Blender
V3.3
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#include <btContinuousConvexCollision.h>
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 More... | |
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virtual | ~btConvexCast () |
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.
btContinuousConvexCollision::btContinuousConvexCollision | ( | const btConvexShape * | shapeA, |
const btConvexShape * | shapeB, | ||
btSimplexSolverInterface * | simplexSolver, | ||
btConvexPenetrationDepthSolver * | penetrationDepthSolver | ||
) |
Definition at line 26 of file btContinuousConvexCollision.cpp.
btContinuousConvexCollision::btContinuousConvexCollision | ( | const btConvexShape * | shapeA, |
const btStaticPlaneShape * | plane | ||
) |
Definition at line 35 of file btContinuousConvexCollision.cpp.
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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, Freestyle::c, btTransformUtil::calculateVelocity(), btTransformUtil::integrateTransform(), blender::math::length(), btPointCollector::m_distance, btPointCollector::m_hasResult, btPointCollector::m_normalOnBInWorld, btPointCollector::m_pointInWorld, MAX_ITERATIONS, result, and SIMD_EPSILON.