Bullet Collision Detection & Physics Library
Functions
btComputeGjkEpaPenetration.h File Reference
#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

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 66 of file btComputeGjkEpaPenetration.h.

template<typename btConvexTemplate >
bool btGjkEpaCalcPenDepth ( const btConvexTemplate &  a,
const btConvexTemplate &  b,
const btGjkCollisionDescription colDesc,
btVector3 v,
btVector3 wWitnessOnA,
btVector3 wWitnessOnB 
)

Definition at line 30 of file btComputeGjkEpaPenetration.h.