@brief number of contacts found

@brief Whether current node is a leaf node (i.e. contains a primitive index

@brief get the root node of the octree

@brief Check collision between two OBB and return the overlap part. For OBB, the overlap_part return value is NOT used as the overlap part of two obbs

@brief Set the vertex indices of the triangle

@brief Returns whether the nearest point on rectangle edge Pb + B*u, 0 <= u <= b, to the rectangle edge, Pa + A*t, 0 <= t <= a, is within the half spa

@brief Center of the AABB

@brief compute the bounding volume of an octree node's i-th child

@brief whether the object is completely free

@brief Size of the OBB (used in BV_Splitter to order two OBBs)

@brief set the transform to be identity transform

@brief add one contact into result structure

@brief whether one node is completely occupied

@brief add one cost source into result structure

@brief Model type described by the instance

@brief whether one node is completely free

@brief Return the primitive index. The index is referred to the original data (i.e. vertices or tri_indices) in BVHModel

@brief get the bounding volume for the root

@brief Finds the parameters t & u corresponding to the two closest points on a pair of line segments. The first segment is defined as Pa + A*t, 0 <= t

@brief the threshold used to decide whether one node is occupied, this is NOT the octree occupied_thresold

@brief whether the object is completely occupied

@brief Return the index of the first child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel

@brief Return the index of the second child. The index is referred to the bounding volume array (i.e. bvs) in BVHModel

@brief get the underlying simplex using in GJK, can be used for cache in next iteration

@brief the number of objects managed by the manager

@brief Height of the OBB.

@brief Prepare the geometry primitive data for fitting

@brief Width of the OBB.

@brief set transform from rotation and translation

@brief support function for the pair of shapes

@brief update the manager by explicitly given the object updated

@brief Add new front node into the front list

@brief Depth of the OBB

@brief Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points