btGjkEpaPenetrationDepthSolver Class Reference

#include <btGjkEpaPenetrationDepthSolver.h>

Inheritance diagram for btGjkEpaPenetrationDepthSolver:

List of all members.

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, btStackAlloc *stackAlloc)

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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.

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Constructor & Destructor Documentation

btGjkEpaPenetrationDepthSolver::btGjkEpaPenetrationDepthSolver

(

)

[inline]

Definition at line 28 of file btGjkEpaPenetrationDepthSolver.h.

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Member Function Documentation

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,
		btStackAlloc *	stackAlloc
	)		[virtual]

Implements btConvexPenetrationDepthSolver.

Definition at line 24 of file btGjkEpaPenetrationDepthSolver.cpp.

References btGjkEpaSolver2::Distance(), btTransform::getOrigin(), btGjkEpaSolver2::Penetration(), and btGjkEpaSolver2::sResults::witnesses.

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

• btGjkEpaPenetrationDepthSolver.h
• btGjkEpaPenetrationDepthSolver.cpp