btGjkPairDetector

type btGjkPairDetector = object

  m_cachedSeparatingAxis: btVector3;

  m_penetrationDepthSolver: btConvexPenetrationDepthSolver;

  m_simplexSolver: btSimplexSolverInterface;

  m_minkowskiA: btConvexShape;

  m_minkowskiB: btConvexShape;

  m_shapeTypeA: TbtBroadphaseNativeTypes;

  m_shapeTypeB: TbtBroadphaseNativeTypes;

  m_marginA: btScalar;

  m_marginB: btScalar;

  m_ignoreMargin: Boolean;

  m_cachedSeparatingDistance: btScalar;

public

  m_lastUsedMethod: Integer;

  m_curIter: Integer;

  m_degenerateSimplex: Integer;

  m_catchDegeneracies: Boolean;

  procedure init();

  procedure getClosestPoints();

  procedure getClosestPointsNonVirtual();

  procedure setMinkowskiA();

  procedure setMinkowskib();

  procedure setCachedSeperatingAxis();

  function getCachedSeparatingAxis;

  function getCachedSeparatingDistance;

  procedure setPenetrationDepthSolver();

  procedure setIgnoreMargin();

end;

btGjkPairDetector

TObject