btGjkPairDetector.cpp File Reference

#include "btGjkPairDetector.h"
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"

Go to the source code of this file.

Classes
struct	btSupportVector
struct	btSimplex

Macros
#define	REL_ERROR2   btScalar(1.0e-6)

Functions
static void	btComputeSupport (const btConvexShape *convexA, const btTransform &localTransA, const btConvexShape *convexB, const btTransform &localTransB, const btVector3 &dir, bool check2d, btVector3 &supAworld, btVector3 &supBworld, btVector3 &aMinb)
static btVector3	ccd_vec3_origin (0, 0, 0)
void	btSimplexInit (btSimplex *s)
int	btSimplexSize (const btSimplex *s)
const btSupportVector *	btSimplexPoint (const btSimplex *s, int idx)
void	btSupportCopy (btSupportVector *d, const btSupportVector *s)
void	btVec3Copy (btVector3 *v, const btVector3 *w)
void	ccdVec3Add (btVector3 *v, const btVector3 *w)
void	ccdVec3Sub (btVector3 *v, const btVector3 *w)
void	btVec3Sub2 (btVector3 *d, const btVector3 *v, const btVector3 *w)
btScalar	btVec3Dot (const btVector3 *a, const btVector3 *b)
btScalar	ccdVec3Dist2 (const btVector3 *a, const btVector3 *b)
void	btVec3Scale (btVector3 *d, btScalar k)
void	btVec3Cross (btVector3 *d, const btVector3 *a, const btVector3 *b)
void	btTripleCross (const btVector3 *a, const btVector3 *b, const btVector3 *c, btVector3 *d)
int	ccdEq (btScalar _a, btScalar _b)
btScalar	ccdVec3X (const btVector3 *v)
btScalar	ccdVec3Y (const btVector3 *v)
btScalar	ccdVec3Z (const btVector3 *v)
int	btVec3Eq (const btVector3 *a, const btVector3 *b)
void	btSimplexAdd (btSimplex *s, const btSupportVector *v)
void	btSimplexSet (btSimplex *s, size_t pos, const btSupportVector *a)
void	btSimplexSetSize (btSimplex *s, int size)
const btSupportVector *	ccdSimplexLast (const btSimplex *s)
int	ccdSign (btScalar val)
btScalar	btVec3PointSegmentDist2 (const btVector3 *P, const btVector3 *x0, const btVector3 *b, btVector3 *witness)
btScalar	btVec3PointTriDist2 (const btVector3 *P, const btVector3 *x0, const btVector3 *B, const btVector3 *C, btVector3 *witness)
static int	btDoSimplex2 (btSimplex *simplex, btVector3 *dir)
static int	btDoSimplex3 (btSimplex *simplex, btVector3 *dir)
static int	btDoSimplex4 (btSimplex *simplex, btVector3 *dir)
static int	btDoSimplex (btSimplex *simplex, btVector3 *dir)

Variables
btScalar	gGjkEpaPenetrationTolerance = 0.001

Macro Definition Documentation

REL_ERROR2

#define REL_ERROR2   btScalar(1.0e-6)

Definition at line 35 of file btGjkPairDetector.cpp.

Referenced by btGjkPairDetector::getClosestPointsNonVirtual().

Function Documentation

btComputeSupport()

void btComputeSupport ( const btConvexShape * convexA, const btTransform & localTransA, const btConvexShape * convexB, const btTransform & localTransB, const btVector3 & dir, bool check2d, btVector3 & supAworld, btVector3 & supBworld, btVector3 & aMinb )

static

Definition at line 80 of file btGjkPairDetector.cpp.

References btComputeSupport(), btConvexShape(), btTransform, and btVector3.

Referenced by btComputeSupport(), and btGjkPairDetector::getClosestPointsNonVirtual().

btDoSimplex()

int btDoSimplex ( btSimplex * simplex, btVector3 * dir )

static

Definition at line 665 of file btGjkPairDetector.cpp.

References btDoSimplex(), btDoSimplex2(), btDoSimplex3(), btDoSimplex4(), btSimplexSize(), and btVector3.

Referenced by btDoSimplex(), and btGjkPairDetector::getClosestPointsNonVirtual().

btDoSimplex2()

int btDoSimplex2 ( btSimplex * simplex, btVector3 * dir )

static

Definition at line 414 of file btGjkPairDetector.cpp.

References A, B, btDoSimplex2(), btFuzzyZero(), btSimplexPoint(), btSimplexSet(), btSimplexSetSize(), btTripleCross(), btVec3Copy(), btVec3Cross(), btVec3Dot(), btVec3Scale(), btVec3Sub2(), btVector3, ccdSimplexLast(), and dot().

Referenced by btDoSimplex(), and btDoSimplex2().

btDoSimplex3()

int btDoSimplex3 ( btSimplex * simplex, btVector3 * dir )

static

Definition at line 460 of file btGjkPairDetector.cpp.

References A, B, btDoSimplex3(), btFuzzyZero(), btSimplexPoint(), btSimplexSet(), btSimplexSetSize(), btSupportCopy(), btTripleCross(), btVec3Copy(), btVec3Cross(), btVec3Dot(), btVec3Eq(), btVec3PointTriDist2(), btVec3Scale(), btVec3Sub2(), btVector3, C, ccd_vec3_origin(), ccdSimplexLast(), and dot().

Referenced by btDoSimplex(), btDoSimplex3(), and btDoSimplex4().

btDoSimplex4()

int btDoSimplex4 ( btSimplex * simplex, btVector3 * dir )

static

Definition at line 569 of file btGjkPairDetector.cpp.

References A, B, btDoSimplex3(), btDoSimplex4(), btFuzzyZero(), btSimplexPoint(), btSimplexSet(), btSimplexSetSize(), btVec3Copy(), btVec3Cross(), btVec3Dot(), btVec3PointTriDist2(), btVec3Scale(), btVec3Sub2(), btVector3, C, ccd_vec3_origin(), ccdSign(), ccdSimplexLast(), and D.

Referenced by btDoSimplex(), and btDoSimplex4().

btSimplexAdd()

void btSimplexAdd ( btSimplex * s, const btSupportVector * v )

inline

Definition at line 235 of file btGjkPairDetector.cpp.

References btSimplexAdd(), btSupportCopy(), btSimplex::last, btSimplex::ps, and v.

Referenced by btSimplexAdd(), and btGjkPairDetector::getClosestPointsNonVirtual().

btSimplexInit()

void btSimplexInit ( btSimplex * s )

inline

Definition at line 118 of file btGjkPairDetector.cpp.

References btSimplexInit(), and btSimplex::last.

Referenced by btSimplexInit(), and btGjkPairDetector::getClosestPointsNonVirtual().

btSimplexPoint()

const btSupportVector * btSimplexPoint ( const btSimplex * s, int idx )

inline

Definition at line 128 of file btGjkPairDetector.cpp.

References btSimplexPoint(), and btSimplex::ps.

Referenced by btDoSimplex2(), btDoSimplex3(), btDoSimplex4(), btSimplexPoint(), and ccdSimplexLast().

btSimplexSet()

void btSimplexSet ( btSimplex * s, size_t pos, const btSupportVector * a )

inline

Definition at line 242 of file btGjkPairDetector.cpp.

References btSimplexSet(), btSupportCopy(), and btSimplex::ps.

Referenced by btDoSimplex2(), btDoSimplex3(), btDoSimplex4(), and btSimplexSet().

btSimplexSetSize()

void btSimplexSetSize ( btSimplex * s, int size )

inline

Definition at line 247 of file btGjkPairDetector.cpp.

References btSimplexSetSize(), btSimplex::last, and size().

Referenced by btDoSimplex2(), btDoSimplex3(), btDoSimplex4(), and btSimplexSetSize().

btSimplexSize()

int btSimplexSize ( const btSimplex * s )

inline

Definition at line 123 of file btGjkPairDetector.cpp.

References btSimplexSize(), and btSimplex::last.

Referenced by btDoSimplex(), and btSimplexSize().

btSupportCopy()

void btSupportCopy ( btSupportVector * d, const btSupportVector * s )

inline

Definition at line 133 of file btGjkPairDetector.cpp.

References btSupportCopy().

Referenced by btDoSimplex3(), btSimplexAdd(), btSimplexSet(), and btSupportCopy().

btTripleCross()

void btTripleCross ( const btVector3 * a, const btVector3 * b, const btVector3 * c, btVector3 * d )

inline

Definition at line 187 of file btGjkPairDetector.cpp.

References b, btTripleCross(), btVec3Cross(), btVector3, and e.

Referenced by btDoSimplex2(), btDoSimplex3(), and btTripleCross().

btVec3Copy()

void btVec3Copy ( btVector3 * v, const btVector3 * w )

inline

Definition at line 138 of file btGjkPairDetector.cpp.

References btVec3Copy(), btVector3, v, and w().

Referenced by btDoSimplex2(), btDoSimplex3(), btDoSimplex4(), btVec3Copy(), btVec3PointSegmentDist2(), and btVec3PointTriDist2().

btVec3Cross()

void btVec3Cross ( btVector3 * d, const btVector3 * a, const btVector3 * b )

inline

Definition at line 180 of file btGjkPairDetector.cpp.

References b, btVec3Cross(), and btVector3.

Referenced by btDoSimplex2(), btDoSimplex3(), btDoSimplex4(), btTripleCross(), and btVec3Cross().

btVec3Dot()

btScalar btVec3Dot ( const btVector3 * a, const btVector3 * b )

inline

Definition at line 158 of file btGjkPairDetector.cpp.

References b, btVec3Dot(), btVector3, and dot().

Referenced by btDoSimplex2(), btDoSimplex3(), btDoSimplex4(), btVec3Dot(), btVec3PointSegmentDist2(), btVec3PointTriDist2(), ccdVec3Dist2(), and btGjkPairDetector::getClosestPointsNonVirtual().

btVec3Eq()

int btVec3Eq ( const btVector3 * a, const btVector3 * b )

inline

Definition at line 230 of file btGjkPairDetector.cpp.

References b, btVec3Eq(), btVector3, ccdEq(), ccdVec3X(), ccdVec3Y(), and ccdVec3Z().

Referenced by btDoSimplex3(), and btVec3Eq().

btVec3PointSegmentDist2()

btScalar btVec3PointSegmentDist2 ( const btVector3 * P, const btVector3 * x0, const btVector3 * b, btVector3 * witness )

inline

Definition at line 270 of file btGjkPairDetector.cpp.

References b, btFuzzyZero(), btVec3Copy(), btVec3Dot(), btVec3PointSegmentDist2(), btVec3Scale(), btVec3Sub2(), btVector3, ccdEq(), ccdVec3Add(), ccdVec3Dist2(), and P.

Referenced by btVec3PointSegmentDist2(), and btVec3PointTriDist2().

btVec3PointTriDist2()

btScalar btVec3PointTriDist2	(	const btVector3 *	P,
		const btVector3 *	x0,
		const btVector3 *	B,
		const btVector3 *	C,
		btVector3 *	witness )

Definition at line 335 of file btGjkPairDetector.cpp.

References B, btFuzzyZero(), btVec3Copy(), btVec3Dot(), btVec3PointSegmentDist2(), btVec3PointTriDist2(), btVec3Scale(), btVec3Sub2(), btVector3, C, ccdEq(), ccdVec3Add(), ccdVec3Dist2(), P, v, and w().

Referenced by btDoSimplex3(), btDoSimplex4(), and btVec3PointTriDist2().

btVec3Scale()

void btVec3Scale ( btVector3 * d, btScalar k )

inline

Definition at line 173 of file btGjkPairDetector.cpp.

References btVec3Scale(), and btVector3.

Referenced by btDoSimplex2(), btDoSimplex3(), btDoSimplex4(), btVec3PointSegmentDist2(), btVec3PointTriDist2(), and btVec3Scale().

btVec3Sub2()

void btVec3Sub2 ( btVector3 * d, const btVector3 * v, const btVector3 * w )

inline

Definition at line 154 of file btGjkPairDetector.cpp.

References btVec3Sub2(), btVector3, v, and w().

Referenced by btDoSimplex2(), btDoSimplex3(), btDoSimplex4(), btVec3PointSegmentDist2(), btVec3PointTriDist2(), btVec3Sub2(), and ccdVec3Dist2().

ccd_vec3_origin()

btVector3 ccd_vec3_origin ( 0 , 0 , 0  )

static

References btVector3, and ccd_vec3_origin().

Referenced by btDoSimplex3(), btDoSimplex4(), and ccd_vec3_origin().

ccdEq()

int ccdEq ( btScalar _a, btScalar _b )

inline

Definition at line 195 of file btGjkPairDetector.cpp.

References b, btFabs(), ccdEq(), and SIMD_EPSILON.

Referenced by btVec3Eq(), btVec3PointSegmentDist2(), btVec3PointTriDist2(), and ccdEq().

ccdSign()

int ccdSign ( btScalar val )

inline

Definition at line 257 of file btGjkPairDetector.cpp.

References btFuzzyZero(), and ccdSign().

Referenced by btDoSimplex4(), and ccdSign().

ccdSimplexLast()

const btSupportVector * ccdSimplexLast ( const btSimplex * s )

inline

Definition at line 252 of file btGjkPairDetector.cpp.

References btSimplexPoint(), ccdSimplexLast(), and btSimplex::last.

Referenced by btDoSimplex2(), btDoSimplex3(), btDoSimplex4(), and ccdSimplexLast().

ccdVec3Add()

void ccdVec3Add ( btVector3 * v, const btVector3 * w )

inline

Definition at line 143 of file btGjkPairDetector.cpp.

References btVector3, ccdVec3Add(), v, and w().

Referenced by btVec3PointSegmentDist2(), btVec3PointTriDist2(), and ccdVec3Add().

ccdVec3Dist2()

btScalar ccdVec3Dist2 ( const btVector3 * a, const btVector3 * b )

inline

Definition at line 166 of file btGjkPairDetector.cpp.

References b, btVec3Dot(), btVec3Sub2(), btVector3, and ccdVec3Dist2().

Referenced by btVec3PointSegmentDist2(), btVec3PointTriDist2(), and ccdVec3Dist2().

ccdVec3Sub()

void ccdVec3Sub ( btVector3 * v, const btVector3 * w )

inline

Definition at line 150 of file btGjkPairDetector.cpp.

References btVector3, ccdVec3Sub(), v, and w().

Referenced by ccdVec3Sub().

ccdVec3X()

btScalar ccdVec3X

(

const btVector3 *

v

)

Definition at line 216 of file btGjkPairDetector.cpp.

References btVector3, ccdVec3X(), and v.

Referenced by btVec3Eq(), and ccdVec3X().

ccdVec3Y()

btScalar ccdVec3Y

(

const btVector3 *

v

)

Definition at line 221 of file btGjkPairDetector.cpp.

References btVector3, ccdVec3Y(), and v.

Referenced by btVec3Eq(), and ccdVec3Y().

ccdVec3Z()

btScalar ccdVec3Z

(

const btVector3 *

v

)

Definition at line 226 of file btGjkPairDetector.cpp.

References btVector3, ccdVec3Z(), and v.

Referenced by btVec3Eq(), and ccdVec3Z().

Variable Documentation

gGjkEpaPenetrationTolerance

btScalar gGjkEpaPenetrationTolerance = 0.001

Definition at line 36 of file btGjkPairDetector.cpp.

Referenced by btGjkPairDetector::getClosestPointsNonVirtual().