btMinkowskiPenetrationDepthSolver Class Reference

#include <btMinkowskiPenetrationDepthSolver.h>

Inheritance diagram for btMinkowskiPenetrationDepthSolver:

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]

Implements btConvexPenetrationDepthSolver.

static btVector3* btMinkowskiPenetrationDepthSolver::getPenetrationDirections

(

)

[static, protected]

---

The documentation for this class was generated from the following file:

• btMinkowskiPenetrationDepthSolver.h