btGjkEpaSolver2 Struct Reference

btGjkEpaSolver contributed under zlib by Nathanael Presson More...

#include <btGjkEpa2.h>

Classes
struct	sResults

Static Public Member Functions
static int	StackSizeRequirement ()
static bool	Distance (const btConvexShape *shape0, const btTransform &wtrs0, const btConvexShape *shape1, const btTransform &wtrs1, const btVector3 &guess, sResults &results)
static bool	Penetration (const btConvexShape *shape0, const btTransform &wtrs0, const btConvexShape *shape1, const btTransform &wtrs1, const btVector3 &guess, sResults &results, bool usemargins=true)
static btScalar	SignedDistance (const btVector3 &position, btScalar margin, const btConvexShape *shape, const btTransform &wtrs, sResults &results)
static bool	SignedDistance (const btConvexShape *shape0, const btTransform &wtrs0, const btConvexShape *shape1, const btTransform &wtrs1, const btVector3 &guess, sResults &results)

Detailed Description

btGjkEpaSolver contributed under zlib by Nathanael Presson

Definition at line 31 of file btGjkEpa2.h.

Member Function Documentation

Distance()

bool btGjkEpaSolver2::Distance ( const btConvexShape * shape0, const btTransform & wtrs0, const btConvexShape * shape1, const btTransform & wtrs1, const btVector3 & guess, sResults & results )

static

Definition at line 937 of file btGjkEpa2.cpp.

References btVector3, gjkepa2_impl::GJK::sSimplex::c, gjkepa2_impl::GJK::sSV::d, btGjkEpaSolver2::sResults::distance, gjkepa2_impl::GJK::Evaluate(), btGjkEpaSolver2::sResults::GJK_Failed, GJK_MIN_DISTANCE, gjkepa2_impl::Initialize(), gjkepa2_impl::GJK::eStatus::Inside, gjkepa2_impl::GJK::m_simplex, btGjkEpaSolver2::sResults::normal, gjkepa2_impl::GJK::sSimplex::p, btGjkEpaSolver2::sResults::Penetrating, gjkepa2_impl::GJK::sSimplex::rank, btGjkEpaSolver2::sResults::status, gjkepa2_impl::GJK::eStatus::Valid, and btGjkEpaSolver2::sResults::witnesses.

Referenced by btGjkEpaPenetrationDepthSolver::calcPenDepth(), and SignedDistance().

Penetration()

bool btGjkEpaSolver2::Penetration ( const btConvexShape * shape0, const btTransform & wtrs0, const btConvexShape * shape1, const btTransform & wtrs1, const btVector3 & guess, sResults & results, bool usemargins = true )

static

Definition at line 973 of file btGjkEpa2.cpp.

References btVector3, gjkepa2_impl::GJK::sSimplex::c, gjkepa2_impl::GJK::sSV::d, btGjkEpaSolver2::sResults::distance, btGjkEpaSolver2::sResults::EPA_Failed, gjkepa2_impl::EPA::Evaluate(), gjkepa2_impl::GJK::Evaluate(), gjkepa2_impl::EPA::eStatus::Failed, gjkepa2_impl::GJK::eStatus::Failed, btGjkEpaSolver2::sResults::GJK_Failed, gjkepa2_impl::Initialize(), gjkepa2_impl::GJK::eStatus::Inside, gjkepa2_impl::EPA::m_depth, gjkepa2_impl::EPA::m_normal, gjkepa2_impl::EPA::m_result, btGjkEpaSolver2::sResults::normal, gjkepa2_impl::GJK::sSimplex::p, btGjkEpaSolver2::sResults::Penetrating, gjkepa2_impl::GJK::sSimplex::rank, btGjkEpaSolver2::sResults::status, and btGjkEpaSolver2::sResults::witnesses.

Referenced by btGjkEpaPenetrationDepthSolver::calcPenDepth(), SignedDistance(), and SignedDistance().

SignedDistance() [1/2]

bool btGjkEpaSolver2::SignedDistance ( const btConvexShape * shape0, const btTransform & wtrs0, const btConvexShape * shape1, const btTransform & wtrs1, const btVector3 & guess, sResults & results )

static

Definition at line 1074 of file btGjkEpa2.cpp.

References Distance(), and Penetration().

SignedDistance() [2/2]

btScalar btGjkEpaSolver2::SignedDistance ( const btVector3 & position, btScalar margin, const btConvexShape * shape, const btTransform & wtrs, sResults & results )

static

Definition at line 1021 of file btGjkEpa2.cpp.

References btSphereShape(), btTransform, btVector3, gjkepa2_impl::GJK::sSimplex::c, gjkepa2_impl::GJK::sSV::d, btGjkEpaSolver2::sResults::distance, gjkepa2_impl::GJK::Evaluate(), gjkepa2_impl::Initialize(), gjkepa2_impl::GJK::eStatus::Inside, length(), gjkepa2_impl::GJK::m_ray, gjkepa2_impl::GJK::m_simplex, btGjkEpaSolver2::sResults::normal, gjkepa2_impl::GJK::sSimplex::p, Penetration(), gjkepa2_impl::GJK::sSimplex::rank, SIMD_EPSILON, SIMD_INFINITY, gjkepa2_impl::GJK::eStatus::Valid, and btGjkEpaSolver2::sResults::witnesses.

Referenced by btSoftBody::checkDeformableFaceContact(), btSparseSdf< CELLSIZE >::DistanceToShape(), btSoftColliders::CollideCL_RS::Process(), and btSoftColliders::CollideCL_SS::Process().

StackSizeRequirement()

int btGjkEpaSolver2::StackSizeRequirement ( )

static

Definition at line 931 of file btGjkEpa2.cpp.

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

• btGjkEpa2.h
• btGjkEpa2.cpp