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<li>C++ oriented.</li><li>Extensible design.</li><li>Collision detection algorithm for concave shapes in the <b>Bullet Physics Engine</b>. See <a class="el" href="classbt_g_impact_collision_algorithm.html" title="Collision Algorithm for GImpact Shapes.">btGImpactCollisionAlgorithm</a>.</li><li>Efficient Dynamic <b>Hierarcht Bounding Box tree structures</b> for handle collisions with composed shapes whose have large sets of primitives (triangles or convex shapes) See the <a class="el" href="class_g_i_m___b_o_x___t_r_e_e___s_e_t.html" title="Class for Box Tree Sets.">GIM_BOX_TREE_SET</a> class.</li><li>Collision detection for trimeshes with the <a class="el" href="classbt_g_impact_mesh_shape.html" title="This class manages a mesh supplied by the btStridingMeshInterface interface.">btGImpactMeshShape</a> class. Now <b>GIMPACT</b> works fine with the btStridingInterface class for getting the data from trimesh models.</li><li>Support for deformable trimeshes.</li><li>Collision detection for compound shapes through the <a class="el" href="classbt_g_impact_compound_shape.html" title="btGIMPACTCompoundShape allows to handle multiple btCollisionShape objects at once...">btGImpactCompoundShape</a> class. This class takes advantage from the Hierarcht Bounding Box structure (<a class="el" href="class_g_i_m___b_o_x___t_r_e_e___s_e_t.html" title="Class for Box Tree Sets.">GIM_BOX_TREE_SET</a> class).</li><li>Collision Shapes (Both btGImpactCompoundSape and btGImpactTrimeshShape ) can be shared by two or more Rigid Bodies in <b>Bullet</b>. </li></ul>
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