Public Member Functions

SpuMinkowskiPenetrationDepthSolver Class Reference

MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation. More...

#include <SpuMinkowskiPenetrationDepthSolver.h>

Inheritance diagram for SpuMinkowskiPenetrationDepthSolver:
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List of all members.

Public Member Functions

 SpuMinkowskiPenetrationDepthSolver ()
virtual ~SpuMinkowskiPenetrationDepthSolver ()
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, btStackAlloc *stackAlloc)

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 30 of file SpuMinkowskiPenetrationDepthSolver.h.


Constructor & Destructor Documentation

SpuMinkowskiPenetrationDepthSolver::SpuMinkowskiPenetrationDepthSolver (  )  [inline]

Definition at line 33 of file SpuMinkowskiPenetrationDepthSolver.h.

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

Definition at line 34 of file SpuMinkowskiPenetrationDepthSolver.h.


Member Function Documentation

bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth ( btSimplexSolverInterface &  simplexSolver,
const btConvexShape convexA,
const btConvexShape convexB,
const btTransform transA,
const btTransform transB,
btVector3 v,
btVector3 pa,
btVector3 pb,
class btIDebugDraw debugDraw,
btStackAlloc stackAlloc 
) [virtual]

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