWorldOnB
btScalar getHalfHeight() const
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...
btScalar m_closestPointDistanceThreshold
btVector3 m_positionWorldOnB
virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform &transform, const btVector3 &color)
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const =0
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
btBroadphaseProxy * getBroadphaseHandle()
int getConeUpIndex() const
btTransform m_convexFromTrans
btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points...
const btCollisionWorld * m_world
btCollisionWorld::ConvexResultCallback & m_resultCallback
btIDebugDraw * m_debugDrawer
virtual btIDebugDraw * getDebugDrawer()
void contactPairTest(btCollisionObject *colObjA, btCollisionObject *colObjB, ContactResultCallback &resultCallback)
contactTest performs a discrete collision test between two collision objects and calls the resultCall...
btAlignedObjectArray< btFace > m_faces
const btCollisionObject * getBody0() const
The btTriangleCallback provides a callback for each overlapping triangle when calling processAllTrian...
DebugDrawcallback(btIDebugDraw *debugDrawer, const btTransform &worldTrans, const btVector3 &color)
bool isStaticObject() const
The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y ...
btTransform & getChildTransform(int index)
virtual void cleanProxyFromPairs(btBroadphaseProxy *proxy, btDispatcher *dispatcher)=0
static btDbvtAabbMm FromMM(const btVector3 &mi, const btVector3 &mx)
virtual bool needsCollision(btBroadphaseProxy *proxy0) const
btScalar dot(const btVector3 &v) const
Return the dot product.
const btCollisionObject * getCollisionObject() const
virtual void debugDrawObject(const btTransform &worldTransform, const btCollisionShape *shape, const btVector3 &color)
void contactTest(btCollisionObject *colObj, ContactResultCallback &resultCallback)
contactTest performs a discrete collision test between colObj against all objects in the btCollisionW...
btCollisionObject can be used to manage collision detection objects.
void insert(const Key &key, const Value &value)
#define DISABLE_SIMULATION
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
DBVT_PREFIX void collideTV(const btDbvtNode *root, const btDbvtVolume &volume, DBVT_IPOLICY) const
static void rayTestSingle(const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback)
rayTestSingle performs a raycast call and calls the resultCallback.
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
const btTransform & getInterpolationWorldTransform() const
btScalar getRadius() const
LocalShapeInfo gives extra information for complex shapes Currently, only btTriangleMeshShape is avai...
virtual void drawAabb(const btVector3 &from, const btVector3 &to, const btVector3 &color)
btVector3 m_positionWorldOnA
m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
btScalar getHeight() const
virtual void removeCollisionObject(btCollisionObject *collisionObject)
virtual void freeCollisionAlgorithm(void *ptr)=0
void performConvexcast(btTriangleCallback *callback, const btVector3 &boxSource, const btVector3 &boxTarget, const btVector3 &boxMin, const btVector3 &boxMax)
virtual ~btCollisionWorld()
The btBroadphaseInterface class provides an interface to detect aabb-overlapping object pairs.
btDispatcher * getDispatcher()
int getWorldArrayIndex() const
int getCollisionFlags() const
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
virtual void rayTest(const btVector3 &rayFromWorld, const btVector3 &rayToWorld, RayResultCallback &resultCallback) const
rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback This ...
virtual void processTriangle(btVector3 *triangle, int partId, int triangleIndex)
The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by ...
virtual void setMargin(btScalar margin)
btVector3 can be used to represent 3D points and vectors.
#define ATTRIBUTE_ALIGNED16(a)
virtual void serialize(btSerializer *serializer)
Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bulle...
int size() const
return the number of elements in the array
bool isPolyhedral() const
virtual int getNumManifolds() const =0
static void objectQuerySingle(const btConvexShape *castShape, const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, ConvexResultCallback &resultCallback, btScalar allowedPenetration)
objectQuerySingle performs a collision detection query and calls the resultCallback....
btSubsimplexConvexCast implements Gino van den Bergens' paper "Ray Casting against bteral Convex Obje...
const btVector3 & getPlaneNormal() const
CollisionWorld is interface and container for the collision detection.
void convexSweepTest(const btConvexShape *castShape, const btTransform &from, const btTransform &to, ConvexResultCallback &resultCallback, btScalar allowedCcdPenetration=btScalar(0.)) const
convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultC...
EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to calculate the penetration depth be...
void setBroadphaseHandle(btBroadphaseProxy *handle)
btDispatcherInfo & getDispatchInfo()
#define WANTS_DEACTIVATION
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
void remove(const T &key)
virtual void drawTransform(const btTransform &transform, btScalar orthoLen)
int getInternalType() const
reserved for Bullet internal usage
virtual btScalar getRadius() const
virtual int getDebugMode() const =0
btAlignedObjectArray< btCollisionObject * > m_collisionObjects
const btTransform & getWorldTransform() const
The btCylinderShape class implements a cylinder shape primitive, centered around the origin....
#define DISABLE_DEACTIVATION
virtual bool process(const btBroadphaseProxy *proxy)
bool getCustomDebugColor(btVector3 &colorRGB) const
btVector3 m_rayDirectionInverse
added some cached data to accelerate ray-AABB tests
virtual void performDiscreteCollisionDetection()
virtual void serializeSingleObject(class btSerializer *serializer) const
void calculateTemporalAabb(const btTransform &curTrans, const btVector3 &linvel, const btVector3 &angvel, btScalar timeStep, btVector3 &temporalAabbMin, btVector3 &temporalAabbMax) const
calculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0....
LocalShapeInfo * m_localShapeInfo
btBroadphaseInterface * m_broadphasePairCache
btScalar m_closestHitFraction
virtual void setAabb(btBroadphaseProxy *proxy, const btVector3 &aabbMin, const btVector3 &aabbMax, btDispatcher *dispatcher)=0
static btDbvtVolume bounds(btDbvtNode **leaves, int count)
const btCollisionObjectWrapper * m_body0Wrap
btScalar m_allowedCcdPenetration
const btConvexShape * m_castShape
virtual btScalar addSingleResult(LocalConvexResult &convexResult, bool normalInWorldSpace)=0
void updateSingleAabb(btCollisionObject *colObj)
virtual btScalar getMargin() const
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
void setMax(const btVector3 &other)
Set each element to the max of the current values and the values of another btVector3.
class btStridingMeshInterface * getMeshInterface()
The btStaticPlaneShape simulates an infinite non-moving (static) collision plane.
RayResultCallback is used to report new raycast results.
btBridgedManifoldResult(const btCollisionObjectWrapper *obj0Wrap, const btCollisionObjectWrapper *obj1Wrap, btCollisionWorld::ContactResultCallback &resultCallback)
virtual bool process(const btBroadphaseProxy *proxy)
btCollisionShape * getChildShape(int index)
virtual void internalProcessTriangleIndex(btVector3 *triangle, int partId, int triangleIndex)
virtual void debugDrawWorld()
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
btScalar gContactBreakingThreshold
virtual void drawSphere(btScalar radius, const btTransform &transform, const btVector3 &color)
bool btRayAabb(const btVector3 &rayFrom, const btVector3 &rayTo, const btVector3 &aabbMin, const btVector3 &aabbMax, btScalar ¶m, btVector3 &normal)
virtual void destroyProxy(btBroadphaseProxy *proxy, btDispatcher *dispatcher)=0
virtual void addContactPoint(const btVector3 &normalOnBInWorld, const btVector3 &pointInWorld, btScalar depth)
const btBroadphaseInterface * getBroadphase() const
btVector3 m_disabledDeactivationObject
btCollisionWorld::ContactResultCallback & m_resultCallback
void setActivationState(int newState) const
btTransform m_rayFromTrans
virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform &transform, const btVector3 &color)
virtual void rayTest(const btVector3 &rayFrom, const btVector3 &rayTo, btBroadphaseRayCallback &rayCallback, const btVector3 &aabbMin=btVector3(0, 0, 0), const btVector3 &aabbMax=btVector3(0, 0, 0))=0
static void objectQuerySingleInternal(const btConvexShape *castShape, const btTransform &convexFromTrans, const btTransform &convexToTrans, const btCollisionObjectWrapper *colObjWrap, ConvexResultCallback &resultCallback, btScalar allowedPenetration)
btScalar getDistance() const
const btVector3 & getSpherePosition(int index) const
const btConvexPolyhedron * getConvexPolyhedron() const
virtual void calculateOverlappingPairs(btDispatcher *dispatcher)=0
calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during th...
void setMin(const btVector3 &other)
Set each element to the min of the current values and the values of another btVector3.
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
const btCollisionShape * getCollisionShape() const
virtual btScalar getMargin() const
virtual void aabbTest(const btVector3 &aabbMin, const btVector3 &aabbMax, btBroadphaseAabbCallback &callback)=0
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)=0
cast a convex against another convex object
virtual int getNumEdges() const =0