btGjkEpa3.h File Reference

#include "LinearMath/btTransform.h"
#include "btGjkCollisionDescription.h"

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Classes
struct	btGjkEpaSolver3
struct	btGjkEpaSolver3::sResults
struct	MinkowskiDiff< btConvexTemplate >
struct	GJK< btConvexTemplate >
struct	GJK< btConvexTemplate >::sSV
struct	GJK< btConvexTemplate >::sSimplex
struct	EPA< btConvexTemplate >
struct	EPA< btConvexTemplate >::sFace
struct	EPA< btConvexTemplate >::sList
struct	EPA< btConvexTemplate >::sHorizon

Macros
#define	GJK_MAX_ITERATIONS   128
#define	GJK_ACCURARY   ((btScalar)0.0001)
#define	GJK_MIN_DISTANCE   ((btScalar)0.0001)
#define	GJK_DUPLICATED_EPS   ((btScalar)0.0001)
#define	GJK_SIMPLEX2_EPS   ((btScalar)0.0)
#define	GJK_SIMPLEX3_EPS   ((btScalar)0.0)
#define	GJK_SIMPLEX4_EPS   ((btScalar)0.0)
#define	EPA_MAX_VERTICES   64
#define	EPA_MAX_FACES   (EPA_MAX_VERTICES * 2)
#define	EPA_MAX_ITERATIONS   255
#define	EPA_ACCURACY   ((btScalar)0.0001)
#define	EPA_FALLBACK   (10 * EPA_ACCURACY)
#define	EPA_PLANE_EPS   ((btScalar)0.00001)
#define	EPA_INSIDE_EPS   ((btScalar)0.01)

Typedefs
typedef unsigned int	U
typedef unsigned char	U1

Enumerations
enum	eGjkStatus {   eGjkValid ,   eGjkInside ,   eGjkFailed }
enum	eEpaStatus {   eEpaValid ,   eEpaTouching ,   eEpaDegenerated ,   eEpaNonConvex ,   eEpaInvalidHull ,   eEpaOutOfFaces ,   eEpaOutOfVertices ,   eEpaAccuraryReached ,   eEpaFallBack ,   eEpaFailed }

Functions
template<typename btConvexTemplate >
static void	Initialize (const btConvexTemplate &a, const btConvexTemplate &b, btGjkEpaSolver3::sResults &results, MinkowskiDiff< btConvexTemplate > &shape)
template<typename btConvexTemplate >
bool	btGjkEpaSolver3_Distance (const btConvexTemplate &a, const btConvexTemplate &b, const btVector3 &guess, btGjkEpaSolver3::sResults &results)
template<typename btConvexTemplate >
bool	btGjkEpaSolver3_Penetration (const btConvexTemplate &a, const btConvexTemplate &b, const btVector3 &guess, btGjkEpaSolver3::sResults &results)
template<typename btConvexTemplate , typename btDistanceInfoTemplate >
int	btComputeGjkDistance (const btConvexTemplate &a, const btConvexTemplate &b, const btGjkCollisionDescription &colDesc, btDistanceInfoTemplate *distInfo)

Macro Definition Documentation

EPA_ACCURACY

#define EPA_ACCURACY   ((btScalar)0.0001)

Definition at line 72 of file btGjkEpa3.h.

EPA_FALLBACK

#define EPA_FALLBACK   (10 * EPA_ACCURACY)

Definition at line 73 of file btGjkEpa3.h.

EPA_INSIDE_EPS

#define EPA_INSIDE_EPS   ((btScalar)0.01)

Definition at line 75 of file btGjkEpa3.h.

EPA_MAX_FACES

#define EPA_MAX_FACES   (EPA_MAX_VERTICES * 2)

Definition at line 70 of file btGjkEpa3.h.

EPA_MAX_ITERATIONS

#define EPA_MAX_ITERATIONS   255

Definition at line 71 of file btGjkEpa3.h.

EPA_MAX_VERTICES

#define EPA_MAX_VERTICES   64

Definition at line 69 of file btGjkEpa3.h.

EPA_PLANE_EPS

#define EPA_PLANE_EPS   ((btScalar)0.00001)

Definition at line 74 of file btGjkEpa3.h.

GJK_ACCURARY

#define GJK_ACCURARY   ((btScalar)0.0001)

Definition at line 61 of file btGjkEpa3.h.

GJK_DUPLICATED_EPS

#define GJK_DUPLICATED_EPS   ((btScalar)0.0001)

Definition at line 63 of file btGjkEpa3.h.

GJK_MAX_ITERATIONS

#define GJK_MAX_ITERATIONS   128

Definition at line 60 of file btGjkEpa3.h.

GJK_MIN_DISTANCE

#define GJK_MIN_DISTANCE   ((btScalar)0.0001)

Definition at line 62 of file btGjkEpa3.h.

GJK_SIMPLEX2_EPS

#define GJK_SIMPLEX2_EPS   ((btScalar)0.0)

Definition at line 64 of file btGjkEpa3.h.

GJK_SIMPLEX3_EPS

#define GJK_SIMPLEX3_EPS   ((btScalar)0.0)

Definition at line 65 of file btGjkEpa3.h.

GJK_SIMPLEX4_EPS

#define GJK_SIMPLEX4_EPS   ((btScalar)0.0)

Definition at line 66 of file btGjkEpa3.h.

Typedef Documentation

U

typedef unsigned int U

Definition at line 78 of file btGjkEpa3.h.

U1

typedef unsigned char U1

Definition at line 79 of file btGjkEpa3.h.

Enumeration Type Documentation

eEpaStatus

enum eEpaStatus

Enumerator
eEpaValid
eEpaTouching
eEpaDegenerated
eEpaNonConvex
eEpaInvalidHull
eEpaOutOfFaces
eEpaOutOfVertices
eEpaAccuraryReached
eEpaFallBack
eEpaFailed

Definition at line 528 of file btGjkEpa3.h.

eGjkStatus

enum eGjkStatus

Enumerator
eGjkValid
eGjkInside
eGjkFailed

Definition at line 125 of file btGjkEpa3.h.

Function Documentation

btComputeGjkDistance()

template<typename btConvexTemplate , typename btDistanceInfoTemplate >

int btComputeGjkDistance	(	const btConvexTemplate &	a,
		const btConvexTemplate &	b,
		const btGjkCollisionDescription &	colDesc,
		btDistanceInfoTemplate *	distInfo
	)

Definition at line 1024 of file btGjkEpa3.h.

btGjkEpaSolver3_Distance()

template<typename btConvexTemplate >

bool btGjkEpaSolver3_Distance	(	const btConvexTemplate &	a,
		const btConvexTemplate &	b,
		const btVector3 &	guess,
		btGjkEpaSolver3::sResults &	results
	)

Definition at line 898 of file btGjkEpa3.h.

btGjkEpaSolver3_Penetration()

template<typename btConvexTemplate >

bool btGjkEpaSolver3_Penetration	(	const btConvexTemplate &	a,
		const btConvexTemplate &	b,
		const btVector3 &	guess,
		btGjkEpaSolver3::sResults &	results
	)

Definition at line 931 of file btGjkEpa3.h.

Initialize()

template<typename btConvexTemplate >

static void Initialize ( const btConvexTemplate &  a, const btConvexTemplate &  b, btGjkEpaSolver3::sResults &  results, MinkowskiDiff< btConvexTemplate > &  shape  )

static

Definition at line 878 of file btGjkEpa3.h.