Bullet Collision Detection & Physics Library
Classes | Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
GJK< btConvexTemplate > Struct Template Reference

#include <btGjkEpa3.h>

Collaboration diagram for GJK< btConvexTemplate >:
Collaboration graph
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Classes

struct  sSimplex
 
struct  sSV
 

Public Member Functions

 GJK (const btConvexTemplate &a, const btConvexTemplate &b)
 
void Initialize ()
 
eGjkStatus Evaluate (const MinkowskiDiff< btConvexTemplate > &shapearg, const btVector3 &guess)
 
bool EncloseOrigin ()
 
void getsupport (const btVector3 &d, sSV &sv) const
 
void removevertice (sSimplex &simplex)
 
void appendvertice (sSimplex &simplex, const btVector3 &v)
 

Static Public Member Functions

static btScalar det (const btVector3 &a, const btVector3 &b, const btVector3 &c)
 
static btScalar projectorigin (const btVector3 &a, const btVector3 &b, btScalar *w, U &m)
 
static btScalar projectorigin (const btVector3 &a, const btVector3 &b, const btVector3 &c, btScalar *w, U &m)
 
static btScalar projectorigin (const btVector3 &a, const btVector3 &b, const btVector3 &c, const btVector3 &d, btScalar *w, U &m)
 

Public Attributes

MinkowskiDiff< btConvexTemplate > m_shape
 
btVector3 m_ray
 
btScalar m_distance
 
sSimplex m_simplices [2]
 
sSV m_store [4]
 
sSV * m_free [4]
 
U m_nfree
 
U m_current
 
sSimplex * m_simplex
 
eGjkStatus m_status
 

Detailed Description

template<typename btConvexTemplate>
struct GJK< btConvexTemplate >

Definition at line 145 of file btGjkEpa3.h.

Constructor & Destructor Documentation

◆ GJK()

template<typename btConvexTemplate>
GJK< btConvexTemplate >::GJK ( const btConvexTemplate & a,
const btConvexTemplate & b )
inline

Definition at line 173 of file btGjkEpa3.h.

Member Function Documentation

◆ appendvertice()

template<typename btConvexTemplate>
void GJK< btConvexTemplate >::appendvertice ( sSimplex & simplex,
const btVector3 & v )
inline

Definition at line 384 of file btGjkEpa3.h.

◆ det()

template<typename btConvexTemplate>
static btScalar GJK< btConvexTemplate >::det ( const btVector3 & a,
const btVector3 & b,
const btVector3 & c )
inlinestatic

Definition at line 390 of file btGjkEpa3.h.

◆ EncloseOrigin()

template<typename btConvexTemplate>
bool GJK< btConvexTemplate >::EncloseOrigin ( )
inline

Definition at line 309 of file btGjkEpa3.h.

◆ Evaluate()

template<typename btConvexTemplate>
eGjkStatus GJK< btConvexTemplate >::Evaluate ( const MinkowskiDiff< btConvexTemplate > & shapearg,
const btVector3 & guess )
inline

Definition at line 186 of file btGjkEpa3.h.

◆ getsupport()

template<typename btConvexTemplate>
void GJK< btConvexTemplate >::getsupport ( const btVector3 & d,
sSV & sv ) const
inline

Definition at line 375 of file btGjkEpa3.h.

◆ Initialize()

template<typename btConvexTemplate>
void GJK< btConvexTemplate >::Initialize ( )
inline

Definition at line 178 of file btGjkEpa3.h.

◆ projectorigin() [1/3]

template<typename btConvexTemplate>
static btScalar GJK< btConvexTemplate >::projectorigin ( const btVector3 & a,
const btVector3 & b,
btScalar * w,
U & m )
inlinestatic

Definition at line 396 of file btGjkEpa3.h.

◆ projectorigin() [2/3]

template<typename btConvexTemplate>
static btScalar GJK< btConvexTemplate >::projectorigin ( const btVector3 & a,
const btVector3 & b,
const btVector3 & c,
btScalar * w,
U & m )
inlinestatic

Definition at line 411 of file btGjkEpa3.h.

◆ projectorigin() [3/3]

template<typename btConvexTemplate>
static btScalar GJK< btConvexTemplate >::projectorigin ( const btVector3 & a,
const btVector3 & b,
const btVector3 & c,
const btVector3 & d,
btScalar * w,
U & m )
inlinestatic

Definition at line 457 of file btGjkEpa3.h.

◆ removevertice()

template<typename btConvexTemplate>
void GJK< btConvexTemplate >::removevertice ( sSimplex & simplex)
inline

Definition at line 380 of file btGjkEpa3.h.

Member Data Documentation

◆ m_current

template<typename btConvexTemplate>
U GJK< btConvexTemplate >::m_current

Definition at line 168 of file btGjkEpa3.h.

◆ m_distance

template<typename btConvexTemplate>
btScalar GJK< btConvexTemplate >::m_distance

Definition at line 163 of file btGjkEpa3.h.

◆ m_free

template<typename btConvexTemplate>
sSV* GJK< btConvexTemplate >::m_free[4]

Definition at line 166 of file btGjkEpa3.h.

◆ m_nfree

template<typename btConvexTemplate>
U GJK< btConvexTemplate >::m_nfree

Definition at line 167 of file btGjkEpa3.h.

◆ m_ray

template<typename btConvexTemplate>
btVector3 GJK< btConvexTemplate >::m_ray

Definition at line 162 of file btGjkEpa3.h.

◆ m_shape

template<typename btConvexTemplate>
MinkowskiDiff<btConvexTemplate> GJK< btConvexTemplate >::m_shape

Definition at line 161 of file btGjkEpa3.h.

◆ m_simplex

template<typename btConvexTemplate>
sSimplex* GJK< btConvexTemplate >::m_simplex

Definition at line 169 of file btGjkEpa3.h.

◆ m_simplices

template<typename btConvexTemplate>
sSimplex GJK< btConvexTemplate >::m_simplices[2]

Definition at line 164 of file btGjkEpa3.h.

◆ m_status

template<typename btConvexTemplate>
eGjkStatus GJK< btConvexTemplate >::m_status

Definition at line 170 of file btGjkEpa3.h.

◆ m_store

template<typename btConvexTemplate>
sSV GJK< btConvexTemplate >::m_store[4]

Definition at line 165 of file btGjkEpa3.h.

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