btPolyhedralContactClipping Struct Reference

#include <btPolyhedralContactClipping.h>

Static Public Member Functions
static void	clipHullAgainstHull (const btVector3 &separatingNormal1, const btConvexPolyhedron &hullA, const btConvexPolyhedron &hullB, const btTransform &transA, const btTransform &transB, const btScalar minDist, btScalar maxDist, btVertexArray &worldVertsB1, btVertexArray &worldVertsB2, btDiscreteCollisionDetectorInterface::Result &resultOut)
static void	clipFaceAgainstHull (const btVector3 &separatingNormal, const btConvexPolyhedron &hullA, const btTransform &transA, btVertexArray &worldVertsB1, btVertexArray &worldVertsB2, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result &resultOut)
static bool	findSeparatingAxis (const btConvexPolyhedron &hullA, const btConvexPolyhedron &hullB, const btTransform &transA, const btTransform &transB, btVector3 &sep, btDiscreteCollisionDetectorInterface::Result &resultOut)
static void	clipFace (const btVertexArray &pVtxIn, btVertexArray &ppVtxOut, const btVector3 &planeNormalWS, btScalar planeEqWS)
	the clipFace method is used internally

Detailed Description

Definition at line 30 of file btPolyhedralContactClipping.h.

Member Function Documentation

clipFace()

void btPolyhedralContactClipping::clipFace ( const btVertexArray & pVtxIn, btVertexArray & ppVtxOut, const btVector3 & planeNormalWS, btScalar planeEqWS )

static

the clipFace method is used internally

Definition at line 30 of file btPolyhedralContactClipping.cpp.

References btAlignedObjectArray< T >::push_back(), and btAlignedObjectArray< T >::size().

Referenced by clipFaceAgainstHull().

clipFaceAgainstHull()

void btPolyhedralContactClipping::clipFaceAgainstHull ( const btVector3 & separatingNormal, const btConvexPolyhedron & hullA, const btTransform & transA, btVertexArray & worldVertsB1, btVertexArray & worldVertsB2, const btScalar minDist, btScalar maxDist, btDiscreteCollisionDetectorInterface::Result & resultOut )

static

Definition at line 405 of file btPolyhedralContactClipping.cpp.

References btDiscreteCollisionDetectorInterface::Result::addContactPoint(), btAlignedObjectArray< T >::at(), b, btSwap(), btVector3, clipFace(), FLT_MAX, btFace::m_indices, btFace::m_plane, Normal, point, printf, btAlignedObjectArray< T >::reserve(), btAlignedObjectArray< T >::resize(), and btAlignedObjectArray< T >::size().

Referenced by clipHullAgainstHull(), and btConvexConvexAlgorithm::processCollision().

clipHullAgainstHull()

void btPolyhedralContactClipping::clipHullAgainstHull ( const btVector3 & separatingNormal1, const btConvexPolyhedron & hullA, const btConvexPolyhedron & hullB, const btTransform & transA, const btTransform & transB, const btScalar minDist, btScalar maxDist, btVertexArray & worldVertsB1, btVertexArray & worldVertsB2, btDiscreteCollisionDetectorInterface::Result & resultOut )

static

Definition at line 513 of file btPolyhedralContactClipping.cpp.

References b, clipFaceAgainstHull(), FLT_MAX, btFace::m_indices, Normal, numVertices(), btAlignedObjectArray< T >::push_back(), btAlignedObjectArray< T >::resize(), and btAlignedObjectArray< T >::size().

Referenced by btConvexConvexAlgorithm::processCollision().

findSeparatingAxis()

bool btPolyhedralContactClipping::findSeparatingAxis ( const btConvexPolyhedron & hullA, const btConvexPolyhedron & hullB, const btTransform & transA, const btTransform & transB, btVector3 & sep, btDiscreteCollisionDetectorInterface::Result & resultOut )

static

Definition at line 236 of file btPolyhedralContactClipping.cpp.

References btDiscreteCollisionDetectorInterface::Result::addContactPoint(), btSegmentsClosestPoints(), btSqrt(), Cross(), FLT_MAX, gActualNbTests, gActualSATPairTests, gExpectedNbTests, gUseInternalObject, IsAlmostZero(), Normal, SIMD_EPSILON, and TestSepAxis().

Referenced by btConvexConvexAlgorithm::processCollision().

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The documentation for this struct was generated from the following files:

• btPolyhedralContactClipping.h
• btPolyhedralContactClipping.cpp