Question in Bullet source code.

[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

[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.

[ljb]

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

[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.