#include "btBox2dBox2dCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btBoxBoxDetector.h"
#include "BulletCollision/CollisionShapes/btBox2dShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"

Classes
struct	ClipVertex

Macros
#define	USE_PERSISTENT_CONTACTS 1

#define	b2Dot(a, b) (a).dot(b)

#define	b2Mul(a, b) (a) * (b)

#define	b2MulT(a, b) (a).transpose() * (b)

#define	b2Cross(a, b) (a).cross(b)

#define	btCrossS(a, s) btVector3(s* a.getY(), -s* a.getX(), 0.f)

Functions
void	b2CollidePolygons (btManifoldResult manifold, const btBox2dShape polyA, const btTransform &xfA, const btBox2dShape *polyB, const btTransform &xfB)

static int	ClipSegmentToLine (ClipVertex vOut[2], ClipVertex vIn[2], const btVector3 &normal, btScalar offset)

static btScalar	EdgeSeparation (const btBox2dShape poly1, const btTransform &xf1, int edge1, const btBox2dShape poly2, const btTransform &xf2)

static btScalar	FindMaxSeparation (int edgeIndex, const btBox2dShape poly1, const btTransform &xf1, const btBox2dShape *poly2, const btTransform &xf2)

static void	FindIncidentEdge (ClipVertex c[2], const btBox2dShape poly1, const btTransform &xf1, int edge1, const btBox2dShape poly2, const btTransform &xf2)

Variables
int	b2_maxManifoldPoints = 2

Macro Definition Documentation

◆ b2Cross

#define b2Cross	(		a,
			b ) (a).cross(b)

Definition at line 89 of file btBox2dBox2dCollisionAlgorithm.cpp.

◆ b2Dot

#define b2Dot	(		a,
			b ) (a).dot(b)

Definition at line 86 of file btBox2dBox2dCollisionAlgorithm.cpp.

Referenced by b2CollidePolygons(), ClipSegmentToLine(), EdgeSeparation(), and FindIncidentEdge().

◆ b2Mul

#define b2Mul	(		a,
			b ) (a) * (b)

Definition at line 87 of file btBox2dBox2dCollisionAlgorithm.cpp.

Referenced by b2CollidePolygons(), EdgeSeparation(), FindIncidentEdge(), and FindMaxSeparation().

◆ b2MulT

#define b2MulT	(		a,
			b ) (a).transpose() * (b)

Definition at line 88 of file btBox2dBox2dCollisionAlgorithm.cpp.

Referenced by EdgeSeparation(), FindIncidentEdge(), and FindMaxSeparation().

◆ btCrossS

#define btCrossS	(		a,
			s ) btVector3(s* a.getY(), -s* a.getX(), 0.f)

Definition at line 90 of file btBox2dBox2dCollisionAlgorithm.cpp.

Referenced by b2CollidePolygons().

◆ USE_PERSISTENT_CONTACTS

#define USE_PERSISTENT_CONTACTS 1

btBox2dBox2dCollisionAlgorithm, with modified b2CollidePolygons routines from the Box2D library. The modifications include: switching from b2Vec to btVector3, redefinition of b2Dot, b2Cross

Definition at line 27 of file btBox2dBox2dCollisionAlgorithm.cpp.

Function Documentation

◆ b2CollidePolygons()

void b2CollidePolygons	(	btManifoldResult *	manifold,
		const btBox2dShape *	polyA,
		const btTransform &	xfA,
		const btBox2dShape *	polyB,
		const btTransform &	xfB )

Definition at line 299 of file btBox2dBox2dCollisionAlgorithm.cpp.

References b2_maxManifoldPoints, b2Dot, b2Mul, btBox2dShape(), btCrossS, btTransform, ClipSegmentToLine(), FindIncidentEdge(), FindMaxSeparation(), ClipVertex::v, and v.

Referenced by btBox2dBox2dCollisionAlgorithm::processCollision().

◆ ClipSegmentToLine()

static int ClipSegmentToLine	(	ClipVertex	vOut[2],
		ClipVertex	vIn[2],
		const btVector3 &	normal,
		btScalar	offset )

static

Definition at line 94 of file btBox2dBox2dCollisionAlgorithm.cpp.

References b2Dot, ClipVertex::id, interp(), ClipVertex::v, and v.

Referenced by b2CollidePolygons().

◆ EdgeSeparation()

static btScalar EdgeSeparation	(	const btBox2dShape *	poly1,
		const btTransform &	xf1,
		int	edge1,
		const btBox2dShape *	poly2,
		const btTransform &	xf2 )

static

Definition at line 129 of file btBox2dBox2dCollisionAlgorithm.cpp.

References b2Dot, b2Mul, b2MulT, BT_LARGE_FLOAT, btAssert, getVertexCount(), int, minDot(), and v2.

Referenced by FindMaxSeparation().

◆ FindIncidentEdge()

static void FindIncidentEdge	(	ClipVertex	c[2],
		const btBox2dShape *	poly1,
		const btTransform &	xf1,
		int	edge1,
		const btBox2dShape *	poly2,
		const btTransform &	xf2 )

static

Definition at line 249 of file btBox2dBox2dCollisionAlgorithm.cpp.

References b2Dot, b2Mul, b2MulT, BT_LARGE_FLOAT, btAssert, dot(), getVertexCount(), minDot(), and ClipVertex::v.

Referenced by b2CollidePolygons().

◆ FindMaxSeparation()

static btScalar FindMaxSeparation	(	int *	edgeIndex,
		const btBox2dShape *	poly1,
		const btTransform &	xf1,
		const btBox2dShape *	poly2,
		const btTransform &	xf2 )