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Vec3f | getSupport (const ShapeBase *shape, const Vec3f &dir) |
| the support function for shape More...
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template<typename BV > |
const Matrix3f & | getBVAxes (const BV &bv) |
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template<> |
const Matrix3f & | getBVAxes< OBBRSS > (const OBBRSS &bv) |
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template<typename S , typename BV , typename NarrowPhaseSolver , template< typename, typename > class OrientedNode> |
static bool | setupShapeMeshDistanceOrientedNode (OrientedNode< S, NarrowPhaseSolver > &node, const S &model1, const Transform3f &tf1, const BVHModel< BV > &model2, const Transform3f &tf2, const NarrowPhaseSolver *nsolver, const DistanceRequest &request, DistanceResult &result) |
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for OBB and RSS, there is local coordinate of BV, so normal need to be transformed