btConvexConvexAlgorithm Class Reference

Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. More...

#include <btConvexConvexAlgorithm.h>

Inheritance diagram for btConvexConvexAlgorithm:

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Collaboration diagram for btConvexConvexAlgorithm:

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List of all members.

Classes
struct	CreateFunc
Public Member Functions
	btConvexConvexAlgorithm (btPersistentManifold mf, const btCollisionAlgorithmConstructionInfo &ci, btCollisionObject body0, btCollisionObject body1, btSimplexSolverInterface simplexSolver, btConvexPenetrationDepthSolver *pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
	cache separating vector to speedup collision detection
virtual	~btConvexConvexAlgorithm ()
virtual void	processCollision (btCollisionObject body0, btCollisionObject body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual btScalar	calculateTimeOfImpact (btCollisionObject body0, btCollisionObject body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual void	getAllContactManifolds (btManifoldArray &manifoldArray)
void	setLowLevelOfDetail (bool useLowLevel)
const btPersistentManifold *	getManifold ()
Private Attributes
btSimplexSolverInterface *	m_simplexSolver
btConvexPenetrationDepthSolver *	m_pdSolver
bool	m_ownManifold
btPersistentManifold *	m_manifoldPtr
bool	m_lowLevelOfDetail
int	m_numPerturbationIterations
int	m_minimumPointsPerturbationThreshold

Detailed Description

Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation.

However, when using large size ratios GJK can be imprecise so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions. Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util for certain pairs that have a small size ratio The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects. Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal. This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888

Definition at line 40 of file btConvexConvexAlgorithm.h.

Constructor & Destructor Documentation

btConvexConvexAlgorithm::btConvexConvexAlgorithm	(	btPersistentManifold *	mf,
		const btCollisionAlgorithmConstructionInfo &	ci,
		btCollisionObject *	body0,
		btCollisionObject *	body1,
		btSimplexSolverInterface *	simplexSolver,
		btConvexPenetrationDepthSolver *	pdSolver,
		int	numPerturbationIterations,
		int	minimumPointsPerturbationThreshold
	)

cache separating vector to speedup collision detection

Definition at line 191 of file btConvexConvexAlgorithm.cpp.

btConvexConvexAlgorithm::~btConvexConvexAlgorithm ( ) [virtual]

Definition at line 212 of file btConvexConvexAlgorithm.cpp.

Member Function Documentation

btScalar btConvexConvexAlgorithm::calculateTimeOfImpact	(	btCollisionObject *	body0,
		btCollisionObject *	body1,
		const btDispatcherInfo &	dispatchInfo,
		btManifoldResult *	resultOut
	)			`[virtual]`

Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold

Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold col0->m_worldTransform,

Convex0 against sphere for Convex1

Simplification, one object is simplified as a sphere

Sphere (for convex0) against Convex1

Simplification, one object is simplified as a sphere

Implements btCollisionAlgorithm.

Definition at line 480 of file btConvexConvexAlgorithm.cpp.

virtual void btConvexConvexAlgorithm::getAllContactManifolds ( btManifoldArray & manifoldArray ) [inline, virtual]

should we use m_ownManifold to avoid adding duplicates?

Implements btCollisionAlgorithm.

Definition at line 71 of file btConvexConvexAlgorithm.h.

const btPersistentManifold* btConvexConvexAlgorithm::getManifold ( ) [inline]

Definition at line 82 of file btConvexConvexAlgorithm.h.

void btConvexConvexAlgorithm::processCollision	(	btCollisionObject *	body0,
		btCollisionObject *	body1,
		const btDispatcherInfo &	dispatchInfo,
		btManifoldResult *	resultOut
	)			`[virtual]`