btMinkowskiPenetrationDepthSolver Class Reference

#include <btMinkowskiPenetrationDepthSolver.h>

Inherits btConvexPenetrationDepthSolver.

Public Member Functions
virtual bool	calcPenDepth (btSimplexSolverInterface &simplexSolver, const btConvexShape *convexA, const btConvexShape *convexB, const btTransform &transA, const btTransform &transB, btVector3 &v, btVector3 &pa, btVector3 &pb, class btIDebugDraw *debugDraw)
Public Member Functions inherited from btConvexPenetrationDepthSolver
virtual	~btConvexPenetrationDepthSolver ()

Static Protected Member Functions
static btVector3 *	getPenetrationDirections ()

Detailed Description

MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation. Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.

Definition at line 23 of file btMinkowskiPenetrationDepthSolver.h.

Member Function Documentation

calcPenDepth()

bool btMinkowskiPenetrationDepthSolver::calcPenDepth ( btSimplexSolverInterface & simplexSolver, const btConvexShape * convexA, const btConvexShape * convexB, const btTransform & transA, const btTransform & transB, btVector3 & v, btVector3 & pa, btVector3 & pb, class btIDebugDraw * debugDraw )

virtual

scale dependent

Implements btConvexPenetrationDepthSolver.

Definition at line 24 of file btMinkowskiPenetrationDepthSolver.cpp.

References BT_LARGE_FLOAT, btTransform, btVector3, color, debugDraw(), btGjkPairDetector::getClosestPoints(), getPenetrationDirections(), m_depth, btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformA, MAX_PREFERRED_PENETRATION_DIRECTIONS, norm(), NUM_UNITSPHERE_POINTS, btGjkPairDetector::setCachedSeparatingAxis(), v, and w().

getPenetrationDirections()

btVector3 * btMinkowskiPenetrationDepthSolver::getPenetrationDirections ( )

staticprotected

Definition at line 288 of file btMinkowskiPenetrationDepthSolver.cpp.

References btVector3, MAX_PREFERRED_PENETRATION_DIRECTIONS, and NUM_UNITSPHERE_POINTS.

Referenced by calcPenDepth().

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

• btMinkowskiPenetrationDepthSolver.h
• btMinkowskiPenetrationDepthSolver.cpp