#include <btDefaultCollisionConfiguration.h>

Inherited by btSoftBodyRigidBodyCollisionConfiguration.

Public Member Functions
	btDefaultCollisionConfiguration (const btDefaultCollisionConstructionInfo &constructionInfo=btDefaultCollisionConstructionInfo())

virtual	~btDefaultCollisionConfiguration ()

virtual btPoolAllocator *	getPersistentManifoldPool ()
	memory pools

virtual btPoolAllocator *	getCollisionAlgorithmPool ()

virtual btCollisionAlgorithmCreateFunc *	getCollisionAlgorithmCreateFunc (int proxyType0, int proxyType1)

virtual btCollisionAlgorithmCreateFunc *	getClosestPointsAlgorithmCreateFunc (int proxyType0, int proxyType1)

void	setConvexConvexMultipointIterations (int numPerturbationIterations=3, int minimumPointsPerturbationThreshold=3)

void	setPlaneConvexMultipointIterations (int numPerturbationIterations=3, int minimumPointsPerturbationThreshold=3)

Public Member Functions inherited from btCollisionConfiguration
virtual	~btCollisionConfiguration ()

Protected Attributes
int	m_persistentManifoldPoolSize

btPoolAllocator *	m_persistentManifoldPool

bool	m_ownsPersistentManifoldPool

btPoolAllocator *	m_collisionAlgorithmPool

bool	m_ownsCollisionAlgorithmPool

btConvexPenetrationDepthSolver *	m_pdSolver

btCollisionAlgorithmCreateFunc *	m_convexConvexCreateFunc

btCollisionAlgorithmCreateFunc *	m_convexConcaveCreateFunc

btCollisionAlgorithmCreateFunc *	m_swappedConvexConcaveCreateFunc

btCollisionAlgorithmCreateFunc *	m_compoundCreateFunc

btCollisionAlgorithmCreateFunc *	m_compoundCompoundCreateFunc

btCollisionAlgorithmCreateFunc *	m_swappedCompoundCreateFunc

btCollisionAlgorithmCreateFunc *	m_emptyCreateFunc

btCollisionAlgorithmCreateFunc *	m_sphereSphereCF

btCollisionAlgorithmCreateFunc *	m_sphereBoxCF

btCollisionAlgorithmCreateFunc *	m_boxSphereCF

btCollisionAlgorithmCreateFunc *	m_boxBoxCF

btCollisionAlgorithmCreateFunc *	m_sphereTriangleCF

btCollisionAlgorithmCreateFunc *	m_triangleSphereCF

btCollisionAlgorithmCreateFunc *	m_planeConvexCF

btCollisionAlgorithmCreateFunc *	m_convexPlaneCF

Detailed Description

btCollisionConfiguration allows to configure Bullet collision detection stack allocator, pool memory allocators

Todo: : describe the meaning

Definition at line 46 of file btDefaultCollisionConfiguration.h.

Constructor & Destructor Documentation

◆ btDefaultCollisionConfiguration()

btDefaultCollisionConfiguration::btDefaultCollisionConfiguration ( const btDefaultCollisionConstructionInfo & constructionInfo = btDefaultCollisionConstructionInfo() )

calculate maximum element size, big enough to fit any collision algorithm in the memory pool

Definition at line 37 of file btDefaultCollisionConfiguration.cpp.

References btAlignedAlloc, btConvexConcaveCollisionAlgorithm(), btMax(), btPersistentManifold(), m_boxBoxCF, m_boxSphereCF, m_collisionAlgorithmPool, btDefaultCollisionConstructionInfo::m_collisionAlgorithmPool, m_compoundCompoundCreateFunc, m_compoundCreateFunc, m_convexConcaveCreateFunc, m_convexConvexCreateFunc, m_convexPlaneCF, btDefaultCollisionConstructionInfo::m_customCollisionAlgorithmMaxElementSize, btDefaultCollisionConstructionInfo::m_defaultMaxCollisionAlgorithmPoolSize, btDefaultCollisionConstructionInfo::m_defaultMaxPersistentManifoldPoolSize, m_emptyCreateFunc, m_ownsCollisionAlgorithmPool, m_ownsPersistentManifoldPool, m_pdSolver, m_persistentManifoldPool, btDefaultCollisionConstructionInfo::m_persistentManifoldPool, m_planeConvexCF, m_sphereBoxCF, m_sphereSphereCF, m_sphereTriangleCF, btCollisionAlgorithmCreateFunc::m_swapped, m_swappedCompoundCreateFunc, m_swappedConvexConcaveCreateFunc, m_triangleSphereCF, btDefaultCollisionConstructionInfo::m_useEpaPenetrationAlgorithm, and NULL.

◆ ~btDefaultCollisionConfiguration()

btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration ( )

virtual

Member Function Documentation

◆ getClosestPointsAlgorithmCreateFunc()

btCollisionAlgorithmCreateFunc * btDefaultCollisionConfiguration::getClosestPointsAlgorithmCreateFunc	(	int	proxyType0,
		int	proxyType1 )

virtual

◆ getCollisionAlgorithmCreateFunc()

btCollisionAlgorithmCreateFunc * btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc	(	int	proxyType0,
		int	proxyType1 )

virtual

◆ getCollisionAlgorithmPool()

virtual btPoolAllocator * btDefaultCollisionConfiguration::getCollisionAlgorithmPool ( )

inlinevirtual

Implements btCollisionConfiguration.

Definition at line 90 of file btDefaultCollisionConfiguration.h.

References m_collisionAlgorithmPool.

◆ getPersistentManifoldPool()

virtual btPoolAllocator * btDefaultCollisionConfiguration::getPersistentManifoldPool ( )

inlinevirtual

memory pools

Implements btCollisionConfiguration.

Definition at line 85 of file btDefaultCollisionConfiguration.h.

References m_persistentManifoldPool.

◆ setConvexConvexMultipointIterations()

void btDefaultCollisionConfiguration::setConvexConvexMultipointIterations	(	int	numPerturbationIterations = 3,
		int	minimumPointsPerturbationThreshold = 3 )

Use this method to allow to generate multiple contact points between at once, between two objects using the generic convex-convex algorithm. By default, this feature is disabled for best performance.

Parameters

numPerturbationIterations	controls the number of collision queries. Set it to zero to disable the feature.
minimumPointsPerturbationThreshold	is the minimum number of points in the contact cache, above which the feature is disabled 3 is a good value for both params, if you want to enable the feature. This is because the default contact cache contains a maximum of 4 points, and one collision query at the unperturbed orientation is performed first. See Bullet/Demos/CollisionDemo for an example how this feature gathers multiple points.

Todo: we could add a per-object setting of those parameters, for level-of-detail collision detection.

Definition at line 346 of file btDefaultCollisionConfiguration.cpp.

References m_convexConvexCreateFunc, btConvexConvexAlgorithm::CreateFunc::m_minimumPointsPerturbationThreshold, and btConvexConvexAlgorithm::CreateFunc::m_numPerturbationIterations.

◆ setPlaneConvexMultipointIterations()

void btDefaultCollisionConfiguration::setPlaneConvexMultipointIterations	(	int	numPerturbationIterations = 3,
		int	minimumPointsPerturbationThreshold = 3 )