diff options
Diffstat (limited to 'modules/bullet/space_bullet.h')
| -rw-r--r-- | modules/bullet/space_bullet.h | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/modules/bullet/space_bullet.h b/modules/bullet/space_bullet.h index d9206f8046..9acac9a7d6 100644 --- a/modules/bullet/space_bullet.h +++ b/modules/bullet/space_bullet.h @@ -189,6 +189,12 @@ private: : hasPenetration(false) {} }; - bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btVector3 &out_recover_position, RecoverResult *recover_result = NULL); + bool recover_from_penetration(RigidBodyBullet *p_body, const btTransform &p_from, btVector3 &r_recover_position, RecoverResult *r_recover_result = NULL); + /// This is an API that recover a kinematic object from penetration + /// This allow only Convex Convex test and it always use GJK algorithm, With this API we don't benefit of Bullet special accelerated functions + bool RFP_convex_convex_test(const btConvexShape *p_shapeA, const btConvexShape *p_shapeB, btCollisionObject *p_objectB, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btVector3 &r_recover_position, RecoverResult *r_recover_result); + /// This is an API that recover a kinematic object from penetration + /// Using this we leave Bullet to select the best algorithm, For example GJK in case we have Convex Convex, or a Bullet accelerated algorithm + bool RFP_convex_world_test(const btConvexShape *p_shapeA, const btCollisionShape *p_shapeB, btCollisionObject *p_objectA, btCollisionObject *p_objectB, int p_shapeId_A, int p_shapeId_B, const btTransform &p_transformA, const btTransform &p_transformB, btVector3 &r_recover_position, RecoverResult *r_recover_result); }; #endif |