Public Member Functions | Public Attributes | Private Attributes
btGjkPairDetector Class Reference

btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface More...

#include <btGjkPairDetector.h>

Inheritance diagram for btGjkPairDetector:
Inheritance graph
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List of all members.

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)
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
btConvexPenetrationDepthSolverm_penetrationDepthSolver
int m_shapeTypeA
int m_shapeTypeB
btSimplexSolverInterfacem_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.

Definition at line 84 of file btGjkPairDetector.h.

virtual void btGjkPairDetector::getClosestPoints ( const ClosestPointInput input,
Result output,
class btIDebugDraw debugDraw,
bool  swapResults = false 
) [virtual]
void btGjkPairDetector::getClosestPointsNonVirtual ( const ClosestPointInput input,
Result output,
class btIDebugDraw debugDraw 
)
void btGjkPairDetector::setCachedSeperatingAxis ( const btVector3 &  seperatingAxis) [inline]

Definition at line 75 of file btGjkPairDetector.h.

void btGjkPairDetector::setIgnoreMargin ( bool  ignoreMargin) [inline]

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

Definition at line 95 of file btGjkPairDetector.h.

void btGjkPairDetector::setMinkowskiA ( btConvexShape *  minkA) [inline]

Definition at line 66 of file btGjkPairDetector.h.

void btGjkPairDetector::setMinkowskiB ( btConvexShape *  minkB) [inline]

Definition at line 71 of file btGjkPairDetector.h.

Definition at line 89 of file btGjkPairDetector.h.


Member Data Documentation

Definition at line 34 of file btGjkPairDetector.h.

Definition at line 45 of file btGjkPairDetector.h.

Definition at line 54 of file btGjkPairDetector.h.

Definition at line 52 of file btGjkPairDetector.h.

Definition at line 53 of file btGjkPairDetector.h.

Definition at line 44 of file btGjkPairDetector.h.

Definition at line 51 of file btGjkPairDetector.h.

Definition at line 41 of file btGjkPairDetector.h.

Definition at line 42 of file btGjkPairDetector.h.

const btConvexShape* btGjkPairDetector::m_minkowskiA [private]

Definition at line 37 of file btGjkPairDetector.h.

const btConvexShape* btGjkPairDetector::m_minkowskiB [private]

Definition at line 38 of file btGjkPairDetector.h.

Definition at line 35 of file btGjkPairDetector.h.

Definition at line 39 of file btGjkPairDetector.h.

Definition at line 40 of file btGjkPairDetector.h.

Definition at line 36 of file btGjkPairDetector.h.


The documentation for this class was generated from the following file:
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bullet
Author(s): Erwin Coumans, ROS package maintained by Tully Foote
autogenerated on Wed Oct 31 2012 07:54:32