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 cbtActivatingCollisionAlgorithm.

Public Member Functions
	cbtSphereCylinderCollisionAlgorithm (cbtPersistentManifold mf, const cbtCollisionAlgorithmConstructionInfo &ci, const cbtCollisionObjectWrapper col0, const cbtCollisionObjectWrapper *col1, bool isSwapped)

	cbtSphereCylinderCollisionAlgorithm (const cbtCollisionAlgorithmConstructionInfo &ci)

virtual void	processCollision (const cbtCollisionObjectWrapper body0, const cbtCollisionObjectWrapper body1, const cbtDispatcherInfo &dispatchInfo, cbtManifoldResult *resultOut) override

virtual cbtScalar	calculateTimeOfImpact (cbtCollisionObject body0, cbtCollisionObject body1, const cbtDispatcherInfo &dispatchInfo, cbtManifoldResult *resultOut) override

virtual void	getAllContactManifolds (cbtManifoldArray &manifoldArray) override

Member Function Documentation

void chrono::collision::cbtSphereCylinderCollisionAlgorithm::processCollision	(	const cbtCollisionObjectWrapper *	body0,
		const cbtCollisionObjectWrapper *	body1,
		const cbtDispatcherInfo &	dispatchInfo,
		cbtManifoldResult *	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: