Public Member Functions | Static Protected Member Functions
btMinkowskiPenetrationDepthSolver Class Reference

#include <btMinkowskiPenetrationDepthSolver.h>

Inheritance diagram for btMinkowskiPenetrationDepthSolver:
Inheritance graph
[legend]

List of all members.

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, btStackAlloc *stackAlloc)

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

virtual bool btMinkowskiPenetrationDepthSolver::calcPenDepth ( btSimplexSolverInterface simplexSolver,
const btConvexShape *  convexA,
const btConvexShape *  convexB,
const btTransform transA,
const btTransform transB,
btVector3 &  v,
btVector3 &  pa,
btVector3 &  pb,
class btIDebugDraw debugDraw,
btStackAlloc stackAlloc 
) [virtual]
static btVector3* btMinkowskiPenetrationDepthSolver::getPenetrationDirections ( ) [static, protected]

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