Page **1** of **1**

### Question in Bullet source code.

Posted: **Wed Jan 21, 2015 2:16 pm**

by **ljb**

I'm reading Bullet source code.The function dBoxBox2() is complicated to me,who can explain it to me!How to get peneration depth,contact point?

The Function dBoxBox2() is in btBoxBoxDetector.cpp

### Re: Question in Bullet source code.

Posted: **Sun Jan 25, 2015 2:46 am**

by **ljb**

I got vertex face contact.But edge-edge contact is diffult.I 'm think why we don't use quadratic programming(David Eberly use it)to get distance between two rigid box.

### Re: Question in Bullet source code.

Posted: **Sun Jan 25, 2015 3:10 am**

by **ljb**

I can't undetstand function dLineClosestApproach() in btBoxboxdetector.cpp.There is not explain.Who can help me!

### Re: Question in Bullet source code.

Posted: **Sun Jul 07, 2019 6:41 am**

by **hyyou**

(necro this old thread)

I am curious, so I begin to dig into the source (

https://github.com/bulletphysics/bullet ... tector.cpp).

First, it uses separation theorem.

Then, it selects the direction (in separation theorem) that yield the least overlapping distance.

After that, it projects a face of body A, and a face of body B - using the direction as Normal. (and B A vice versa)

There might be 6*6 = 36 cases. I am not sure.

Using the projection result, It calls "intersectRectQuad2()" to check whether an overlapping occur.

That would be enough for vertex case.

For the edge vs edge, I believe the same procedure could be used : just use Normal = edge from A (cross) edge from B.

I didn't check it yet.