Classes | Public Member Functions | Private Attributes
btConvexConvexAlgorithm Class Reference

#include <btConvexConvexAlgorithm.h>

Inheritance diagram for btConvexConvexAlgorithm:
Inheritance graph
[legend]

List of all members.

Classes

struct  CreateFunc

Public Member Functions

 btConvexConvexAlgorithm (btPersistentManifold *mf, const btCollisionAlgorithmConstructionInfo &ci, btCollisionObject *body0, btCollisionObject *body1, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold)
 cache separating vector to speedup collision detection
virtual btScalar calculateTimeOfImpact (btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
virtual void getAllContactManifolds (btManifoldArray &manifoldArray)
const btPersistentManifold * getManifold ()
virtual void processCollision (btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut)
void setLowLevelOfDetail (bool useLowLevel)
virtual ~btConvexConvexAlgorithm ()

Private Attributes

bool m_lowLevelOfDetail
btPersistentManifold * m_manifoldPtr
int m_minimumPointsPerturbationThreshold
int m_numPerturbationIterations
bool m_ownManifold
btConvexPenetrationDepthSolverm_pdSolver
btSimplexSolverInterfacem_simplexSolver

Detailed Description

Enabling USE_SEPDISTANCE_UTIL2 requires 100% reliable distance computation. However, when using large size ratios GJK can be imprecise so the distance is not conservative. In that case, enabling this USE_SEPDISTANCE_UTIL2 would result in failing/missing collisions. Either improve GJK for large size ratios (testing a 100 units versus a 0.1 unit object) or only enable the util for certain pairs that have a small size ratio The convexConvexAlgorithm collision algorithm implements time of impact, convex closest points and penetration depth calculations between two convex objects. Multiple contact points are calculated by perturbing the orientation of the smallest object orthogonal to the separating normal. This idea was described by Gino van den Bergen in this forum topic http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=4&t=288&p=888#p888

Definition at line 40 of file btConvexConvexAlgorithm.h.


Constructor & Destructor Documentation

btConvexConvexAlgorithm::btConvexConvexAlgorithm ( btPersistentManifold *  mf,
const btCollisionAlgorithmConstructionInfo ci,
btCollisionObject *  body0,
btCollisionObject *  body1,
btSimplexSolverInterface simplexSolver,
btConvexPenetrationDepthSolver pdSolver,
int  numPerturbationIterations,
int  minimumPointsPerturbationThreshold 
)

cache separating vector to speedup collision detection


Member Function Documentation

virtual btScalar btConvexConvexAlgorithm::calculateTimeOfImpact ( btCollisionObject *  body0,
btCollisionObject *  body1,
const btDispatcherInfo dispatchInfo,
btManifoldResult resultOut 
) [virtual]

Implements btCollisionAlgorithm.

virtual void btConvexConvexAlgorithm::getAllContactManifolds ( btManifoldArray manifoldArray) [inline, virtual]

should we use m_ownManifold to avoid adding duplicates?

Implements btCollisionAlgorithm.

Definition at line 71 of file btConvexConvexAlgorithm.h.

const btPersistentManifold* btConvexConvexAlgorithm::getManifold ( ) [inline]

Definition at line 82 of file btConvexConvexAlgorithm.h.

virtual void btConvexConvexAlgorithm::processCollision ( btCollisionObject *  body0,
btCollisionObject *  body1,
const btDispatcherInfo dispatchInfo,
btManifoldResult resultOut 
) [virtual]

Implements btCollisionAlgorithm.


Member Data Documentation

Definition at line 51 of file btConvexConvexAlgorithm.h.

btPersistentManifold* btConvexConvexAlgorithm::m_manifoldPtr [private]

Definition at line 50 of file btConvexConvexAlgorithm.h.

Definition at line 54 of file btConvexConvexAlgorithm.h.

Definition at line 53 of file btConvexConvexAlgorithm.h.

Definition at line 49 of file btConvexConvexAlgorithm.h.

Definition at line 46 of file btConvexConvexAlgorithm.h.

Definition at line 45 of file btConvexConvexAlgorithm.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 07:54:32