Public Member Functions | Private Attributes
btSubsimplexConvexCast Class Reference

#include <btSubSimplexConvexCast.h>

Inheritance diagram for btSubsimplexConvexCast:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 btSubsimplexConvexCast (const btConvexShape *shapeA, const btConvexShape *shapeB, btSimplexSolverInterface *simplexSolver)
virtual bool calcTimeOfImpact (const btTransform &fromA, const btTransform &toA, const btTransform &fromB, const btTransform &toB, CastResult &result)

Private Attributes

const btConvexShape * m_convexA
const btConvexShape * m_convexB
btSimplexSolverInterfacem_simplexSolver

Detailed Description

btSubsimplexConvexCast implements Gino van den Bergens' paper "Ray Casting against bteral Convex Objects with Application to Continuous Collision Detection" GJK based Ray Cast, optimized version Objects should not start in overlap, otherwise results are not defined.

Definition at line 28 of file btSubSimplexConvexCast.h.


Constructor & Destructor Documentation

btSubsimplexConvexCast::btSubsimplexConvexCast ( const btConvexShape *  shapeA,
const btConvexShape *  shapeB,
btSimplexSolverInterface simplexSolver 
)

Member Function Documentation

virtual bool btSubsimplexConvexCast::calcTimeOfImpact ( const btTransform fromA,
const btTransform toA,
const btTransform fromB,
const btTransform toB,
CastResult result 
) [virtual]

SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects. Precondition is that objects should not penetration/overlap at the start from the interval. Overlap can be tested using btGjkPairDetector.

Implements btConvexCast.


Member Data Documentation

const btConvexShape* btSubsimplexConvexCast::m_convexA [private]

Definition at line 31 of file btSubSimplexConvexCast.h.

const btConvexShape* btSubsimplexConvexCast::m_convexB [private]

Definition at line 32 of file btSubSimplexConvexCast.h.

Definition at line 30 of file btSubSimplexConvexCast.h.


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 07:54:33