btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface More...

#include <btGjkPairDetector.h>

Inheritance diagram for btGjkPairDetector:

Collaboration diagram for btGjkPairDetector:

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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 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 More...

Public Member Functions inherited from btDiscreteCollisionDetectorInterface
virtual	~btDiscreteCollisionDetectorInterface ()

Public Attributes
int	m_lastUsedMethod

int	m_curIter

int	m_degenerateSimplex

int	m_catchDegeneracies

int	m_fixContactNormalDirection

Private Attributes
btVector3	m_cachedSeparatingAxis

btConvexPenetrationDepthSolver *	m_penetrationDepthSolver

btSimplexSolverInterface *	m_simplexSolver

const btConvexShape *	m_minkowskiA

const btConvexShape *	m_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 46 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 62 of file btGjkPairDetector.cpp.

virtual btGjkPairDetector::~btGjkPairDetector ( )

inlinevirtual

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 79 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

todo: need to track down this EPA penetration solver degeneracy the penetration solver reports penetration but the contact normal connecting the contact points is pointing in the opposite direction until then, detect the issue and revert the normal

Definition at line 676 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

btVector3 btGjkPairDetector::m_cachedSeparatingAxis

private

Definition at line 34 of file btGjkPairDetector.h.

btScalar btGjkPairDetector::m_cachedSeparatingDistance

private

Definition at line 45 of file btGjkPairDetector.h.

int btGjkPairDetector::m_catchDegeneracies

Definition at line 54 of file btGjkPairDetector.h.

int btGjkPairDetector::m_curIter

Definition at line 52 of file btGjkPairDetector.h.

int btGjkPairDetector::m_degenerateSimplex

Definition at line 53 of file btGjkPairDetector.h.

int btGjkPairDetector::m_fixContactNormalDirection

Definition at line 55 of file btGjkPairDetector.h.

bool btGjkPairDetector::m_ignoreMargin

private

Definition at line 44 of file btGjkPairDetector.h.

int btGjkPairDetector::m_lastUsedMethod

Definition at line 51 of file btGjkPairDetector.h.

btScalar btGjkPairDetector::m_marginA

private

Definition at line 41 of file btGjkPairDetector.h.

btScalar btGjkPairDetector::m_marginB

private

Definition at line 42 of file btGjkPairDetector.h.

const btConvexShape* btGjkPairDetector::m_minkowskiA

private

Definition at line 37 of file btGjkPairDetector.h.

const btConvexShape* btGjkPairDetector::m_minkowskiB

private

Definition at line 38 of file btGjkPairDetector.h.

btConvexPenetrationDepthSolver* btGjkPairDetector::m_penetrationDepthSolver

private

Definition at line 35 of file btGjkPairDetector.h.

int btGjkPairDetector::m_shapeTypeA

private

Definition at line 39 of file btGjkPairDetector.h.

int btGjkPairDetector::m_shapeTypeB

private

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:

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation