#include "LinearMath/btTransform.h"#include "btGjkEpa3.h"#include "btGjkCollisionDescription.h"#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
Include dependency graph for btComputeGjkEpaPenetration.h:
Go to the source code of this file.
Functions | |
| template<typename btConvexTemplate > | |
| bool | btGjkEpaCalcPenDepth (const btConvexTemplate &a, const btConvexTemplate &b, const btGjkCollisionDescription &colDesc, btVector3 &v, btVector3 &wWitnessOnA, btVector3 &wWitnessOnB) |
| template<typename btConvexTemplate , typename btGjkDistanceTemplate > | |
| int | btComputeGjkEpaPenetration (const btConvexTemplate &a, const btConvexTemplate &b, const btGjkCollisionDescription &colDesc, btVoronoiSimplexSolver &simplexSolver, btGjkDistanceTemplate *distInfo) |
Function Documentation
◆ btComputeGjkEpaPenetration()
template<typename btConvexTemplate , typename btGjkDistanceTemplate >
| int btComputeGjkEpaPenetration | ( | const btConvexTemplate & | a, |
| const btConvexTemplate & | b, | ||
| const btGjkCollisionDescription & | colDesc, | ||
| btVoronoiSimplexSolver & | simplexSolver, | ||
| btGjkDistanceTemplate * | distInfo | ||
| ) |
this is another degenerate case, where the initial GJK calculation reports a degenerate case EPA reports no penetration, and the second GJK (using the supporting vector without margin) reports a valid positive distance. Use the results of the second GJK instead of failing. thanks to Jacob.Langford for the reproduction case http://code.google.com/p/bullet/issues/detail?id=250
Definition at line 61 of file btComputeGjkEpaPenetration.h.
◆ btGjkEpaCalcPenDepth()
template<typename btConvexTemplate >
| bool btGjkEpaCalcPenDepth | ( | const btConvexTemplate & | a, |
| const btConvexTemplate & | b, | ||
| const btGjkCollisionDescription & | colDesc, | ||
| btVector3 & | v, | ||
| btVector3 & | wWitnessOnA, | ||
| btVector3 & | wWitnessOnB | ||
| ) |
Definition at line 25 of file btComputeGjkEpaPenetration.h.
