Bullet Collision Detection & Physics Library
Public Member Functions | Static Protected Member Functions | List of all members
btMinkowskiPenetrationDepthSolver Class Reference

MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation. More...

#include <btMinkowskiPenetrationDepthSolver.h>

Inheritance diagram for btMinkowskiPenetrationDepthSolver:
Inheritance graph
Collaboration diagram for btMinkowskiPenetrationDepthSolver:
Collaboration graph

Public Member Functions

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)
- Public Member Functions inherited from btConvexPenetrationDepthSolver
virtual ~btConvexPenetrationDepthSolver ()

Static Protected Member Functions

static btVector3getPenetrationDirections ()

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 23 of file btMinkowskiPenetrationDepthSolver.h.

Member Function Documentation

bool btMinkowskiPenetrationDepthSolver::calcPenDepth ( btSimplexSolverInterface simplexSolver,
const btConvexShape convexA,
const btConvexShape convexB,
const btTransform transA,
const btTransform transB,
btVector3 v,
btVector3 pa,
btVector3 pb,
class btIDebugDraw debugDraw 

scale dependent

Implements btConvexPenetrationDepthSolver.

Definition at line 25 of file btMinkowskiPenetrationDepthSolver.cpp.

btVector3 * btMinkowskiPenetrationDepthSolver::getPenetrationDirections ( )

Definition at line 310 of file btMinkowskiPenetrationDepthSolver.cpp.

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