Bullet Collision Detection & Physics Library: btGImpactCollisionAlgorithm.h Source File

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btGImpactCollisionAlgorithm.h
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1
4/*
5This source file is part of GIMPACT Library.
6
7For the latest info, see http://gimpact.sourceforge.net/
8
9Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
10email: projectileman@yahoo.com
11
12
13This software is provided 'as-is', without any express or implied warranty.
14In no event will the authors be held liable for any damages arising from the use of this software.
15Permission is granted to anyone to use this software for any purpose,
16including commercial applications, and to alter it and redistribute it freely,
17subject to the following restrictions:
18
191. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
202. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
213. This notice may not be removed or altered from any source distribution.
22*/
23
24#ifndef BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
25#define BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
26
27#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
28#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
29#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
30#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
31class btDispatcher;
32#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
33#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
34#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
35
36#include "LinearMath/btAlignedObjectArray.h"
37
38#include "btGImpactShape.h"
39#include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
40#include "BulletCollision/CollisionShapes/btCompoundShape.h"
41#include "BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h"
42#include "LinearMath/btIDebugDraw.h"
43#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
44
46
53 class btGImpactCollisionAlgorithm : public btActivatingCollisionAlgorithm
54{
55protected:
56 btCollisionAlgorithm* m_convex_algorithm;
57 btPersistentManifold* m_manifoldPtr;
58 btManifoldResult* m_resultOut;
59 const btDispatcherInfo* m_dispatchInfo;
60 int m_triface0;
61 int m_part0;
62 int m_triface1;
63 int m_part1;
64
66 SIMD_FORCE_INLINE btPersistentManifold* newContactManifold(const btCollisionObject* body0, const btCollisionObject* body1)
67 {
68 m_manifoldPtr = m_dispatcher->getNewManifold(body0, body1);
69 return m_manifoldPtr;
70 }
71
72 SIMD_FORCE_INLINE void destroyConvexAlgorithm()
73 {
74 if (m_convex_algorithm)
75 {
76 m_convex_algorithm->~btCollisionAlgorithm();
77 m_dispatcher->freeCollisionAlgorithm(m_convex_algorithm);
78 m_convex_algorithm = NULL;
79 }
80 }
81
82 SIMD_FORCE_INLINE void destroyContactManifolds()
83 {
84 if (m_manifoldPtr == NULL) return;
85 m_dispatcher->releaseManifold(m_manifoldPtr);
86 m_manifoldPtr = NULL;
87 }
88
89 SIMD_FORCE_INLINE void clearCache()
90 {
91 destroyContactManifolds();
92 destroyConvexAlgorithm();
93
94 m_triface0 = -1;
95 m_part0 = -1;
96 m_triface1 = -1;
97 m_part1 = -1;
98 }
99
100 SIMD_FORCE_INLINE btPersistentManifold* getLastManifold()
101 {
102 return m_manifoldPtr;
103 }
104
105 // Call before process collision
106 SIMD_FORCE_INLINE void checkManifold(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
107 {
108 if (getLastManifold() == 0)
109 {
110 newContactManifold(body0Wrap->getCollisionObject(), body1Wrap->getCollisionObject());
111 }
112
113 m_resultOut->setPersistentManifold(getLastManifold());
114 }
115
116 // Call before process collision
117 SIMD_FORCE_INLINE btCollisionAlgorithm* newAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
118 {
119 checkManifold(body0Wrap, body1Wrap);
120
121 btCollisionAlgorithm* convex_algorithm = m_dispatcher->findAlgorithm(
122 body0Wrap, body1Wrap, getLastManifold(), BT_CONTACT_POINT_ALGORITHMS);
123 return convex_algorithm;
124 }
125
126 // Call before process collision
127 SIMD_FORCE_INLINE void checkConvexAlgorithm(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
128 {
129 if (m_convex_algorithm) return;
130 m_convex_algorithm = newAlgorithm(body0Wrap, body1Wrap);
131 }
132
133 void addContactPoint(const btCollisionObjectWrapper* body0Wrap,
134 const btCollisionObjectWrapper* body1Wrap,
135 const btVector3& point,
136 const btVector3& normal,
137 btScalar distance);
138
141
142 void collide_gjk_triangles(const btCollisionObjectWrapper* body0Wrap,
143 const btCollisionObjectWrapper* body1Wrap,
144 const btGImpactMeshShapePart* shape0,
145 const btGImpactMeshShapePart* shape1,
146 const int* pairs, int pair_count);
147
148 void collide_sat_triangles(const btCollisionObjectWrapper* body0Wrap,
149 const btCollisionObjectWrapper* body1Wrap,
150 const btGImpactMeshShapePart* shape0,
151 const btGImpactMeshShapePart* shape1,
152 const int* pairs, int pair_count);
153
154 void shape_vs_shape_collision(
155 const btCollisionObjectWrapper* body0,
156 const btCollisionObjectWrapper* body1,
157 const btCollisionShape* shape0,
158 const btCollisionShape* shape1);
159
160 void convex_vs_convex_collision(const btCollisionObjectWrapper* body0Wrap,
161 const btCollisionObjectWrapper* body1Wrap,
162 const btCollisionShape* shape0,
163 const btCollisionShape* shape1);
164
165 void gimpact_vs_gimpact_find_pairs(
166 const btTransform& trans0,
167 const btTransform& trans1,
168 const btGImpactShapeInterface* shape0,
169 const btGImpactShapeInterface* shape1, btPairSet& pairset);
170
171 void gimpact_vs_shape_find_pairs(
172 const btTransform& trans0,
173 const btTransform& trans1,
174 const btGImpactShapeInterface* shape0,
175 const btCollisionShape* shape1,
176 btAlignedObjectArray<int>& collided_primitives);
177
178 void gimpacttrimeshpart_vs_plane_collision(
179 const btCollisionObjectWrapper* body0Wrap,
180 const btCollisionObjectWrapper* body1Wrap,
181 const btGImpactMeshShapePart* shape0,
182 const btStaticPlaneShape* shape1, bool swapped);
183
184public:
185 btGImpactCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap);
186
187 virtual ~btGImpactCollisionAlgorithm();
188
189 virtual void processCollision(const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
190
191 btScalar calculateTimeOfImpact(btCollisionObject* body0, btCollisionObject* body1, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut);
192
193 virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
194 {
195 if (m_manifoldPtr)
196 manifoldArray.push_back(m_manifoldPtr);
197 }
198
199 btManifoldResult* internalGetResultOut()
200 {
201 return m_resultOut;
202 }
203
204 struct CreateFunc : public btCollisionAlgorithmCreateFunc
205 {
206 virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap)
207 {
208 void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btGImpactCollisionAlgorithm));
209 return new (mem) btGImpactCollisionAlgorithm(ci, body0Wrap, body1Wrap);
210 }
211 };
212
214 static void registerAlgorithm(btCollisionDispatcher* dispatcher);
215#ifdef TRI_COLLISION_PROFILING
217 static float getAverageTreeCollisionTime();
218
220 static float getAverageTriangleCollisionTime();
221#endif //TRI_COLLISION_PROFILING
222
224
228 void gimpact_vs_gimpact(const btCollisionObjectWrapper* body0Wrap,
229 const btCollisionObjectWrapper* body1Wrap,
230 const btGImpactShapeInterface* shape0,
231 const btGImpactShapeInterface* shape1);
232
233 void gimpact_vs_shape(const btCollisionObjectWrapper* body0Wrap,
234 const btCollisionObjectWrapper* body1Wrap,
235 const btGImpactShapeInterface* shape0,
236 const btCollisionShape* shape1, bool swapped);
237
238 void gimpact_vs_compoundshape(const btCollisionObjectWrapper* body0Wrap,
239 const btCollisionObjectWrapper* body1Wrap,
240 const btGImpactShapeInterface* shape0,
241 const btCompoundShape* shape1, bool swapped);
242
243 void gimpact_vs_concave(
244 const btCollisionObjectWrapper* body0Wrap,
245 const btCollisionObjectWrapper* body1Wrap,
246 const btGImpactShapeInterface* shape0,
247 const btConcaveShape* shape1, bool swapped);
248
250 void setFace0(int value)
251 {
252 m_triface0 = value;
253 }
254 int getFace0()
255 {
256 return m_triface0;
257 }
258 void setFace1(int value)
259 {
260 m_triface1 = value;
261 }
262 int getFace1()
263 {
264 return m_triface1;
265 }
266 void setPart0(int value)
267 {
268 m_part0 = value;
269 }
270 int getPart0()
271 {
272 return m_part0;
273 }
274 void setPart1(int value)
275 {
276 m_part1 = value;
277 }
278 int getPart1()
279 {
280 return m_part1;
281 }
282};
283
284//algorithm details
285//#define BULLET_TRIANGLE_COLLISION 1
286#define GIMPACT_VS_PLANE_COLLISION 1
287
288#endif //BT_GIMPACT_BVH_CONCAVE_COLLISION_ALGORITHM_H
btActivatingCollisionAlgorithm.h
btAlignedObjectArray.h
btBroadphaseInterface.h
btBroadphaseProxy.h
btCollisionCreateFunc.h
btCollisionDispatcher.h
btCollisionObjectWrapper.h
btCompoundShape.h
btConvexConvexAlgorithm.h
btDispatcher.h
BT_CONTACT_POINT_ALGORITHMS
@ BT_CONTACT_POINT_ALGORITHMS
Definition: btDispatcher.h:70
btGImpactShape.h
btIDebugDraw.h
btPersistentManifold.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btStaticPlaneShape.h
btActivatingCollisionAlgorithm
This class is not enabled yet (work-in-progress) to more aggressively activate objects.
Definition: btActivatingCollisionAlgorithm.h:23
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:46
btAlignedObjectArray::push_back
void push_back(const T &_Val)
Definition: btAlignedObjectArray.h:257
btCollisionAlgorithm
btCollisionAlgorithm is an collision interface that is compatible with the Broadphase and btDispatche...
Definition: btCollisionAlgorithm.h:54
btCollisionAlgorithm::m_dispatcher
btDispatcher * m_dispatcher
Definition: btCollisionAlgorithm.h:56
btCollisionAlgorithm::~btCollisionAlgorithm
virtual ~btCollisionAlgorithm()
Definition: btCollisionAlgorithm.h:66
btCollisionDispatcher
btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
Definition: btCollisionDispatcher.h:43
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:51
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:28
btCompoundShape
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
Definition: btCompoundShape.h:57
btConcaveShape
The btConcaveShape class provides an interface for non-moving (static) concave shapes.
Definition: btConcaveShape.h:39
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
btDispatcher::allocateCollisionAlgorithm
virtual void * allocateCollisionAlgorithm(int size)=0
btDispatcher::releaseManifold
virtual void releaseManifold(btPersistentManifold *manifold)=0
btDispatcher::freeCollisionAlgorithm
virtual void freeCollisionAlgorithm(void *ptr)=0
btDispatcher::findAlgorithm
virtual btCollisionAlgorithm * findAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, btPersistentManifold *sharedManifold, ebtDispatcherQueryType queryType)=0
btDispatcher::getNewManifold
virtual btPersistentManifold * getNewManifold(const btCollisionObject *b0, const btCollisionObject *b1)=0
btGImpactCollisionAlgorithm
Collision Algorithm for GImpact Shapes.
Definition: btGImpactCollisionAlgorithm.h:54
btGImpactCollisionAlgorithm::getLastManifold
btPersistentManifold * getLastManifold()
Definition: btGImpactCollisionAlgorithm.h:100
btGImpactCollisionAlgorithm::gimpact_vs_concave
void gimpact_vs_concave(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btConcaveShape *shape1, bool swapped)
Definition: btGImpactCollisionAlgorithm.cpp:779
btGImpactCollisionAlgorithm::getFace1
int getFace1()
Definition: btGImpactCollisionAlgorithm.h:262
btGImpactCollisionAlgorithm::gimpact_vs_shape_find_pairs
void gimpact_vs_shape_find_pairs(const btTransform &trans0, const btTransform &trans1, const btGImpactShapeInterface *shape0, const btCollisionShape *shape1, btAlignedObjectArray< int > &collided_primitives)
Definition: btGImpactCollisionAlgorithm.cpp:276
btGImpactCollisionAlgorithm::setFace0
void setFace0(int value)
Accessor/Mutator pairs for Part and triangleID.
Definition: btGImpactCollisionAlgorithm.h:250
btGImpactCollisionAlgorithm::newAlgorithm
btCollisionAlgorithm * newAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btGImpactCollisionAlgorithm.h:117
btGImpactCollisionAlgorithm::collide_gjk_triangles
void collide_gjk_triangles(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactMeshShapePart *shape0, const btGImpactMeshShapePart *shape1, const int *pairs, int pair_count)
Collision routines.
Definition: btGImpactCollisionAlgorithm.cpp:313
btGImpactCollisionAlgorithm::m_convex_algorithm
btCollisionAlgorithm * m_convex_algorithm
Definition: btGImpactCollisionAlgorithm.h:56
btGImpactCollisionAlgorithm::m_dispatchInfo
const btDispatcherInfo * m_dispatchInfo
Definition: btGImpactCollisionAlgorithm.h:59
btGImpactCollisionAlgorithm::checkConvexAlgorithm
void checkConvexAlgorithm(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btGImpactCollisionAlgorithm.h:127
btGImpactCollisionAlgorithm::gimpact_vs_gimpact
void gimpact_vs_gimpact(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btGImpactShapeInterface *shape1)
Collides two gimpact shapes.
Definition: btGImpactCollisionAlgorithm.cpp:410
btGImpactCollisionAlgorithm::gimpact_vs_compoundshape
void gimpact_vs_compoundshape(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btCompoundShape *shape1, bool swapped)
Definition: btGImpactCollisionAlgorithm.cpp:629
btGImpactCollisionAlgorithm::internalGetResultOut
btManifoldResult * internalGetResultOut()
Definition: btGImpactCollisionAlgorithm.h:199
btGImpactCollisionAlgorithm::calculateTimeOfImpact
btScalar calculateTimeOfImpact(btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btGImpactCollisionAlgorithm.cpp:843
btGImpactCollisionAlgorithm::gimpact_vs_gimpact_find_pairs
void gimpact_vs_gimpact_find_pairs(const btTransform &trans0, const btTransform &trans1, const btGImpactShapeInterface *shape0, const btGImpactShapeInterface *shape1, btPairSet &pairset)
Definition: btGImpactCollisionAlgorithm.cpp:242
btGImpactCollisionAlgorithm::getPart0
int getPart0()
Definition: btGImpactCollisionAlgorithm.h:270
btGImpactCollisionAlgorithm::gimpacttrimeshpart_vs_plane_collision
void gimpacttrimeshpart_vs_plane_collision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactMeshShapePart *shape0, const btStaticPlaneShape *shape1, bool swapped)
Definition: btGImpactCollisionAlgorithm.cpp:670
btGImpactCollisionAlgorithm::gimpact_vs_shape
void gimpact_vs_shape(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactShapeInterface *shape0, const btCollisionShape *shape1, bool swapped)
Definition: btGImpactCollisionAlgorithm.cpp:510
btGImpactCollisionAlgorithm::m_part0
int m_part0
Definition: btGImpactCollisionAlgorithm.h:61
btGImpactCollisionAlgorithm::newContactManifold
btPersistentManifold * newContactManifold(const btCollisionObject *body0, const btCollisionObject *body1)
Creates a new contact point.
Definition: btGImpactCollisionAlgorithm.h:66
btGImpactCollisionAlgorithm::destroyContactManifolds
void destroyContactManifolds()
Definition: btGImpactCollisionAlgorithm.h:82
btGImpactCollisionAlgorithm::m_manifoldPtr
btPersistentManifold * m_manifoldPtr
Definition: btGImpactCollisionAlgorithm.h:57
btGImpactCollisionAlgorithm::~btGImpactCollisionAlgorithm
virtual ~btGImpactCollisionAlgorithm()
Definition: btGImpactCollisionAlgorithm.cpp:190
btGImpactCollisionAlgorithm::m_triface1
int m_triface1
Definition: btGImpactCollisionAlgorithm.h:62
btGImpactCollisionAlgorithm::m_part1
int m_part1
Definition: btGImpactCollisionAlgorithm.h:63
btGImpactCollisionAlgorithm::m_resultOut
btManifoldResult * m_resultOut
Definition: btGImpactCollisionAlgorithm.h:58
btGImpactCollisionAlgorithm::convex_vs_convex_collision
void convex_vs_convex_collision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btCollisionShape *shape0, const btCollisionShape *shape1)
Definition: btGImpactCollisionAlgorithm.cpp:227
btGImpactCollisionAlgorithm::setPart1
void setPart1(int value)
Definition: btGImpactCollisionAlgorithm.h:274
btGImpactCollisionAlgorithm::getFace0
int getFace0()
Definition: btGImpactCollisionAlgorithm.h:254
btGImpactCollisionAlgorithm::checkManifold
void checkManifold(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btGImpactCollisionAlgorithm.h:106
btGImpactCollisionAlgorithm::registerAlgorithm
static void registerAlgorithm(btCollisionDispatcher *dispatcher)
Use this function for register the algorithm externally.
Definition: btGImpactCollisionAlgorithm.cpp:851
btGImpactCollisionAlgorithm::clearCache
void clearCache()
Definition: btGImpactCollisionAlgorithm.h:89
btGImpactCollisionAlgorithm::setPart0
void setPart0(int value)
Definition: btGImpactCollisionAlgorithm.h:266
btGImpactCollisionAlgorithm::collide_sat_triangles
void collide_sat_triangles(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btGImpactMeshShapePart *shape0, const btGImpactMeshShapePart *shape1, const int *pairs, int pair_count)
Definition: btGImpactCollisionAlgorithm.cpp:347
btGImpactCollisionAlgorithm::setFace1
void setFace1(int value)
Definition: btGImpactCollisionAlgorithm.h:258
btGImpactCollisionAlgorithm::processCollision
virtual void processCollision(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
Definition: btGImpactCollisionAlgorithm.cpp:805
btGImpactCollisionAlgorithm::getAllContactManifolds
virtual void getAllContactManifolds(btManifoldArray &manifoldArray)
Definition: btGImpactCollisionAlgorithm.h:193
btGImpactCollisionAlgorithm::shape_vs_shape_collision
void shape_vs_shape_collision(const btCollisionObjectWrapper *body0, const btCollisionObjectWrapper *body1, const btCollisionShape *shape0, const btCollisionShape *shape1)
Definition: btGImpactCollisionAlgorithm.cpp:207
btGImpactCollisionAlgorithm::addContactPoint
void addContactPoint(const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btVector3 &point, const btVector3 &normal, btScalar distance)
Definition: btGImpactCollisionAlgorithm.cpp:195
btGImpactCollisionAlgorithm::m_triface0
int m_triface0
Definition: btGImpactCollisionAlgorithm.h:60
btGImpactCollisionAlgorithm::getPart1
int getPart1()
Definition: btGImpactCollisionAlgorithm.h:278
btGImpactCollisionAlgorithm::destroyConvexAlgorithm
void destroyConvexAlgorithm()
Definition: btGImpactCollisionAlgorithm.h:72
btGImpactMeshShapePart
This class manages a sub part of a mesh supplied by the btStridingMeshInterface interface.
Definition: btGImpactShape.h:503
btGImpactShapeInterface
Base class for gimpact shapes.
Definition: btGImpactShape.h:74
btManifoldResult
btManifoldResult is a helper class to manage contact results.
Definition: btManifoldResult.h:48
btManifoldResult::setPersistentManifold
void setPersistentManifold(btPersistentManifold *manifoldPtr)
Definition: btManifoldResult.h:77
btPairSet
A pairset array.
Definition: btGImpactBvh.h:35
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:65
btStaticPlaneShape
The btStaticPlaneShape simulates an infinite non-moving (static) collision plane.
Definition: btStaticPlaneShape.h:24
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btCollisionAlgorithmConstructionInfo
Definition: btCollisionAlgorithm.h:33
btCollisionAlgorithmConstructionInfo::m_dispatcher1
btDispatcher * m_dispatcher1
Definition: btCollisionAlgorithm.h:45
btCollisionAlgorithmCreateFunc
Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm.
Definition: btCollisionCreateFunc.h:27
btCollisionObjectWrapper
Definition: btCollisionObjectWrapper.h:18
btCollisionObjectWrapper::getCollisionObject
const btCollisionObject * getCollisionObject() const
Definition: btCollisionObjectWrapper.h:45
btDispatcherInfo
Definition: btDispatcher.h:31
btGImpactCollisionAlgorithm::CreateFunc
Definition: btGImpactCollisionAlgorithm.h:205
btGImpactCollisionAlgorithm::CreateFunc::CreateCollisionAlgorithm
virtual btCollisionAlgorithm * CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Definition: btGImpactCollisionAlgorithm.h:206