Blender: GJK< btConvexTemplate > Struct Template Reference

Blender V4.3

#include <btGjkEpa3.h>

Classes
struct	sSimplex

struct	sSV

Public Member Functions
	GJK (const btConvexTemplate &a, const btConvexTemplate &b)

void	Initialize ()

eGjkStatus	Evaluate (const MinkowskiDiff< btConvexTemplate > &shapearg, const btVector3 &guess)

bool	EncloseOrigin ()

void	getsupport (const btVector3 &d, sSV &sv) const

void	removevertice (sSimplex &simplex)

void	appendvertice (sSimplex &simplex, const btVector3 &v)

Static Public Member Functions
static btScalar	det (const btVector3 &a, const btVector3 &b, const btVector3 &c)

static btScalar	projectorigin (const btVector3 &a, const btVector3 &b, btScalar *w, U &m)

static btScalar	projectorigin (const btVector3 &a, const btVector3 &b, const btVector3 &c, btScalar *w, U &m)

static btScalar	projectorigin (const btVector3 &a, const btVector3 &b, const btVector3 &c, const btVector3 &d, btScalar *w, U &m)

Public Attributes
MinkowskiDiff< btConvexTemplate >	m_shape

btVector3	m_ray

btScalar	m_distance

sSimplex	m_simplices [2]

sSV	m_store [4]

sSV *	m_free [4]

U	m_nfree

U	m_current

sSimplex *	m_simplex

eGjkStatus	m_status

Detailed Description

template<typename btConvexTemplate>
struct GJK< btConvexTemplate >

Definition at line 134 of file btGjkEpa3.h.

Constructor & Destructor Documentation

◆ GJK()

template<typename btConvexTemplate >

GJK< btConvexTemplate >::GJK	(	const btConvexTemplate &	a,
		const btConvexTemplate &	b )

inline

Definition at line 162 of file btGjkEpa3.h.

References GJK< btConvexTemplate >::Initialize().

Member Function Documentation

◆ appendvertice()

template<typename btConvexTemplate >

void GJK< btConvexTemplate >::appendvertice	(	sSimplex &	simplex,
		const btVector3 &	v )

inline

Definition at line 387 of file btGjkEpa3.h.

References GJK< btConvexTemplate >::sSimplex::c, GJK< btConvexTemplate >::getsupport(), GJK< btConvexTemplate >::m_free, GJK< btConvexTemplate >::m_nfree, GJK< btConvexTemplate >::sSimplex::p, GJK< btConvexTemplate >::sSimplex::rank, and v.

Referenced by GJK< btConvexTemplate >::EncloseOrigin(), and GJK< btConvexTemplate >::Evaluate().

◆ det()

template<typename btConvexTemplate >

static btScalar GJK< btConvexTemplate >::det	(	const btVector3 &	a,
		const btVector3 &	b,
		const btVector3 &	c )

inlinestatic

Definition at line 393 of file btGjkEpa3.h.

References b.

Referenced by GJK< btConvexTemplate >::EncloseOrigin(), EPA< btConvexTemplate >::Evaluate(), and GJK< btConvexTemplate >::projectorigin().

◆ EncloseOrigin()

template<typename btConvexTemplate >

bool GJK< btConvexTemplate >::EncloseOrigin ( )

inline

Definition at line 312 of file btGjkEpa3.h.

References GJK< btConvexTemplate >::appendvertice(), btCross(), btFabs(), btVector3, GJK< btConvexTemplate >::sSimplex::c, GJK< btConvexTemplate >::det(), GJK< btConvexTemplate >::EncloseOrigin(), GJK< btConvexTemplate >::m_simplex, GJK< btConvexTemplate >::sSimplex::rank, GJK< btConvexTemplate >::removevertice(), and GJK< btConvexTemplate >::sSV::w.

Referenced by GJK< btConvexTemplate >::EncloseOrigin(), and EPA< btConvexTemplate >::Evaluate().

◆ Evaluate()

template<typename btConvexTemplate >

eGjkStatus GJK< btConvexTemplate >::Evaluate	(	const MinkowskiDiff< btConvexTemplate > &	shapearg,
		const btVector3 &	guess )

inline

Definition at line 175 of file btGjkEpa3.h.

References GJK< btConvexTemplate >::appendvertice(), btDot(), btMax(), btVector3, GJK< btConvexTemplate >::sSimplex::c, eGjkFailed, eGjkInside, eGjkValid, GJK_ACCURARY, GJK_DUPLICATED_EPS, GJK_MAX_ITERATIONS, GJK_MIN_DISTANCE, length2(), GJK< btConvexTemplate >::m_current, GJK< btConvexTemplate >::m_distance, GJK< btConvexTemplate >::m_free, GJK< btConvexTemplate >::m_nfree, GJK< btConvexTemplate >::m_ray, GJK< btConvexTemplate >::m_shape, GJK< btConvexTemplate >::m_simplex, GJK< btConvexTemplate >::m_simplices, GJK< btConvexTemplate >::m_status, GJK< btConvexTemplate >::m_store, next, GJK< btConvexTemplate >::sSimplex::p, GJK< btConvexTemplate >::projectorigin(), GJK< btConvexTemplate >::sSimplex::rank, GJK< btConvexTemplate >::removevertice(), GJK< btConvexTemplate >::sSV::w, and w().

Referenced by btGjkEpaSolver3_Distance(), and btGjkEpaSolver3_Penetration().

◆ getsupport()

template<typename btConvexTemplate >

void GJK< btConvexTemplate >::getsupport	(	const btVector3 &	d,
		sSV &	sv ) const

inline

Definition at line 378 of file btGjkEpa3.h.

References GJK< btConvexTemplate >::sSV::d, GJK< btConvexTemplate >::m_shape, and GJK< btConvexTemplate >::sSV::w.

Referenced by GJK< btConvexTemplate >::appendvertice(), and EPA< btConvexTemplate >::Evaluate().

◆ Initialize()

template<typename btConvexTemplate >

void GJK< btConvexTemplate >::Initialize ( )

inline

Definition at line 167 of file btGjkEpa3.h.

References btVector3, eGjkFailed, GJK< btConvexTemplate >::m_current, GJK< btConvexTemplate >::m_distance, GJK< btConvexTemplate >::m_nfree, GJK< btConvexTemplate >::m_ray, and GJK< btConvexTemplate >::m_status.

Referenced by GJK< btConvexTemplate >::GJK().

◆ projectorigin() [1/3]

template<typename btConvexTemplate >

static btScalar GJK< btConvexTemplate >::projectorigin	(	const btVector3 &	a,
		const btVector3 &	b,
		btScalar *	w,
		U &	m )

inlinestatic

Definition at line 399 of file btGjkEpa3.h.

References b, btDot(), GJK_SIMPLEX2_EPS, l, and w().

Referenced by GJK< btConvexTemplate >::Evaluate(), GJK< btConvexTemplate >::projectorigin(), and GJK< btConvexTemplate >::projectorigin().

◆ projectorigin() [2/3]

template<typename btConvexTemplate >

static btScalar GJK< btConvexTemplate >::projectorigin	(	const btVector3 &	a,
		const btVector3 &	b,
		const btVector3 &	c,
		btScalar *	w,
		U &	m )

inlinestatic

Definition at line 431 of file btGjkEpa3.h.

References b, btCross(), btDot(), btSqrt(), GJK_SIMPLEX3_EPS, l, length(), GJK< btConvexTemplate >::projectorigin(), and w().

◆ projectorigin() [3/3]

template<typename btConvexTemplate >

static btScalar GJK< btConvexTemplate >::projectorigin	(	const btVector3 &	a,
		const btVector3 &	b,
		const btVector3 &	c,
		const btVector3 &	d,
		btScalar *	w,
		U &	m )

inlinestatic

Definition at line 477 of file btGjkEpa3.h.

References b, btCross(), btDot(), btFabs(), GJK< btConvexTemplate >::det(), GJK_SIMPLEX4_EPS, GJK< btConvexTemplate >::projectorigin(), and w().

◆ removevertice()

template<typename btConvexTemplate >

void GJK< btConvexTemplate >::removevertice ( sSimplex & simplex )

inline

Definition at line 383 of file btGjkEpa3.h.

References GJK< btConvexTemplate >::sSimplex::c, GJK< btConvexTemplate >::m_free, GJK< btConvexTemplate >::m_nfree, and GJK< btConvexTemplate >::sSimplex::rank.

Referenced by GJK< btConvexTemplate >::EncloseOrigin(), and GJK< btConvexTemplate >::Evaluate().

Member Data Documentation

◆ m_current

template<typename btConvexTemplate >

U GJK< btConvexTemplate >::m_current

Definition at line 157 of file btGjkEpa3.h.

Referenced by GJK< btConvexTemplate >::Evaluate(), and GJK< btConvexTemplate >::Initialize().

◆ m_distance

template<typename btConvexTemplate >

btScalar GJK< btConvexTemplate >::m_distance

Definition at line 152 of file btGjkEpa3.h.

Referenced by GJK< btConvexTemplate >::Evaluate(), and GJK< btConvexTemplate >::Initialize().

◆ m_free

template<typename btConvexTemplate >

sSV* GJK< btConvexTemplate >::m_free[4]

Definition at line 155 of file btGjkEpa3.h.

Referenced by GJK< btConvexTemplate >::appendvertice(), GJK< btConvexTemplate >::Evaluate(), and GJK< btConvexTemplate >::removevertice().

◆ m_nfree

template<typename btConvexTemplate >

U GJK< btConvexTemplate >::m_nfree

Definition at line 156 of file btGjkEpa3.h.

Referenced by GJK< btConvexTemplate >::appendvertice(), GJK< btConvexTemplate >::Evaluate(), GJK< btConvexTemplate >::Initialize(), and GJK< btConvexTemplate >::removevertice().

◆ m_ray

template<typename btConvexTemplate >

btVector3 GJK< btConvexTemplate >::m_ray

Definition at line 151 of file btGjkEpa3.h.

Referenced by GJK< btConvexTemplate >::Evaluate(), and GJK< btConvexTemplate >::Initialize().

◆ m_shape

template<typename btConvexTemplate >

MinkowskiDiff<btConvexTemplate> GJK< btConvexTemplate >::m_shape

Definition at line 150 of file btGjkEpa3.h.

Referenced by GJK< btConvexTemplate >::Evaluate(), and GJK< btConvexTemplate >::getsupport().

◆ m_simplex

template<typename btConvexTemplate >

sSimplex* GJK< btConvexTemplate >::m_simplex

Definition at line 158 of file btGjkEpa3.h.

Referenced by btGjkEpaSolver3_Distance(), GJK< btConvexTemplate >::EncloseOrigin(), EPA< btConvexTemplate >::Evaluate(), and GJK< btConvexTemplate >::Evaluate().

◆ m_simplices

template<typename btConvexTemplate >

sSimplex GJK< btConvexTemplate >::m_simplices[2]

Definition at line 153 of file btGjkEpa3.h.

Referenced by GJK< btConvexTemplate >::Evaluate().

◆ m_status

template<typename btConvexTemplate >

eGjkStatus GJK< btConvexTemplate >::m_status

Definition at line 159 of file btGjkEpa3.h.

Referenced by GJK< btConvexTemplate >::Evaluate(), and GJK< btConvexTemplate >::Initialize().

◆ m_store

template<typename btConvexTemplate >

sSV GJK< btConvexTemplate >::m_store[4]

Definition at line 154 of file btGjkEpa3.h.

Referenced by GJK< btConvexTemplate >::Evaluate().

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

btGjkEpa3.h