Compute the narrow-phase collision detection between a sphere and a convex polyhedron This technique is based on the "Robust Contact Creation for Phys

Compute the narrow-phase collision detection between a sphere and a capsule This technique is based on the "Robust Contact Creation for Physics Simula

Compute the narrow-phase collision detection between two capsules This technique is based on the "Robust Contact Creation for Physics Simulations" pre

Compute the narrow-phase collision detection between two convex polyhedra This technique is based on the "Robust Contact Creation for Physics Simulati

Compute the narrow-phase collision detection between a capsule and a polyhedron This technique is based on the "Robust Contact Creation for Physics Si

Test the RigidBody::testPointInside() method

Test the RigidBody::raycast() and PhysicsWorld::raycast() methods.

Test the constructors

Test the constructors, getter and setter

Test the constructors

Test the constructors, getter and setter

Test the constructors

Test the constructors

Test a simple mesh

Test the Collider::testPointInside() and RigidBody::testPointInside() methods

Test the Collider::raycast(), RigidBody::raycast() and PhysicsWorld::raycast() methods.

Test the dot and cross products

Test the dot product

Return true if two edges of two polyhedrons build a minkowski face (and can therefore be a separating axis)

Test all the normals of a polyhedron for separating axis in the polyhedron vs polyhedron case

Return true if the arcs AB and CD on the Gauss Map (unit sphere) intersect This is used to know if the edge between faces with normal A and B on first

Test getter and setter

Test the getter and setter methods

Test the getter and setter methods

Test methods to set and get transform matrix from and to OpenGL

Test the identity methods

Test the identity methods

Test the identity methods

Test the method to interpolate transforms

Test the inverse

Return true if a given edge is convex and false otherwise

Return true if the vertex is part of horizon edges

Test the length, unit vector and normalize methods

Test the length, unit vector and normalize methods

Execute the narrow-phase collision detection algorithm on batches

Test the overloaded operators

Test the operators

Test the operators

Test the operators

Test overloaded operators

Test the operators

Test if a point is outside of the plane given by the points of the triangle (a, b, c) This method returns 1 if the point d and the origin are on oppos

Test others methods

Test others methods

Test others methods

Test others methods

Test others methods

Return true if two bodies overlap (collide)

Report all the bodies that overlap (collide) with the body in parameter Use this method if you are not interested in contacts but if you simply want t

Return true if a point is inside the collision shape * @param worldPoint Point to test in world-space coordinates * @return True if the point is insi

Return true if a point is inside the collision shape

Return true if a point is inside the collision shape

Return true if a point is inside the collision shape

Return true if a point is inside the collision shape

Return true if a point is inside the collision shape

Return true if a point is inside the collision shape