#include <btContinuousConvexCollision.h>

Inherits btConvexCast.

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

Public Member Functions inherited from btConvexCast
virtual	~btConvexCast ()

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 in between motion globally consistent. It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops

Definition at line 29 of file btContinuousConvexCollision.h.

Constructor & Destructor Documentation

◆ btContinuousConvexCollision() [1/2]

btContinuousConvexCollision::btContinuousConvexCollision	(	const btConvexShape *	shapeA,
		const btConvexShape *	shapeB,
		btSimplexSolverInterface *	simplexSolver,
		btConvexPenetrationDepthSolver *	penetrationDepthSolver )

Definition at line 26 of file btContinuousConvexCollision.cpp.

◆ btContinuousConvexCollision() [2/2]

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

Definition at line 35 of file btContinuousConvexCollision.cpp.

Member Function Documentation

◆ calcTimeOfImpact()

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

compute linear and angular velocity for this interval, to interpolate

Implements btConvexCast.

Definition at line 90 of file btContinuousConvexCollision.cpp.

References btTransform, btVector3, btTransformUtil::calculateVelocity(), btTransformUtil::integrateTransform(), length(), btPointCollector::m_distance, btPointCollector::m_hasResult, btPointCollector::m_normalOnBInWorld, btPointCollector::m_pointInWorld, MAX_ITERATIONS, and SIMD_EPSILON.