MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation. More...
#include <btMinkowskiPenetrationDepthSolver.h>
Inheritance diagram for btMinkowskiPenetrationDepthSolver:
Collaboration diagram for btMinkowskiPenetrationDepthSolver:
Public Member Functions | |
| virtual bool | calcPenDepth (btSimplexSolverInterface &simplexSolver, const btConvexShape *convexA, const btConvexShape *convexB, const btTransform &transA, const btTransform &transB, btVector3 &v, btVector3 &pa, btVector3 &pb, class btIDebugDraw *debugDraw) |
 Public Member Functions inherited from btConvexPenetrationDepthSolver | |
| virtual | ~btConvexPenetrationDepthSolver () |
| virtual bool | calcPenDepth (btSimplexSolverInterface &simplexSolver, const btConvexShape *convexA, const btConvexShape *convexB, const btTransform &transA, const btTransform &transB, btVector3 &v, btVector3 &pa, btVector3 &pb, class btIDebugDraw *debugDraw)=0 |
Static Protected Member Functions | |
| static btVector3 * | getPenetrationDirections () |
Detailed Description
MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.
Definition at line 23 of file btMinkowskiPenetrationDepthSolver.h.
Member Function Documentation
◆ calcPenDepth()
|
virtual |
scale dependent
Implements btConvexPenetrationDepthSolver.
Definition at line 24 of file btMinkowskiPenetrationDepthSolver.cpp.
◆ getPenetrationDirections()
|
staticprotected |
Definition at line 288 of file btMinkowskiPenetrationDepthSolver.cpp.
The documentation for this class was generated from the following files:
