Compute the convex hull of a set of points and return the resulting convex mesh

Compute the concave vs convex middle-phase algorithm for a given pair of bodies

Given an "inputAngle" in the range [-pi, pi], this method returns an angle (modulo 2*pi) in the range [-2*pi; 2*pi] that is closest to one of the two

Return the current cone angle (for the cone limit) * @return The positive cone angle in radian in range [0, PI] */

Compute and return the distance between the two edges in the direction of the candidate separating axis

Compute the penetration depth when the separating axis is the cross product of polyhedron edge and capsule inner segment

Compute the first grid cell of the heightfield intersected by a ray. This method returns true if the ray hit the AABB of the height field and false ot

Compute the epsilon value for this mesh

Compute the FPS

Compute and return the face normal (not normalized)

Compute the faces normals

Compute the final PolygonVertexArray from the convex hull half-edge structure

Compute the two unit orthogonal vectors "t1" and "t2" that span the tangential friction plane for a contact manifold. The two vectors have to be such

Compute the height of the tree

Compute the initial tetrahedron convex hull

Compute the lost contact pairs (contact pairs in contact in the previous frame but not in the current one)

Compute the map from contact pairs ids to contact pair for the next frame

Compute the local-space inertia tensor and total mass of the body using its colliders

Compute the middle-phase collision detection

Compute the middle-phase collision detection

Compute the min/max grid coords corresponding to the intersection of the AABB of the height field and the AABB to collide

Compute the mixed friction coefficient from the friction coefficient of each collider

Compute the collision restitution factor from the restitution factor of each collider

Compute the narrow-phase collision detection

Compute the narrow-phase collision detection for the testCollision() methods. This method returns true if contacts are found.

Compute the narrow-phase collision detection for the testOverlap() methods. This method returns true if contacts are found.

Given an angle in radian, this method returns the corresponding angle in the range [-pi; pi]

Process the potential overlapping bodies for the testOverlap() methods

Compute all the triangles of the mesh that are overlapping with the AABB in parameter

Test collision with the triangles of the height field shape. The idea is to use the AABB of the body when need to test and see against which triangles

Compute the penetration depth between the face of a polyhedron and a capsule along the polyhedron face normal direction

Compute the penetration depth between a face of the polyhedron and a sphere along the polyhedron face normal direction

Compute the contact points between two faces of two convex polyhedra. The method returns true if contact points have been found

Return the largest depth of all the contact points of a potential manifold

Compute the scaled faces normals

Compute the scaled faces normals

Return a skew-symmetric matrix using a given vector that can be used to compute cross product with another vector using matrix multiplication

Get a smooth contact normal for collision for a triangle of the mesh This is used to avoid the internal edges issue that occurs when a shape is collid

This method compute the smooth mesh contact with a triangle in case one of the two collision shapes is a triangle. The idea in this case is to use a s

Compute the new transform matrix

Compute the transformed AABB of the collision shape given a transform * @param transform Transform to use for the space conversion * @return aabb The

Compute the transformed AABB of the collision shape in another space The technique is described in the book Real-Time Collision Detection by Christer

Compute the vertices normals Compute the vertices normals if they are not provided by the user The vertices normals are computed with weighted average

Compute the volume of the convex mesh We use the divergence theorem to compute the volume of the convex mesh using a sum over its faces.

Compute the inverse of the inertia tensor in world coordinates.

Return true if a point is inside the AABB

Copy the data from the user into the height-field array

Copy the triangles faces

Copy the vertices into the mesh

Create the texture

Create the vertex buffer object

Create the vertex buffer object

Create the frame buffer object

Create and return an AABB for a triangle

Create the boxes and joints for the Ball-and-Socket joint example

Create the boxes and joints for the Ball-and-Socket joint example

Create the Vertex Buffer Objects used to render the contact normal line

Create a the VAO and VBOs to render the debug infos

Create and return a new logger * @return A pointer to the created default logger */

Create the fixed joint

Create the boxes and joints for the fixed joints

Create the floor

Create the half-edge structure of the mesh This method returns true if the mesh is valid or false otherwise

Create the hinge joint

Compute the islands using potential contacts and joints We compute the islands before creating the actual contacts here because we want all the contac

Create the joints

Create the joints

Create the joints

Create the joints

Create the joints

Create the raycast lines

Create the physics world

Create the physics world

Create the physics world

Create the physics world

Create the physics world

Create the physics world

Create the physics world

Create the physics world

Create the physics world

Create the physics world

Create the physics world

Create the physics world

Create the physics world

Create and return a new profiler Note that you need to use a different profiler for each PhysicsWorld.

Create the boxes and joint for the Hinge joint example

Used for debugging shadow maps

Create the boxes and joints for the ragdoll

Create all the scenes

Create the Shadow map FBO and texture

Create the boxes and joint for the Slider joint example

Create the boxes and joint for the Slider joint example

Create the actual contact manifolds and contacts points for testCollision() methods

Load and initialize the mesh for all the contact points

Create the Vertex Buffer Objects used to render with OpenGL. We create two VBOs (one for vertices and one for indices)

Create the Vertex Buffer Objects used to render with OpenGL. We create two VBOs (one for vertices and one for indices)

Create the Vertex Buffer Objects used to render with OpenGL. We create two VBOs (one for vertices and one for indices)