Public Member Functions | Public Attributes | Private Attributes

btGjkPairDetector Class Reference

btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface More...

#include <btGjkPairDetector.h>

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List of all members.

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 (const btConvexShape *minkA)
void setMinkowskiB (const btConvexShape *minkB)
void setCachedSeperatingAxis (const btVector3 &seperatingAxis)
const btVector3getCachedSeparatingAxis () 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

Private Attributes

btVector3 m_cachedSeparatingAxis
btConvexPenetrationDepthSolverm_penetrationDepthSolver
btSimplexSolverInterface * m_simplexSolver
const btConvexShapem_minkowskiA
const btConvexShapem_minkowskiB
int m_shapeTypeA
int m_shapeTypeB
btScalar m_marginA
btScalar m_marginB
bool m_ignoreMargin
btScalar m_cachedSeparatingDistance

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.

btScalar btGjkPairDetector::getCachedSeparatingDistance (  )  const [inline]

Definition at line 84 of file btGjkPairDetector.h.

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.

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.

void btGjkPairDetector::setCachedSeperatingAxis ( const btVector3 seperatingAxis  )  [inline]

Definition at line 75 of file btGjkPairDetector.h.

void btGjkPairDetector::setIgnoreMargin ( bool  ignoreMargin  )  [inline]

don't use setIgnoreMargin, it's for Bullet's internal use

Definition at line 95 of file btGjkPairDetector.h.

void btGjkPairDetector::setMinkowskiA ( const btConvexShape minkA  )  [inline]

Definition at line 66 of file btGjkPairDetector.h.

void btGjkPairDetector::setMinkowskiB ( const btConvexShape minkB  )  [inline]

Definition at line 71 of file btGjkPairDetector.h.

void btGjkPairDetector::setPenetrationDepthSolver ( btConvexPenetrationDepthSolver penetrationDepthSolver  )  [inline]

Definition at line 89 of file btGjkPairDetector.h.


Member Data Documentation

Definition at line 34 of file btGjkPairDetector.h.

Definition at line 45 of file btGjkPairDetector.h.

Definition at line 54 of file btGjkPairDetector.h.

Definition at line 52 of file btGjkPairDetector.h.

Definition at line 53 of file btGjkPairDetector.h.

Definition at line 44 of file btGjkPairDetector.h.

Definition at line 51 of file btGjkPairDetector.h.

Definition at line 41 of file btGjkPairDetector.h.

Definition at line 42 of file btGjkPairDetector.h.

Definition at line 37 of file btGjkPairDetector.h.

Definition at line 38 of file btGjkPairDetector.h.

Definition at line 35 of file btGjkPairDetector.h.

Definition at line 39 of file btGjkPairDetector.h.

Definition at line 40 of file btGjkPairDetector.h.

btSimplexSolverInterface* btGjkPairDetector::m_simplexSolver [private]

Definition at line 36 of file btGjkPairDetector.h.


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