GJK< btConvexTemplate > Struct Template Reference

#include <btGjkEpa3.h>

Collaboration diagram for GJK< btConvexTemplate >:

Classes
struct	sSimplex
struct	sSV

Public Member Functions
	GJK (const btConvexTemplate &a, const btConvexTemplate &b)
void	Initialize ()
eGjkStatus	Evaluate (const MinkowskiDiff< btConvexTemplate > &shapearg, const btVector3 &guess)
bool	EncloseOrigin ()
void	getsupport (const btVector3 &d, sSV &sv) const
void	removevertice (sSimplex &simplex)
void	appendvertice (sSimplex &simplex, const btVector3 &v)

Static Public Member Functions
static btScalar	det (const btVector3 &a, const btVector3 &b, const btVector3 &c)
static btScalar	projectorigin (const btVector3 &a, const btVector3 &b, btScalar *w, U &m)
static btScalar	projectorigin (const btVector3 &a, const btVector3 &b, const btVector3 &c, btScalar *w, U &m)
static btScalar	projectorigin (const btVector3 &a, const btVector3 &b, const btVector3 &c, const btVector3 &d, btScalar *w, U &m)

Public Attributes
MinkowskiDiff< btConvexTemplate >	m_shape
btVector3	m_ray
btScalar	m_distance
sSimplex	m_simplices [2]
sSV	m_store [4]
sSV *	m_free [4]
U	m_nfree
U	m_current
sSimplex *	m_simplex
eGjkStatus	m_status

Detailed Description

template<typename btConvexTemplate>
struct GJK< btConvexTemplate >

Definition at line 145 of file btGjkEpa3.h.

Constructor & Destructor Documentation

template<typename btConvexTemplate>

GJK< btConvexTemplate >::GJK ( const btConvexTemplate &  a, const btConvexTemplate &  b  )

inline

Definition at line 173 of file btGjkEpa3.h.

Member Function Documentation

template<typename btConvexTemplate>

void GJK< btConvexTemplate >::appendvertice ( sSimplex &  simplex, const btVector3 &  v  )

inline

Definition at line 384 of file btGjkEpa3.h.

template<typename btConvexTemplate>

static btScalar GJK< btConvexTemplate >::det ( const btVector3 &  a, const btVector3 &  b, const btVector3 &  c  )

inlinestatic

Definition at line 390 of file btGjkEpa3.h.

template<typename btConvexTemplate>

bool GJK< btConvexTemplate >::EncloseOrigin ( )

inline

Definition at line 309 of file btGjkEpa3.h.

template<typename btConvexTemplate>

eGjkStatus GJK< btConvexTemplate >::Evaluate ( const MinkowskiDiff< btConvexTemplate > &  shapearg, const btVector3 &  guess  )

inline

Definition at line 186 of file btGjkEpa3.h.

template<typename btConvexTemplate>

void GJK< btConvexTemplate >::getsupport ( const btVector3 &  d, sSV &  sv  ) const

inline

Definition at line 375 of file btGjkEpa3.h.

template<typename btConvexTemplate>

void GJK< btConvexTemplate >::Initialize ( )

inline

Definition at line 178 of file btGjkEpa3.h.

template<typename btConvexTemplate>

static btScalar GJK< btConvexTemplate >::projectorigin ( const btVector3 &  a, const btVector3 &  b, btScalar *  w, U &  m  )

inlinestatic

Definition at line 396 of file btGjkEpa3.h.

template<typename btConvexTemplate>

static btScalar GJK< btConvexTemplate >::projectorigin ( const btVector3 &  a, const btVector3 &  b, const btVector3 &  c, btScalar *  w, U &  m  )

inlinestatic

Definition at line 411 of file btGjkEpa3.h.

template<typename btConvexTemplate>

static btScalar GJK< btConvexTemplate >::projectorigin ( const btVector3 &  a, const btVector3 &  b, const btVector3 &  c, const btVector3 &  d, btScalar *  w, U &  m  )

inlinestatic

Definition at line 457 of file btGjkEpa3.h.

template<typename btConvexTemplate>

void GJK< btConvexTemplate >::removevertice ( sSimplex &  simplex )

inline

Definition at line 380 of file btGjkEpa3.h.

Member Data Documentation

template<typename btConvexTemplate>

U GJK< btConvexTemplate >::m_current

Definition at line 168 of file btGjkEpa3.h.

template<typename btConvexTemplate>

btScalar GJK< btConvexTemplate >::m_distance

Definition at line 163 of file btGjkEpa3.h.

template<typename btConvexTemplate>

sSV* GJK< btConvexTemplate >::m_free[4]

Definition at line 166 of file btGjkEpa3.h.

template<typename btConvexTemplate>

U GJK< btConvexTemplate >::m_nfree

Definition at line 167 of file btGjkEpa3.h.

template<typename btConvexTemplate>

btVector3 GJK< btConvexTemplate >::m_ray

Definition at line 162 of file btGjkEpa3.h.

template<typename btConvexTemplate>

MinkowskiDiff<btConvexTemplate> GJK< btConvexTemplate >::m_shape

Definition at line 161 of file btGjkEpa3.h.

template<typename btConvexTemplate>

sSimplex* GJK< btConvexTemplate >::m_simplex

Definition at line 169 of file btGjkEpa3.h.

template<typename btConvexTemplate>

sSimplex GJK< btConvexTemplate >::m_simplices[2]

Definition at line 164 of file btGjkEpa3.h.

template<typename btConvexTemplate>

eGjkStatus GJK< btConvexTemplate >::m_status

Definition at line 170 of file btGjkEpa3.h.

template<typename btConvexTemplate>

sSV GJK< btConvexTemplate >::m_store[4]

Definition at line 165 of file btGjkEpa3.h.

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The documentation for this struct was generated from the following file:

• btGjkEpa3.h