btComputeGjkEpaPenetration.h File Reference

#include "LinearMath/btTransform.h"
#include "btGjkEpa3.h"
#include "btGjkCollisionDescription.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"

Go to the source code of this file.

Functions
template<typename btConvexTemplate >
bool	btGjkEpaCalcPenDepth (const btConvexTemplate &a, const btConvexTemplate &b, const btGjkCollisionDescription &colDesc, btVector3 &v, btVector3 &wWitnessOnA, btVector3 &wWitnessOnB)
template<typename btConvexTemplate , typename btGjkDistanceTemplate >
int	btComputeGjkEpaPenetration (const btConvexTemplate &a, const btConvexTemplate &b, const btGjkCollisionDescription &colDesc, btVoronoiSimplexSolver &simplexSolver, btGjkDistanceTemplate *distInfo)

Function Documentation

btComputeGjkEpaPenetration()

template<typename btConvexTemplate , typename btGjkDistanceTemplate >

int btComputeGjkEpaPenetration	(	const btConvexTemplate &	a,
		const btConvexTemplate &	b,
		const btGjkCollisionDescription &	colDesc,
		btVoronoiSimplexSolver &	simplexSolver,
		btGjkDistanceTemplate *	distInfo )

this is another degenerate case, where the initial GJK calculation reports a degenerate case EPA reports no penetration, and the second GJK (using the supporting vector without margin) reports a valid positive distance. Use the results of the second GJK instead of failing. thanks to Jacob.Langford for the reproduction case http://code.google.com/p/bullet/issues/detail?id=250

Definition at line 61 of file btComputeGjkEpaPenetration.h.

References b, BT_LARGE_FLOAT, btAssert, btGjkEpaCalcPenDepth(), btSqrt(), btTransform, distance(), distance2(), length(), btGjkCollisionDescription::m_firstDir, btGjkCollisionDescription::m_gjkRelError2, btGjkCollisionDescription::m_maxGjkIterations, btGjkCollisionDescription::m_maximumDistanceSquared, printf, SIMD_EPSILON, and w().

btGjkEpaCalcPenDepth()

template<typename btConvexTemplate >

bool btGjkEpaCalcPenDepth	(	const btConvexTemplate &	a,
		const btConvexTemplate &	b,
		const btGjkCollisionDescription &	colDesc,
		btVector3 &	v,
		btVector3 &	wWitnessOnA,
		btVector3 &	wWitnessOnB )

Definition at line 25 of file btComputeGjkEpaPenetration.h.

References b, btGjkEpaSolver3_Distance(), btGjkEpaSolver3_Penetration(), btGjkEpaSolver3::sResults::normal, v, and btGjkEpaSolver3::sResults::witnesses.

Referenced by btComputeGjkEpaPenetration().