btGjkPairDetector Class Reference

btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface More...

#include <btGjkPairDetector.h>

Inheritance diagram for btGjkPairDetector:

Public Member Functions
	btGjkPairDetector (const btConvexShape objectA, const btConvexShape objectB, int shapeTypeA, int shapeTypeB, btScalar marginA, btScalar marginB, btSimplexSolverInterface simplexSolver, btConvexPenetrationDepthSolver penetrationDepthSolver)
	btGjkPairDetector (const btConvexShape objectA, const btConvexShape objectB, btSimplexSolverInterface simplexSolver, btConvexPenetrationDepthSolver penetrationDepthSolver)
const btVector3 &	getCachedSeparatingAxis () const
btScalar	getCachedSeparatingDistance () const
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	setCachedSeperatingAxis (const btVector3 &seperatingAxis)
void	setIgnoreMargin (bool ignoreMargin)
	don't use setIgnoreMargin, it's for Bullet's internal use
void	setMinkowskiA (btConvexShape *minkA)
void	setMinkowskiB (btConvexShape *minkB)
void	setPenetrationDepthSolver (btConvexPenetrationDepthSolver *penetrationDepthSolver)
virtual	~btGjkPairDetector ()
Public Attributes
int	m_catchDegeneracies
int	m_curIter
int	m_degenerateSimplex
int	m_lastUsedMethod
Private Attributes
btVector3	m_cachedSeparatingAxis
btScalar	m_cachedSeparatingDistance
bool	m_ignoreMargin
btScalar	m_marginA
btScalar	m_marginB
const btConvexShape *	m_minkowskiA
const btConvexShape *	m_minkowskiB
btConvexPenetrationDepthSolver *	m_penetrationDepthSolver
int	m_shapeTypeA
int	m_shapeTypeB
btSimplexSolverInterface *	m_simplexSolver

Detailed Description

btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface

Definition at line 30 of file btGjkPairDetector.h.

Constructor & Destructor Documentation

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

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

virtual btGjkPairDetector::~btGjkPairDetector ( ) [inline, virtual]

Definition at line 59 of file btGjkPairDetector.h.

Member Function Documentation

const btVector3& btGjkPairDetector::getCachedSeparatingAxis ( ) const [inline]

Definition at line 80 of file btGjkPairDetector.h.

btScalar btGjkPairDetector::getCachedSeparatingDistance ( ) const [inline]

Definition at line 84 of file btGjkPairDetector.h.

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