btSubsimplexConvexCast Class Reference

btSubsimplexConvexCast implements Gino van den Bergens' paper "Ray Casting against bteral Convex Objects with Application to Continuous Collision Detection" GJK based Ray Cast, optimized version Objects should not start in overlap, otherwise results are not defined. More...

#include <btSubSimplexConvexCast.h>

Inheritance diagram for btSubsimplexConvexCast:

Collaboration diagram for btSubsimplexConvexCast:

Public Member Functions
	btSubsimplexConvexCast (const btConvexShape *shapeA, const btConvexShape *shapeB, btSimplexSolverInterface *simplexSolver)
virtual bool	calcTimeOfImpact (const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)
	SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects. More...
Public Member Functions inherited from btConvexCast
virtual	~btConvexCast ()

Private Attributes
btSimplexSolverInterface *	m_simplexSolver
const btConvexShape *	m_convexA
const btConvexShape *	m_convexB

Detailed Description

btSubsimplexConvexCast implements Gino van den Bergens' paper "Ray Casting against bteral Convex Objects with Application to Continuous Collision Detection" GJK based Ray Cast, optimized version Objects should not start in overlap, otherwise results are not defined.

Definition at line 28 of file btSubSimplexConvexCast.h.

Constructor & Destructor Documentation

btSubsimplexConvexCast::btSubsimplexConvexCast	(	const btConvexShape *	shapeA,
		const btConvexShape *	shapeB,
		btSimplexSolverInterface *	simplexSolver
	)

Definition at line 25 of file btSubSimplexConvexCast.cpp.

Member Function Documentation

bool btSubsimplexConvexCast::calcTimeOfImpact ( const btTransform &  fromA, const btTransform &  toA, const btTransform &  fromB, const btTransform &  toB, CastResult &  result  )

virtual

SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects.

Precondition is that objects should not penetration/overlap at the start from the interval. Overlap can be tested using btGjkPairDetector.

take relative motion

Just like regular GJK only add the vertex if it isn't already (close) to current vertex, it would lead to divisions by zero and NaN etc.

Implements btConvexCast.

Definition at line 38 of file btSubSimplexConvexCast.cpp.

Member Data Documentation

const btConvexShape* btSubsimplexConvexCast::m_convexA

private

Definition at line 31 of file btSubSimplexConvexCast.h.

const btConvexShape* btSubsimplexConvexCast::m_convexB

private

Definition at line 32 of file btSubSimplexConvexCast.h.

btSimplexSolverInterface* btSubsimplexConvexCast::m_simplexSolver

private

Definition at line 30 of file btSubSimplexConvexCast.h.

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

• btSubSimplexConvexCast.h
• btSubSimplexConvexCast.cpp