Blender V5.0
Classes | Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
EPA< btConvexTemplate > Struct Template Reference

#include <btGjkEpa3.h>

Classes

struct  sFace
struct  sList
struct  sHorizon

Public Member Functions

 EPA ()
void Initialize ()
eEpaStatus Evaluate (GJK< btConvexTemplate > &gjk, const btVector3 &guess)
bool getedgedist (sFace *face, typename GJK< btConvexTemplate >::sSV *a, typename GJK< btConvexTemplate >::sSV *b, btScalar &dist)
sFace * newface (typename GJK< btConvexTemplate >::sSV *a, typename GJK< btConvexTemplate >::sSV *b, typename GJK< btConvexTemplate >::sSV *c, bool forced)
sFace * findbest ()
bool expand (U pass, typename GJK< btConvexTemplate >::sSV *w, sFace *f, U e, sHorizon &horizon)

Static Public Member Functions

static void bind (sFace *fa, U ea, sFace *fb, U eb)
static void append (sList &list, sFace *face)
static void remove (sList &list, sFace *face)

Public Attributes

eEpaStatus m_status
GJK< btConvexTemplate >::sSimplex m_result
btVector3 m_normal
btScalar m_depth
GJK< btConvexTemplate >::sSV m_sv_store [EPA_MAX_VERTICES]
sFace m_fc_store [EPA_MAX_FACES]
U m_nextsv
sList m_hull
sList m_stock

Detailed Description

template<typename btConvexTemplate>
struct EPA< btConvexTemplate >

Definition at line 544 of file btGjkEpa3.h.

Constructor & Destructor Documentation

◆ EPA()

template<typename btConvexTemplate>
EPA< btConvexTemplate >::EPA ( )
inline

Definition at line 583 of file btGjkEpa3.h.

References Initialize().

Member Function Documentation

◆ append()

template<typename btConvexTemplate>
void EPA< btConvexTemplate >::append ( sList & list,
sFace * face )
inlinestatic

Definition at line 595 of file btGjkEpa3.h.

References EPA< btConvexTemplate >::sList::count, EPA< btConvexTemplate >::sFace::l, and EPA< btConvexTemplate >::sList::root.

Referenced by Evaluate(), expand(), Initialize(), and newface().

◆ bind()

template<typename btConvexTemplate>
void EPA< btConvexTemplate >::bind ( sFace * fa,
U ea,
sFace * fb,
U eb )
inlinestatic

Definition at line 588 of file btGjkEpa3.h.

References EPA< btConvexTemplate >::sFace::e, EPA< btConvexTemplate >::sFace::f, fb(), and U.

Referenced by Evaluate(), and expand().

◆ Evaluate()

template<typename btConvexTemplate>
eEpaStatus EPA< btConvexTemplate >::Evaluate ( GJK< btConvexTemplate > & gjk,
const btVector3 & guess )
inline

Definition at line 622 of file btGjkEpa3.h.

References append(), bind(), btCross(), btDot(), btSwap(), btVector3, EPA< btConvexTemplate >::sFace::c, GJK< btConvexTemplate >::sSimplex::c, EPA< btConvexTemplate >::sHorizon::cf, EPA< btConvexTemplate >::sFace::d, GJK< btConvexTemplate >::det(), EPA< btConvexTemplate >::sFace::e, eEpaAccuraryReached, eEpaFallBack, eEpaInvalidHull, eEpaOutOfVertices, eEpaValid, GJK< btConvexTemplate >::EncloseOrigin(), EPA_ACCURACY, EPA_MAX_ITERATIONS, EPA_MAX_VERTICES, expand(), EPA< btConvexTemplate >::sFace::f, EPA< btConvexTemplate >::sHorizon::ff, findbest(), GJK< btConvexTemplate >::getsupport(), m_depth, m_hull, m_nextsv, m_normal, m_result, GJK< btConvexTemplate >::m_simplex, m_status, m_stock, m_sv_store, EPA< btConvexTemplate >::sFace::n, newface(), EPA< btConvexTemplate >::sHorizon::nf, GJK< btConvexTemplate >::sSimplex::p, EPA< btConvexTemplate >::sFace::pass, GJK< btConvexTemplate >::sSimplex::rank, remove(), sum(), U, GJK< btConvexTemplate >::sSV::w, and w().

Referenced by btGjkEpaSolver3_Penetration().

◆ expand()

template<typename btConvexTemplate>
bool EPA< btConvexTemplate >::expand ( U pass,
typename GJK< btConvexTemplate >::sSV * w,
sFace * f,
U e,
sHorizon & horizon )
inline

Definition at line 838 of file btGjkEpa3.h.

References append(), bind(), btDot(), EPA< btConvexTemplate >::sFace::c, EPA< btConvexTemplate >::sHorizon::cf, EPA< btConvexTemplate >::sFace::d, e, EPA< btConvexTemplate >::sFace::e, EPA_PLANE_EPS, expand(), EPA< btConvexTemplate >::sFace::f, EPA< btConvexTemplate >::sHorizon::ff, m_hull, m_stock, EPA< btConvexTemplate >::sFace::n, newface(), EPA< btConvexTemplate >::sHorizon::nf, EPA< btConvexTemplate >::sFace::pass, remove(), U, and w().

Referenced by Evaluate(), and expand().

◆ findbest()

template<typename btConvexTemplate>
sFace * EPA< btConvexTemplate >::findbest ( )
inline

Definition at line 823 of file btGjkEpa3.h.

References EPA< btConvexTemplate >::sFace::d, EPA< btConvexTemplate >::sFace::l, and m_hull.

Referenced by Evaluate().

◆ getedgedist()

template<typename btConvexTemplate>
bool EPA< btConvexTemplate >::getedgedist ( sFace * face,
typename GJK< btConvexTemplate >::sSV * a,
typename GJK< btConvexTemplate >::sSV * b,
btScalar & dist )
inline

Definition at line 743 of file btGjkEpa3.h.

References b, btCross(), btDot(), btMax(), btSqrt(), btVector3, EPA< btConvexTemplate >::sFace::n, and GJK< btConvexTemplate >::sSV::w.

Referenced by newface().

◆ Initialize()

template<typename btConvexTemplate>
void EPA< btConvexTemplate >::Initialize ( )
inline

Definition at line 611 of file btGjkEpa3.h.

References append(), btVector3, eEpaFailed, EPA_MAX_FACES, i, m_depth, m_fc_store, m_nextsv, m_normal, m_status, m_stock, and U.

Referenced by EPA().

◆ newface()

template<typename btConvexTemplate>
sFace * EPA< btConvexTemplate >::newface ( typename GJK< btConvexTemplate >::sSV * a,
typename GJK< btConvexTemplate >::sSV * b,
typename GJK< btConvexTemplate >::sSV * c,
bool forced )
inline

Definition at line 779 of file btGjkEpa3.h.

References append(), b, btCross(), btDot(), EPA< btConvexTemplate >::sFace::c, EPA< btConvexTemplate >::sFace::d, eEpaDegenerated, eEpaNonConvex, eEpaOutOfFaces, eEpaOutOfVertices, EPA_ACCURACY, EPA_PLANE_EPS, getedgedist(), l, m_hull, m_status, m_stock, EPA< btConvexTemplate >::sFace::n, EPA< btConvexTemplate >::sFace::pass, remove(), v, and GJK< btConvexTemplate >::sSV::w.

Referenced by Evaluate(), and expand().

◆ remove()

template<typename btConvexTemplate>
void EPA< btConvexTemplate >::remove ( sList & list,
sFace * face )
inlinestatic

Definition at line 603 of file btGjkEpa3.h.

References EPA< btConvexTemplate >::sList::count, EPA< btConvexTemplate >::sFace::l, and EPA< btConvexTemplate >::sList::root.

Referenced by Evaluate(), expand(), and newface().

Member Data Documentation

◆ m_depth

template<typename btConvexTemplate>
btScalar EPA< btConvexTemplate >::m_depth

Definition at line 576 of file btGjkEpa3.h.

Referenced by btGjkEpaSolver3_Penetration(), Evaluate(), and Initialize().

◆ m_fc_store

template<typename btConvexTemplate>
sFace EPA< btConvexTemplate >::m_fc_store[EPA_MAX_FACES]

Definition at line 578 of file btGjkEpa3.h.

Referenced by Initialize().

◆ m_hull

template<typename btConvexTemplate>
sList EPA< btConvexTemplate >::m_hull

Definition at line 580 of file btGjkEpa3.h.

Referenced by Evaluate(), expand(), findbest(), and newface().

◆ m_nextsv

template<typename btConvexTemplate>
U EPA< btConvexTemplate >::m_nextsv

Definition at line 579 of file btGjkEpa3.h.

Referenced by Evaluate(), and Initialize().

◆ m_normal

template<typename btConvexTemplate>
btVector3 EPA< btConvexTemplate >::m_normal

Definition at line 575 of file btGjkEpa3.h.

Referenced by btGjkEpaSolver3_Penetration(), Evaluate(), and Initialize().

◆ m_result

template<typename btConvexTemplate>
GJK<btConvexTemplate>::sSimplex EPA< btConvexTemplate >::m_result

Definition at line 574 of file btGjkEpa3.h.

Referenced by btGjkEpaSolver3_Penetration(), and Evaluate().

◆ m_status

template<typename btConvexTemplate>
eEpaStatus EPA< btConvexTemplate >::m_status

Definition at line 573 of file btGjkEpa3.h.

Referenced by Evaluate(), Initialize(), and newface().

◆ m_stock

template<typename btConvexTemplate>
sList EPA< btConvexTemplate >::m_stock

Definition at line 581 of file btGjkEpa3.h.

Referenced by Evaluate(), expand(), Initialize(), and newface().

◆ m_sv_store

template<typename btConvexTemplate>
GJK<btConvexTemplate>::sSV EPA< btConvexTemplate >::m_sv_store[EPA_MAX_VERTICES]

Definition at line 577 of file btGjkEpa3.h.

Referenced by Evaluate().

The documentation for this struct was generated from the following file:
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