Description

Custom override of the default Bullet algorithm for sphere-cylinder collision.

This replaces the default GJK algorithm in Bullet which is inaccurate if the cylinder is much larger than the sphere.

#include <ChCollisionAlgorithmsBullet.h>

Inherits btActivatingCollisionAlgorithm.

Public Member Functions
	btSphereCylinderCollisionAlgorithm (btPersistentManifold mf, const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper col0, const btCollisionObjectWrapper *col1, bool isSwapped)

	btSphereCylinderCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo &ci)

virtual void	processCollision (const btCollisionObjectWrapper body0, const btCollisionObjectWrapper body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) override

virtual btScalar	calculateTimeOfImpact (btCollisionObject body0, btCollisionObject body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) override

virtual void	getAllContactManifolds (btManifoldArray &manifoldArray) override

Member Function Documentation

void chrono::collision::btSphereCylinderCollisionAlgorithm::processCollision	(	const btCollisionObjectWrapper *	body0,
		const btCollisionObjectWrapper *	body1,
		const btDispatcherInfo &	dispatchInfo,
		btManifoldResult *	resultOut
	)

overridevirtual

iff distance positive, don't generate a new contact

distance (negative means penetration)

point on B (worldspace)

report a contact. internally this will be kept persistent, and contact reduction is done

The documentation for this class was generated from the following files: