Bullet Collision Detection & Physics Library
btComputeGjkEpaPenetration.h File Reference
Include dependency graph for btComputeGjkEpaPenetration.h:

Go to the source code of this file.

Functions

template<typename btConvexTemplate >
bool btGjkEpaCalcPenDepth (const btConvexTemplate &a, const btConvexTemplate &b, const btGjkCollisionDescription &colDesc, btVector3 &v, btVector3 &wWitnessOnA, btVector3 &wWitnessOnB)
 
template<typename btConvexTemplate , typename btGjkDistanceTemplate >
int btComputeGjkEpaPenetration (const btConvexTemplate &a, const btConvexTemplate &b, const btGjkCollisionDescription &colDesc, btVoronoiSimplexSolver &simplexSolver, btGjkDistanceTemplate *distInfo)
 

Function Documentation

◆ btComputeGjkEpaPenetration()

template<typename btConvexTemplate , typename btGjkDistanceTemplate >
int btComputeGjkEpaPenetration ( const btConvexTemplate & a,
const btConvexTemplate & b,
const btGjkCollisionDescription & colDesc,
btVoronoiSimplexSolver & simplexSolver,
btGjkDistanceTemplate * distInfo )

this is another degenerate case, where the initial GJK calculation reports a degenerate case EPA reports no penetration, and the second GJK (using the supporting vector without margin) reports a valid positive distance. Use the results of the second GJK instead of failing. thanks to Jacob.Langford for the reproduction case http://code.google.com/p/bullet/issues/detail?id=250

Definition at line 61 of file btComputeGjkEpaPenetration.h.

◆ btGjkEpaCalcPenDepth()

template<typename btConvexTemplate >
bool btGjkEpaCalcPenDepth ( const btConvexTemplate & a,
const btConvexTemplate & b,
const btGjkCollisionDescription & colDesc,
btVector3 & v,
btVector3 & wWitnessOnA,
btVector3 & wWitnessOnB )

Definition at line 25 of file btComputeGjkEpaPenetration.h.