btGjkEpaPenetrationDepthSolver Class Reference

#include <btGjkEpaPenetrationDepthSolver.h>

Inherits btConvexPenetrationDepthSolver.

Public Member Functions
	btGjkEpaPenetrationDepthSolver ()
bool	calcPenDepth (btSimplexSolverInterface &simplexSolver, const btConvexShape *pConvexA, const btConvexShape *pConvexB, const btTransform &transformA, const btTransform &transformB, btVector3 &v, btVector3 &wWitnessOnA, btVector3 &wWitnessOnB, class btIDebugDraw *debugDraw)
Public Member Functions inherited from btConvexPenetrationDepthSolver
virtual	~btConvexPenetrationDepthSolver ()

Detailed Description

EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to calculate the penetration depth between two convex shapes.

Definition at line 24 of file btGjkEpaPenetrationDepthSolver.h.

Constructor & Destructor Documentation

btGjkEpaPenetrationDepthSolver()

btGjkEpaPenetrationDepthSolver::btGjkEpaPenetrationDepthSolver ( )

inline

Definition at line 27 of file btGjkEpaPenetrationDepthSolver.h.

Member Function Documentation

calcPenDepth()

bool btGjkEpaPenetrationDepthSolver::calcPenDepth ( btSimplexSolverInterface & simplexSolver, const btConvexShape * pConvexA, const btConvexShape * pConvexB, const btTransform & transformA, const btTransform & transformB, btVector3 & v, btVector3 & wWitnessOnA, btVector3 & wWitnessOnB, class btIDebugDraw * debugDraw )

virtual

Implements btConvexPenetrationDepthSolver.

Definition at line 23 of file btGjkEpaPenetrationDepthSolver.cpp.

References btVector3, debugDraw(), btGjkEpaSolver2::Distance(), btGjkEpaSolver2::sResults::normal, btGjkEpaSolver2::Penetration(), v, and btGjkEpaSolver2::sResults::witnesses.

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

• btGjkEpaPenetrationDepthSolver.h
• btGjkEpaPenetrationDepthSolver.cpp