17#ifndef BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
18#define BT_CONTINUOUS_COLLISION_CONVEX_CAST_H
#define btSimplexSolverInterface
btContinuousConvexCollision implements angular and linear time of impact for convex objects.
btContinuousConvexCollision(const btConvexShape *shapeA, const btConvexShape *shapeB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
void computeClosestPoints(const btTransform &transA, const btTransform &transB, struct btPointCollector &pointCollector)
const btStaticPlaneShape * m_planeShape
btConvexPenetrationDepthSolver * m_penetrationDepthSolver
const btConvexShape * m_convexA
btSimplexSolverInterface * m_simplexSolver
const btConvexShape * m_convexB1
virtual bool calcTimeOfImpact(const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
cast a convex against another convex object
btConvexCast is an interface for Casting
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
The btStaticPlaneShape simulates an infinite non-moving (static) collision plane.
RayResult stores the closest result alternatively, add a callback method to decide about closest/all ...