MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation. More...
#include <SpuMinkowskiPenetrationDepthSolver.h>
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) |
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.
SpuMinkowskiPenetrationDepthSolver::SpuMinkowskiPenetrationDepthSolver | ( | ) | [inline] |
Definition at line 33 of file SpuMinkowskiPenetrationDepthSolver.h.
virtual SpuMinkowskiPenetrationDepthSolver::~SpuMinkowskiPenetrationDepthSolver | ( | ) | [inline, virtual] |
Definition at line 34 of file SpuMinkowskiPenetrationDepthSolver.h.
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] |
Implements btConvexPenetrationDepthSolver.
Definition at line 71 of file SpuMinkowskiPenetrationDepthSolver.cpp.