Real-Time Physics Simulation Forum

Re: Which paper is about GJK-EPA by Nathanael Presson ?

2016-09-11T10:06:09+00:00

The Expanding Polytope Algorithm (EPA) is by Gino van den Bergen. See "Proximity Queries and Penetration Depth Computation on 3D Game Objects" link/pdf and his book from this page:

http://www.dtecta.com/publications

Nathan implement this, as well as some improvements.

Thanks a lot ,Erwin

Statistics: Posted by Jack2016 — Sun Sep 11, 2016 10:06 am

Re: Which paper is about GJK-EPA by Nathanael Presson ?

2016-09-11T08:25:32+00:00

The Expanding Polytope Algorithm (EPA) is by Gino van den Bergen. See "Proximity Queries and Penetration Depth Computation on 3D Game Objects" link/pdf and his book from this page:

http://www.dtecta.com/publications

Nathan implement this, as well as some improvements.

Statistics: Posted by Erwin Coumans — Sun Sep 11, 2016 8:25 am

Which paper is about GJK-EPA by Nathanael Presson ?

2016-09-09T03:54:03+00:00

Nathanael said the algorithm is incremental convex hull,
but I can't find paper

btGjkEpa2.cpp:
EPA::Evaluate()

Code:

m_status = eStatus::Valid;for (; iterations < EPA_MAX_ITERATIONS; ++iterations){if (m_nextsv < EPA_MAX_VERTICES){sHorizonhorizon;sSV*w = &m_sv_store[m_nextsv++];boolvalid = true;best->pass = (U1)(++pass);gjk.getsupport(best->n, *w);const tbScalarwdist = dot(best->n, w->w) - best->d;if (wdist>EPA_ACCURACY){for (U j = 0; (j < 3) && valid; ++j){valid &= expand(pass, w,best->f[j], best->e[j],horizon);}       if (valid && (horizon.nf >= 3)){bind(horizon.cf, 1, horizon.ff, 2);remove(m_hull, best);append(m_stock, best);best = findbest();if (best->p >= outer.p) outer = *best;}else { m_status = eStatus::InvalidHull; break; }}else { m_status = eStatus::AccuraryReached; break; }}else { m_status = eStatus::OutOfVertices; break; }}

Statistics: Posted by Jack2016 — Fri Sep 09, 2016 3:54 am