KrisLibrary
1.0.0
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Public Member Functions | |
PointMeshCollider (const CollisionPointCloud &a, const CollisionMesh &b, Real _margin) | |
bool | Recurse (size_t _maxContacts=1) |
bool | Prune (const OctreeNode &pcnode, const BV &meshnode) |
bool | _Recurse (int pcOctreeNode, int meshBVHNode) |
bool | _RecurseSplitMesh (int pcOctreeNode, int meshBVHNode) |
bool | _RecurseSplitOctree (int pcOctreeNode, int meshBVHNode) |
Public Attributes | |
const CollisionPointCloud & | pc |
const CollisionMesh & | mesh |
RigidTransform | Tba |
RigidTransform | Twa |
RigidTransform | Tab |
Real | margin |
size_t | maxContacts |
vector< int > | pcpoints |
vector< int > | meshtris |
vector< Real > | pairdistances2 |