47 int numVectors =
sizeof(guessVectors) /
sizeof(
btVector3);
49 for (
int i = 0; i < numVectors; i++)
51 simplexSolver.reset();
58 guessVector, results))
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
#define btSimplexSolverInterface
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
static bool Penetration(const btConvexShape *shape0, const btTransform &wtrs0, const btConvexShape *shape1, const btTransform &wtrs1, const btVector3 &guess, sResults &results, bool usemargins=true)
btVector3 can be used to represent 3D points and vectors.
static bool Distance(const btConvexShape *shape0, const btTransform &wtrs0, const btConvexShape *shape1, const btTransform &wtrs1, const btVector3 &guess, sResults &results)
bool calcPenDepth(btSimplexSolverInterface &simplexSolver, const btConvexShape *pConvexA, const btConvexShape *pConvexB, const btTransform &transformA, const btTransform &transformB, btVector3 &v, btVector3 &wWitnessOnA, btVector3 &wWitnessOnB, class btIDebugDraw *debugDraw)