btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface More...

#include <btGjkPairDetector.h>

Inheritance diagram for btGjkPairDetector:

Public Member Functions
	btGjkPairDetector (const btConvexShape objectA, const btConvexShape objectB, btSimplexSolverInterface simplexSolver, btConvexPenetrationDepthSolver penetrationDepthSolver)
	btGjkPairDetector (const btConvexShape objectA, const btConvexShape objectB, int shapeTypeA, int shapeTypeB, btScalar marginA, btScalar marginB, btSimplexSolverInterface simplexSolver, btConvexPenetrationDepthSolver penetrationDepthSolver)
virtual	~btGjkPairDetector ()
virtual void	getClosestPoints (const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
void	getClosestPointsNonVirtual (const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw)
void	setMinkowskiA (btConvexShape *minkA)
void	setMinkowskiB (btConvexShape *minkB)
void	setCachedSeperatingAxis (const btVector3 &seperatingAxis)
const btVector3 &	getCachedSeparatingAxis () const
btScalar	getCachedSeparatingDistance () const
void	setPenetrationDepthSolver (btConvexPenetrationDepthSolver *penetrationDepthSolver)
void	setIgnoreMargin (bool ignoreMargin)
	don't use setIgnoreMargin, it's for Bullet's internal use
Public Attributes
int	m_lastUsedMethod
int	m_curIter
int	m_degenerateSimplex
int	m_catchDegeneracies

Detailed Description

btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface

Definition at line 30 of file btGjkPairDetector.h.

Constructor & Destructor Documentation

btGjkPairDetector::btGjkPairDetector	(	const btConvexShape *	objectA,
		const btConvexShape *	objectB,
		btSimplexSolverInterface *	simplexSolver,
		btConvexPenetrationDepthSolver *	penetrationDepthSolver
	)

Definition at line 41 of file btGjkPairDetector.cpp.

btGjkPairDetector::btGjkPairDetector	(	const btConvexShape *	objectA,
		const btConvexShape *	objectB,
		int	shapeTypeA,
		int	shapeTypeB,
		btScalar	marginA,
		btScalar	marginB,
		btSimplexSolverInterface *	simplexSolver,
		btConvexPenetrationDepthSolver *	penetrationDepthSolver
	)

Definition at line 56 of file btGjkPairDetector.cpp.

virtual btGjkPairDetector::~btGjkPairDetector ( ) [inline, virtual]

Definition at line 59 of file btGjkPairDetector.h.

Member Function Documentation

const btVector3& btGjkPairDetector::getCachedSeparatingAxis ( ) const [inline]

Definition at line 80 of file btGjkPairDetector.h.

Referenced by btConvexConvexAlgorithm::processCollision().

btScalar btGjkPairDetector::getCachedSeparatingDistance ( ) const [inline]

Definition at line 84 of file btGjkPairDetector.h.

Referenced by btConvexConvexAlgorithm::processCollision().

void btGjkPairDetector::getClosestPoints	(	const ClosestPointInput &	input,
		Result &	output,
		class btIDebugDraw *	debugDraw,
		bool	swapResults = `false`
	)		`[virtual]`

Implements btDiscreteCollisionDetectorInterface.

Definition at line 72 of file btGjkPairDetector.cpp.

References getClosestPointsNonVirtual().

Referenced by btMinkowskiPenetrationDepthSolver::calcPenDepth(), btContinuousConvexCollision::calcTimeOfImpact(), btGjkConvexCast::calcTimeOfImpact(), plNearestPoints(), btConvexConvexAlgorithm::processCollision(), and btConvex2dConvex2dAlgorithm::processCollision().

void btGjkPairDetector::getClosestPointsNonVirtual	(	const ClosestPointInput &	input,
		Result &	output,
		class btIDebugDraw *	debugDraw
	)

this is another degenerate case, where the initial GJK calculation reports a degenerate case EPA reports no penetration, and the second GJK (using the supporting vector without margin) reports a valid positive distance. Use the results of the second GJK instead of failing. thanks to Jacob.Langford for the reproduction case http://code.google.com/p/bullet/issues/detail?id=250

Definition at line 82 of file btGjkPairDetector.cpp.

References btDiscreteCollisionDetectorInterface::Result::addContactPoint(), BT_LARGE_FLOAT, btAssert, btSqrt(), distance(), btTransform::getBasis(), btTransform::getOrigin(), gNumDeepPenetrationChecks, gNumGjkChecks, length(), btDiscreteCollisionDetectorInterface::ClosestPointInput::m_maximumDistanceSquared, btDiscreteCollisionDetectorInterface::ClosestPointInput::m_stackAlloc, btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformA, btDiscreteCollisionDetectorInterface::ClosestPointInput::m_transformB, REL_ERROR2, SIMD_EPSILON, and simple_enum_gen::w.