btGjkPairDetector Class Reference

btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface More...

#include <btGjkPairDetector.h>

Inheritance diagram for btGjkPairDetector:

Collaboration diagram for btGjkPairDetector:

Public Member Functions
	btGjkPairDetector (const btConvexShape *objectA, const btConvexShape *objectB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
	btGjkPairDetector (const btConvexShape *objectA, const btConvexShape *objectB, int shapeTypeA, int shapeTypeB, btScalar marginA, btScalar marginB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
virtual	~btGjkPairDetector ()
virtual void	getClosestPoints (const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
void	getClosestPointsNonVirtual (const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw)
void	setMinkowskiA (const btConvexShape *minkA)
void	setMinkowskiB (const btConvexShape *minkB)
void	setCachedSeparatingAxis (const btVector3 &separatingAxis)
const btVector3 &	getCachedSeparatingAxis () const
btScalar	getCachedSeparatingDistance () const
void	setPenetrationDepthSolver (btConvexPenetrationDepthSolver *penetrationDepthSolver)
void	setIgnoreMargin (bool ignoreMargin)
	don't use setIgnoreMargin, it's for Bullet's internal use More...
Public Member Functions inherited from btDiscreteCollisionDetectorInterface
virtual	~btDiscreteCollisionDetectorInterface ()
virtual void	getClosestPoints (const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)=0

Public Attributes
int	m_lastUsedMethod
int	m_curIter
int	m_degenerateSimplex
int	m_catchDegeneracies
int	m_fixContactNormalDirection

Private Attributes
btVector3	m_cachedSeparatingAxis
btConvexPenetrationDepthSolver *	m_penetrationDepthSolver
btSimplexSolverInterface *	m_simplexSolver
const btConvexShape *	m_minkowskiA
const btConvexShape *	m_minkowskiB
int	m_shapeTypeA
int	m_shapeTypeB
btScalar	m_marginA
btScalar	m_marginB
bool	m_ignoreMargin
btScalar	m_cachedSeparatingDistance

Detailed Description

btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface

Definition at line 27 of file btGjkPairDetector.h.

Constructor & Destructor Documentation

btGjkPairDetector() [1/2]

btGjkPairDetector::btGjkPairDetector	(	const btConvexShape *	objectA,
		const btConvexShape *	objectB,
		btSimplexSolverInterface *	simplexSolver,
		btConvexPenetrationDepthSolver *	penetrationDepthSolver
	)

Definition at line 40 of file btGjkPairDetector.cpp.

btGjkPairDetector() [2/2]

btGjkPairDetector::btGjkPairDetector	(	const btConvexShape *	objectA,
		const btConvexShape *	objectB,
		int	shapeTypeA,
		int	shapeTypeB,
		btScalar	marginA,
		btScalar	marginB,
		btSimplexSolverInterface *	simplexSolver,
		btConvexPenetrationDepthSolver *	penetrationDepthSolver
	)

Definition at line 56 of file btGjkPairDetector.cpp.

~btGjkPairDetector()

virtual btGjkPairDetector::~btGjkPairDetector ( )

inlinevirtual

Definition at line 52 of file btGjkPairDetector.h.

Member Function Documentation

getCachedSeparatingAxis()

const btVector3 & btGjkPairDetector::getCachedSeparatingAxis ( ) const

inline

Definition at line 72 of file btGjkPairDetector.h.

getCachedSeparatingDistance()

btScalar btGjkPairDetector::getCachedSeparatingDistance ( ) const

inline

Definition at line 76 of file btGjkPairDetector.h.

getClosestPoints()

void btGjkPairDetector::getClosestPoints ( const ClosestPointInput &  input, Result &  output, class btIDebugDraw *  debugDraw, bool  swapResults = false  )

virtual

Implements btDiscreteCollisionDetectorInterface.

Definition at line 73 of file btGjkPairDetector.cpp.

getClosestPointsNonVirtual()

void btGjkPairDetector::getClosestPointsNonVirtual	(	const ClosestPointInput &	input,
		Result &	output,
		class btIDebugDraw *	debugDraw
	)

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

todo: need to track down this EPA penetration solver degeneracy the penetration solver reports penetration but the contact normal connecting the contact points is pointing in the opposite direction until then, detect the issue and revert the normal

Definition at line 688 of file btGjkPairDetector.cpp.

setCachedSeparatingAxis()

void btGjkPairDetector::setCachedSeparatingAxis ( const btVector3 &  separatingAxis )

inline

Definition at line 67 of file btGjkPairDetector.h.

setIgnoreMargin()

void btGjkPairDetector::setIgnoreMargin ( bool  ignoreMargin )

inline

don't use setIgnoreMargin, it's for Bullet's internal use

Definition at line 87 of file btGjkPairDetector.h.

setMinkowskiA()

void btGjkPairDetector::setMinkowskiA ( const btConvexShape *  minkA )

inline

Definition at line 58 of file btGjkPairDetector.h.

setMinkowskiB()

void btGjkPairDetector::setMinkowskiB ( const btConvexShape *  minkB )

inline

Definition at line 63 of file btGjkPairDetector.h.

setPenetrationDepthSolver()

void btGjkPairDetector::setPenetrationDepthSolver ( btConvexPenetrationDepthSolver *  penetrationDepthSolver )

inline

Definition at line 81 of file btGjkPairDetector.h.

Member Data Documentation

m_cachedSeparatingAxis

btVector3 btGjkPairDetector::m_cachedSeparatingAxis

private

Definition at line 29 of file btGjkPairDetector.h.

m_cachedSeparatingDistance

btScalar btGjkPairDetector::m_cachedSeparatingDistance

private

Definition at line 40 of file btGjkPairDetector.h.

m_catchDegeneracies

int btGjkPairDetector::m_catchDegeneracies

Definition at line 47 of file btGjkPairDetector.h.

m_curIter

int btGjkPairDetector::m_curIter

Definition at line 45 of file btGjkPairDetector.h.

m_degenerateSimplex

int btGjkPairDetector::m_degenerateSimplex

Definition at line 46 of file btGjkPairDetector.h.

m_fixContactNormalDirection

int btGjkPairDetector::m_fixContactNormalDirection

Definition at line 48 of file btGjkPairDetector.h.

m_ignoreMargin

bool btGjkPairDetector::m_ignoreMargin

private

Definition at line 39 of file btGjkPairDetector.h.

m_lastUsedMethod

int btGjkPairDetector::m_lastUsedMethod

Definition at line 44 of file btGjkPairDetector.h.

m_marginA

btScalar btGjkPairDetector::m_marginA

private

Definition at line 36 of file btGjkPairDetector.h.

m_marginB

btScalar btGjkPairDetector::m_marginB

private

Definition at line 37 of file btGjkPairDetector.h.

m_minkowskiA

const btConvexShape* btGjkPairDetector::m_minkowskiA

private

Definition at line 32 of file btGjkPairDetector.h.

m_minkowskiB

const btConvexShape* btGjkPairDetector::m_minkowskiB

private

Definition at line 33 of file btGjkPairDetector.h.

m_penetrationDepthSolver

btConvexPenetrationDepthSolver* btGjkPairDetector::m_penetrationDepthSolver

private

Definition at line 30 of file btGjkPairDetector.h.

m_shapeTypeA

int btGjkPairDetector::m_shapeTypeA

private

Definition at line 34 of file btGjkPairDetector.h.

m_shapeTypeB

int btGjkPairDetector::m_shapeTypeB

private

Definition at line 35 of file btGjkPairDetector.h.

m_simplexSolver

btSimplexSolverInterface* btGjkPairDetector::m_simplexSolver

private

Definition at line 31 of file btGjkPairDetector.h.

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

• btGjkPairDetector.h
• btGjkPairDetector.cpp