btGjkPairDetector.cpp File Reference

#include "btGjkPairDetector.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"

Include dependency graph for btGjkPairDetector.cpp:

Go to the source code of this file.

Classes
struct	btSupportVector
struct	btSimplex

Macros
#define	REL_ERROR2   btScalar(1.0e-6)

Functions
static void	btComputeSupport (const btConvexShape *convexA, const btTransform &localTransA, const btConvexShape *convexB, const btTransform &localTransB, const btVector3 &dir, bool check2d, btVector3 &supAworld, btVector3 &supBworld, btVector3 &aMinb)
void	btSimplexInit (btSimplex *s)
int	btSimplexSize (const btSimplex *s)
const btSupportVector *	btSimplexPoint (const btSimplex *s, int idx)
void	btSupportCopy (btSupportVector *d, const btSupportVector *s)
void	btVec3Copy (btVector3 *v, const btVector3 *w)
void	ccdVec3Add (btVector3 *v, const btVector3 *w)
void	ccdVec3Sub (btVector3 *v, const btVector3 *w)
void	btVec3Sub2 (btVector3 *d, const btVector3 *v, const btVector3 *w)
btScalar	btVec3Dot (const btVector3 *a, const btVector3 *b)
btScalar	ccdVec3Dist2 (const btVector3 *a, const btVector3 *b)
void	btVec3Scale (btVector3 *d, btScalar k)
void	btVec3Cross (btVector3 *d, const btVector3 *a, const btVector3 *b)
void	btTripleCross (const btVector3 *a, const btVector3 *b, const btVector3 *c, btVector3 *d)
int	ccdEq (btScalar _a, btScalar _b)
btScalar	ccdVec3X (const btVector3 *v)
btScalar	ccdVec3Y (const btVector3 *v)
btScalar	ccdVec3Z (const btVector3 *v)
int	btVec3Eq (const btVector3 *a, const btVector3 *b)
void	btSimplexAdd (btSimplex *s, const btSupportVector *v)
void	btSimplexSet (btSimplex *s, size_t pos, const btSupportVector *a)
void	btSimplexSetSize (btSimplex *s, int size)
const btSupportVector *	ccdSimplexLast (const btSimplex *s)
int	ccdSign (btScalar val)
btScalar	btVec3PointSegmentDist2 (const btVector3 *P, const btVector3 *x0, const btVector3 *b, btVector3 *witness)
btScalar	btVec3PointTriDist2 (const btVector3 *P, const btVector3 *x0, const btVector3 *B, const btVector3 *C, btVector3 *witness)
static int	btDoSimplex2 (btSimplex *simplex, btVector3 *dir)
static int	btDoSimplex3 (btSimplex *simplex, btVector3 *dir)
static int	btDoSimplex4 (btSimplex *simplex, btVector3 *dir)
static int	btDoSimplex (btSimplex *simplex, btVector3 *dir)

Variables
btScalar	gGjkEpaPenetrationTolerance = 0.001
static btVector3	ccd_vec3_origin (0, 0, 0)

Macro Definition Documentation

REL_ERROR2

#define REL_ERROR2   btScalar(1.0e-6)

Definition at line 35 of file btGjkPairDetector.cpp.

Function Documentation

btComputeSupport()

static void btComputeSupport ( const btConvexShape *  convexA, const btTransform &  localTransA, const btConvexShape *  convexB, const btTransform &  localTransB, const btVector3 &  dir, bool  check2d, btVector3 &  supAworld, btVector3 &  supBworld, btVector3 &  aMinb  )

static

Definition at line 80 of file btGjkPairDetector.cpp.

btDoSimplex()

static int btDoSimplex ( btSimplex *  simplex, btVector3 *  dir  )

static

Definition at line 665 of file btGjkPairDetector.cpp.

btDoSimplex2()

static int btDoSimplex2 ( btSimplex *  simplex, btVector3 *  dir  )

static

Definition at line 414 of file btGjkPairDetector.cpp.

btDoSimplex3()

static int btDoSimplex3 ( btSimplex *  simplex, btVector3 *  dir  )

static

Definition at line 460 of file btGjkPairDetector.cpp.

btDoSimplex4()

static int btDoSimplex4 ( btSimplex *  simplex, btVector3 *  dir  )

static

Definition at line 569 of file btGjkPairDetector.cpp.

btSimplexAdd()

void btSimplexAdd ( btSimplex *  s, const btSupportVector *  v  )

inline

Definition at line 235 of file btGjkPairDetector.cpp.

btSimplexInit()

void btSimplexInit ( btSimplex *  s )

inline

Definition at line 118 of file btGjkPairDetector.cpp.

btSimplexPoint()

const btSupportVector * btSimplexPoint ( const btSimplex *  s, int  idx  )

inline

Definition at line 128 of file btGjkPairDetector.cpp.

btSimplexSet()

void btSimplexSet ( btSimplex *  s, size_t  pos, const btSupportVector *  a  )

inline

Definition at line 242 of file btGjkPairDetector.cpp.

btSimplexSetSize()

void btSimplexSetSize ( btSimplex *  s, int  size  )

inline

Definition at line 247 of file btGjkPairDetector.cpp.

btSimplexSize()

int btSimplexSize ( const btSimplex *  s )

inline

Definition at line 123 of file btGjkPairDetector.cpp.

btSupportCopy()

void btSupportCopy ( btSupportVector *  d, const btSupportVector *  s  )

inline

Definition at line 133 of file btGjkPairDetector.cpp.

btTripleCross()

void btTripleCross ( const btVector3 *  a, const btVector3 *  b, const btVector3 *  c, btVector3 *  d  )

inline

Definition at line 187 of file btGjkPairDetector.cpp.

btVec3Copy()

void btVec3Copy ( btVector3 *  v, const btVector3 *  w  )

inline

Definition at line 138 of file btGjkPairDetector.cpp.

btVec3Cross()

void btVec3Cross ( btVector3 *  d, const btVector3 *  a, const btVector3 *  b  )

inline

Definition at line 180 of file btGjkPairDetector.cpp.

btVec3Dot()

btScalar btVec3Dot ( const btVector3 *  a, const btVector3 *  b  )

inline

Definition at line 158 of file btGjkPairDetector.cpp.

btVec3Eq()

int btVec3Eq ( const btVector3 *  a, const btVector3 *  b  )

inline

Definition at line 230 of file btGjkPairDetector.cpp.

btVec3PointSegmentDist2()

btScalar btVec3PointSegmentDist2 ( const btVector3 *  P, const btVector3 *  x0, const btVector3 *  b, btVector3 *  witness  )

inline

Definition at line 270 of file btGjkPairDetector.cpp.

btVec3PointTriDist2()

btScalar btVec3PointTriDist2	(	const btVector3 *	P,
		const btVector3 *	x0,
		const btVector3 *	B,
		const btVector3 *	C,
		btVector3 *	witness
	)

Definition at line 335 of file btGjkPairDetector.cpp.

btVec3Scale()

void btVec3Scale ( btVector3 *  d, btScalar  k  )

inline

Definition at line 173 of file btGjkPairDetector.cpp.

btVec3Sub2()

void btVec3Sub2 ( btVector3 *  d, const btVector3 *  v, const btVector3 *  w  )

inline

Definition at line 154 of file btGjkPairDetector.cpp.

ccdEq()

int ccdEq ( btScalar  _a, btScalar  _b  )

inline

Definition at line 195 of file btGjkPairDetector.cpp.

ccdSign()

int ccdSign ( btScalar  val )

inline

Definition at line 257 of file btGjkPairDetector.cpp.

ccdSimplexLast()

const btSupportVector * ccdSimplexLast ( const btSimplex *  s )

inline

Definition at line 252 of file btGjkPairDetector.cpp.

ccdVec3Add()

void ccdVec3Add ( btVector3 *  v, const btVector3 *  w  )

inline

Definition at line 143 of file btGjkPairDetector.cpp.

ccdVec3Dist2()

btScalar ccdVec3Dist2 ( const btVector3 *  a, const btVector3 *  b  )

inline

Definition at line 166 of file btGjkPairDetector.cpp.

ccdVec3Sub()

void ccdVec3Sub ( btVector3 *  v, const btVector3 *  w  )

inline

Definition at line 150 of file btGjkPairDetector.cpp.

ccdVec3X()

btScalar ccdVec3X

(

const btVector3 *

v

)

Definition at line 216 of file btGjkPairDetector.cpp.

ccdVec3Y()

btScalar ccdVec3Y

(

const btVector3 *

v

)

Definition at line 221 of file btGjkPairDetector.cpp.

ccdVec3Z()

btScalar ccdVec3Z

(

const btVector3 *

v

)

Definition at line 226 of file btGjkPairDetector.cpp.

Variable Documentation

ccd_vec3_origin

btVector3 ccd_vec3_origin(0, 0, 0) ( 0  , 0  , 0    )

static

gGjkEpaPenetrationTolerance

btScalar gGjkEpaPenetrationTolerance = 0.001

Definition at line 36 of file btGjkPairDetector.cpp.