btGjkEpaSolver2 Struct Reference

btGjkEpaSolver contributed under zlib by Nathanael Presson More...

#include <btGjkEpa2.h>

List of all members.

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)

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Detailed Description

btGjkEpaSolver contributed under zlib by Nathanael Presson

Definition at line 30 of file btGjkEpa2.h.

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Member Function Documentation

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

Definition at line 823 of file btGjkEpa2.cpp.

References btGjkEpaSolver2::sResults::distance, gjkepa2_impl::GJK::Evaluate(), GJK_MIN_DISTANCE, i, gjkepa2_impl::Initialize(), gjkepa2_impl::GJK::eStatus::Inside, gjkepa2_impl::GJK::m_simplex, btGjkEpaSolver2::sResults::normal, p, btGjkEpaSolver2::sResults::status, gjkepa2_impl::MinkowskiDiff::Support(), U, gjkepa2_impl::GJK::eStatus::Valid, and btGjkEpaSolver2::sResults::witnesses.

Referenced by btGjkEpaPenetrationDepthSolver::calcPenDepth().

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 861 of file btGjkEpa2.cpp.

References gjkepa2_impl::GJK::sSimplex::c, btGjkEpaSolver2::sResults::distance, gjkepa2_impl::EPA::Evaluate(), gjkepa2_impl::GJK::Evaluate(), gjkepa2_impl::EPA::eStatus::Failed, gjkepa2_impl::GJK::eStatus::Failed, i, 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, gjkepa2_impl::GJK::sSimplex::rank, btGjkEpaSolver2::sResults::status, gjkepa2_impl::MinkowskiDiff::Support(), U, and btGjkEpaSolver2::sResults::witnesses.

Referenced by btGjkEpaPenetrationDepthSolver::calcPenDepth().

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

Definition at line 907 of file btGjkEpa2.cpp.

References gjkepa2_impl::GJK::Evaluate(), i, gjkepa2_impl::Initialize(), gjkepa2_impl::GJK::eStatus::Inside, length(), gjkepa2_impl::GJK::m_ray, gjkepa2_impl::GJK::m_simplex, btGjkEpaSolver2::sResults::normal, p, SIMD_EPSILON, SIMD_INFINITY, gjkepa2_impl::MinkowskiDiff::Support(), U, gjkepa2_impl::GJK::eStatus::Valid, and btGjkEpaSolver2::sResults::witnesses.

Referenced by btSparseSdf< 3 >::DistanceToShape(), btSoftColliders::CollideCL_SS::Process(), and btSoftColliders::CollideCL_RS::Process().

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

Definition at line 959 of file btGjkEpa2.cpp.

int btGjkEpaSolver2::StackSizeRequirement

(

)

[static]

Definition at line 817 of file btGjkEpa2.cpp.

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

• btGjkEpa2.h
• btGjkEpa2.cpp