Blender V4.5
Classes | Macros | Typedefs | Functions
btMprPenetration.h File Reference
#include "LinearMath/btTransform.h"
#include "LinearMath/btAlignedObjectArray.h"

Go to the source code of this file.

Classes

struct  btMprCollisionDescription
struct  btMprDistanceInfo
struct  _btMprSupport_t
struct  _btMprSimplex_t

Macros

#define BT_DEBUG_MPR1
 2014 Oct, Erwin Coumans, Use templates to avoid void* casts
#define BT_MPR_SQRT   sqrt
#define BT_MPR_FMIN(x, y)
#define BT_MPR_FABS   fabs
#define BT_MPR_TOLERANCE   1E-6f
#define BT_MPR_MAX_ITERATIONS   1000

Typedefs

typedef struct _btMprSupport_t btMprSupport_t
typedef struct _btMprSimplex_t btMprSimplex_t

Functions

btMprSupport_t * btMprSimplexPointW (btMprSimplex_t *s, int idx)
void btMprSimplexSetSize (btMprSimplex_t *s, int size)
int btMprSimplexSize (const btMprSimplex_t *s)
const btMprSupport_t * btMprSimplexPoint (const btMprSimplex_t *s, int idx)
void btMprSupportCopy (btMprSupport_t *d, const btMprSupport_t *s)
void btMprSimplexSet (btMprSimplex_t *s, size_t pos, const btMprSupport_t *a)
void btMprSimplexSwap (btMprSimplex_t *s, size_t pos1, size_t pos2)
int btMprIsZero (float val)
int btMprEq (float _a, float _b)
int btMprVec3Eq (const btVector3 *a, const btVector3 *b)
template<typename btConvexTemplate>
void btFindOrigin (const btConvexTemplate &a, const btConvexTemplate &b, const btMprCollisionDescription &colDesc, btMprSupport_t *center)
void btMprVec3Set (btVector3 *v, float x, float y, float z)
void btMprVec3Add (btVector3 *v, const btVector3 *w)
void btMprVec3Copy (btVector3 *v, const btVector3 *w)
void btMprVec3Scale (btVector3 *d, float k)
float btMprVec3Dot (const btVector3 *a, const btVector3 *b)
float btMprVec3Len2 (const btVector3 *v)
void btMprVec3Normalize (btVector3 *d)
void btMprVec3Cross (btVector3 *d, const btVector3 *a, const btVector3 *b)
void btMprVec3Sub2 (btVector3 *d, const btVector3 *v, const btVector3 *w)
void btPortalDir (const btMprSimplex_t *portal, btVector3 *dir)
int portalEncapsulesOrigin (const btMprSimplex_t *portal, const btVector3 *dir)
int portalReachTolerance (const btMprSimplex_t *portal, const btMprSupport_t *v4, const btVector3 *dir)
int portalCanEncapsuleOrigin (const btMprSimplex_t *portal, const btMprSupport_t *v4, const btVector3 *dir)
void btExpandPortal (btMprSimplex_t *portal, const btMprSupport_t *v4)
template<typename btConvexTemplate>
void btMprSupport (const btConvexTemplate &a, const btConvexTemplate &b, const btMprCollisionDescription &colDesc, const btVector3 &dir, btMprSupport_t *supp)
template<typename btConvexTemplate>
static int btDiscoverPortal (const btConvexTemplate &a, const btConvexTemplate &b, const btMprCollisionDescription &colDesc, btMprSimplex_t *portal)
template<typename btConvexTemplate>
static int btRefinePortal (const btConvexTemplate &a, const btConvexTemplate &b, const btMprCollisionDescription &colDesc, btMprSimplex_t *portal)
static void btFindPos (const btMprSimplex_t *portal, btVector3 *pos)
float btMprVec3Dist2 (const btVector3 *a, const btVector3 *b)
float _btMprVec3PointSegmentDist2 (const btVector3 *P, const btVector3 *x0, const btVector3 *b, btVector3 *witness)
float btMprVec3PointTriDist2 (const btVector3 *P, const btVector3 *x0, const btVector3 *B, const btVector3 *C, btVector3 *witness)
template<typename btConvexTemplate>
static void btFindPenetr (const btConvexTemplate &a, const btConvexTemplate &b, const btMprCollisionDescription &colDesc, btMprSimplex_t *portal, float *depth, btVector3 *pdir, btVector3 *pos)
static void btFindPenetrTouch (btMprSimplex_t *portal, float *depth, btVector3 *dir, btVector3 *pos)
static void btFindPenetrSegment (btMprSimplex_t *portal, float *depth, btVector3 *dir, btVector3 *pos)
template<typename btConvexTemplate>
int btMprPenetration (const btConvexTemplate &a, const btConvexTemplate &b, const btMprCollisionDescription &colDesc, float *depthOut, btVector3 *dirOut, btVector3 *posOut)
template<typename btConvexTemplate, typename btMprDistanceTemplate>
int btComputeMprPenetration (const btConvexTemplate &a, const btConvexTemplate &b, const btMprCollisionDescription &colDesc, btMprDistanceTemplate *distInfo)

Macro Definition Documentation

◆ BT_DEBUG_MPR1

#define BT_DEBUG_MPR1

2014 Oct, Erwin Coumans, Use templates to avoid void* casts

Definition at line 24 of file btMprPenetration.h.

◆ BT_MPR_FABS

#define BT_MPR_FABS   fabs

Definition at line 64 of file btMprPenetration.h.

Referenced by btMprEq(), and btMprIsZero().

◆ BT_MPR_FMIN

#define BT_MPR_FMIN ( x,
y )
Value:
((x) < (y) ? (x) : (y))
x
x
Definition BLI_expr_pylike_eval_test.cc:345
y
y
Definition compositor_morphological_blur_info.hh:22

Definition at line 63 of file btMprPenetration.h.

Referenced by portalReachTolerance().

◆ BT_MPR_MAX_ITERATIONS

#define BT_MPR_MAX_ITERATIONS   1000

Definition at line 67 of file btMprPenetration.h.

Referenced by btFindPenetr(), and btRefinePortal().

◆ BT_MPR_SQRT

#define BT_MPR_SQRT   sqrt

Definition at line 61 of file btMprPenetration.h.

Referenced by btFindPenetr(), btFindPenetrSegment(), and btMprVec3Normalize().

◆ BT_MPR_TOLERANCE

#define BT_MPR_TOLERANCE   1E-6f

Definition at line 66 of file btMprPenetration.h.

Referenced by portalReachTolerance().

Typedef Documentation

◆ btMprSimplex_t

typedef struct _btMprSimplex_t btMprSimplex_t

Definition at line 82 of file btMprPenetration.h.

◆ btMprSupport_t

typedef struct _btMprSupport_t btMprSupport_t

Definition at line 75 of file btMprPenetration.h.

Function Documentation

◆ _btMprVec3PointSegmentDist2()

float _btMprVec3PointSegmentDist2 ( const btVector3 * P,
const btVector3 * x0,
const btVector3 * b,
btVector3 * witness )
inline

Definition at line 577 of file btMprPenetration.h.

References _btMprVec3PointSegmentDist2(), b, btMprEq(), btMprIsZero(), btMprVec3Add(), btMprVec3Copy(), btMprVec3Dist2(), btMprVec3Dot(), btMprVec3Len2(), btMprVec3Scale(), btMprVec3Sub2(), btVector3, and P.

Referenced by _btMprVec3PointSegmentDist2(), and btMprVec3PointTriDist2().

◆ btComputeMprPenetration()

template<typename btConvexTemplate, typename btMprDistanceTemplate>
int btComputeMprPenetration ( const btConvexTemplate & a,
const btConvexTemplate & b,
const btMprCollisionDescription & colDesc,
btMprDistanceTemplate * distInfo )
inline

Definition at line 866 of file btMprPenetration.h.

References b, btComputeMprPenetration(), btMprPenetration(), and btVector3.

Referenced by btComputeMprPenetration().

◆ btDiscoverPortal()

template<typename btConvexTemplate>
int btDiscoverPortal ( const btConvexTemplate & a,
const btConvexTemplate & b,
const btMprCollisionDescription & colDesc,
btMprSimplex_t * portal )
static

Definition at line 324 of file btMprPenetration.h.

References b, btDiscoverPortal(), btFindOrigin(), btMprIsZero(), btMprSimplexPoint(), btMprSimplexPointW(), btMprSimplexSet(), btMprSimplexSetSize(), btMprSimplexSize(), btMprSimplexSwap(), btMprSupport(), btMprVec3Add(), btMprVec3Copy(), btMprVec3Cross(), btMprVec3Dot(), btMprVec3Eq(), btMprVec3Len2(), btMprVec3Normalize(), btMprVec3Scale(), btMprVec3Set(), btMprVec3Sub2(), btVector3, dot(), and v.

Referenced by btDiscoverPortal(), and btMprPenetration().

◆ btExpandPortal()

void btExpandPortal ( btMprSimplex_t * portal,
const btMprSupport_t * v4 )
inline

Definition at line 274 of file btMprPenetration.h.

References btExpandPortal(), btMprSimplexPoint(), btMprSimplexSet(), btMprVec3Cross(), btMprVec3Dot(), btVector3, dot(), _btMprSupport_t::v, and v.

Referenced by btExpandPortal(), btFindPenetr(), and btRefinePortal().

◆ btFindOrigin()

template<typename btConvexTemplate>
void btFindOrigin ( const btConvexTemplate & a,
const btConvexTemplate & b,
const btMprCollisionDescription & colDesc,
btMprSupport_t * center )
inline

Definition at line 165 of file btMprPenetration.h.

References b, btFindOrigin(), _btMprSupport_t::v, _btMprSupport_t::v1, and _btMprSupport_t::v2.

Referenced by btDiscoverPortal(), and btFindOrigin().

◆ btFindPenetr()

template<typename btConvexTemplate>
void btFindPenetr ( const btConvexTemplate & a,
const btConvexTemplate & b,
const btMprCollisionDescription & colDesc,
btMprSimplex_t * portal,
float * depth,
btVector3 * pdir,
btVector3 * pos )
static

Definition at line 730 of file btMprPenetration.h.

References b, BT_MPR_MAX_ITERATIONS, BT_MPR_SQRT, btExpandPortal(), btFindPenetr(), btFindPos(), btMprIsZero(), btMprSimplexPoint(), btMprSupport(), btMprVec3Normalize(), btMprVec3PointTriDist2(), btPortalDir(), btVector3, i, portalReachTolerance(), and v.

Referenced by btFindPenetr(), and btMprPenetration().

◆ btFindPenetrSegment()

void btFindPenetrSegment ( btMprSimplex_t * portal,
float * depth,
btVector3 * dir,
btVector3 * pos )
static

Definition at line 793 of file btMprPenetration.h.

References BT_MPR_SQRT, btFindPenetrSegment(), btMprSimplexPoint(), btMprVec3Add(), btMprVec3Copy(), btMprVec3Len2(), btMprVec3Normalize(), btMprVec3Scale(), btVector3, v, and v2.

Referenced by btFindPenetrSegment(), and btMprPenetration().

◆ btFindPenetrTouch()

void btFindPenetrTouch ( btMprSimplex_t * portal,
float * depth,
btVector3 * dir,
btVector3 * pos )
static

Definition at line 775 of file btMprPenetration.h.

References btFindPenetrTouch(), btMprSimplexPoint(), btMprVec3Add(), btMprVec3Copy(), btMprVec3Scale(), btVector3, and v2.

Referenced by btFindPenetrTouch(), and btMprPenetration().

◆ btFindPos()

void btFindPos ( const btMprSimplex_t * portal,
btVector3 * pos )
static

Definition at line 497 of file btMprPenetration.h.

References b, btFindPos(), btMprIsZero(), btMprSimplexPoint(), btMprVec3Add(), btMprVec3Copy(), btMprVec3Cross(), btMprVec3Dot(), btMprVec3Scale(), btPortalDir(), btVector3, i, v, and v2.

Referenced by btFindPenetr(), and btFindPos().

◆ btMprEq()

int btMprEq ( float _a,
float _b )
inline

Definition at line 138 of file btMprPenetration.h.

References b, BT_MPR_FABS, and btMprEq().

Referenced by _btMprVec3PointSegmentDist2(), btMprEq(), btMprVec3Eq(), btMprVec3PointTriDist2(), and portalReachTolerance().

◆ btMprIsZero()

int btMprIsZero ( float val)
inline

Definition at line 133 of file btMprPenetration.h.

References BT_MPR_FABS, and btMprIsZero().

Referenced by _btMprVec3PointSegmentDist2(), btDiscoverPortal(), btFindPenetr(), btFindPos(), btMprIsZero(), btMprVec3PointTriDist2(), portalCanEncapsuleOrigin(), and portalEncapsulesOrigin().

◆ btMprPenetration()

template<typename btConvexTemplate>
int btMprPenetration ( const btConvexTemplate & a,
const btConvexTemplate & b,
const btMprCollisionDescription & colDesc,
float * depthOut,
btVector3 * dirOut,
btVector3 * posOut )
inline

Definition at line 813 of file btMprPenetration.h.

References b, btDiscoverPortal(), btFindPenetr(), btFindPenetrSegment(), btFindPenetrTouch(), btMprPenetration(), btRefinePortal(), btVector3, and result.

Referenced by btComputeMprPenetration(), and btMprPenetration().

◆ btMprSimplexPoint()

const btMprSupport_t * btMprSimplexPoint ( const btMprSimplex_t * s,
int idx )
inline

Definition at line 108 of file btMprPenetration.h.

References btMprSimplexPoint(), and _btMprSimplex_t::ps.

Referenced by btDiscoverPortal(), btExpandPortal(), btFindPenetr(), btFindPenetrSegment(), btFindPenetrTouch(), btFindPos(), btMprSimplexPoint(), btPortalDir(), portalEncapsulesOrigin(), and portalReachTolerance().

◆ btMprSimplexPointW()

btMprSupport_t * btMprSimplexPointW ( btMprSimplex_t * s,
int idx )
inline

Definition at line 84 of file btMprPenetration.h.

References btMprSimplexPointW(), and _btMprSimplex_t::ps.

Referenced by btDiscoverPortal(), and btMprSimplexPointW().

◆ btMprSimplexSet()

void btMprSimplexSet ( btMprSimplex_t * s,
size_t pos,
const btMprSupport_t * a )
inline

Definition at line 119 of file btMprPenetration.h.

References btMprSimplexSet(), btMprSupportCopy(), and _btMprSimplex_t::ps.

Referenced by btDiscoverPortal(), btExpandPortal(), and btMprSimplexSet().

◆ btMprSimplexSetSize()

void btMprSimplexSetSize ( btMprSimplex_t * s,
int size )
inline

Definition at line 89 of file btMprPenetration.h.

References btMprSimplexSetSize(), _btMprSimplex_t::last, and size().

Referenced by btDiscoverPortal(), and btMprSimplexSetSize().

◆ btMprSimplexSize()

int btMprSimplexSize ( const btMprSimplex_t * s)
inline

Definition at line 103 of file btMprPenetration.h.

References btMprSimplexSize(), and _btMprSimplex_t::last.

Referenced by btDiscoverPortal(), and btMprSimplexSize().

◆ btMprSimplexSwap()

void btMprSimplexSwap ( btMprSimplex_t * s,
size_t pos1,
size_t pos2 )
inline

Definition at line 124 of file btMprPenetration.h.

References btMprSimplexSwap(), btMprSupportCopy(), and _btMprSimplex_t::ps.

Referenced by btDiscoverPortal(), and btMprSimplexSwap().

◆ btMprSupport()

template<typename btConvexTemplate>
void btMprSupport ( const btConvexTemplate & a,
const btConvexTemplate & b,
const btMprCollisionDescription & colDesc,
const btVector3 & dir,
btMprSupport_t * supp )
inline

Definition at line 308 of file btMprPenetration.h.

References b, btMprSupport(), btVector3, _btMprSupport_t::v, _btMprSupport_t::v1, and _btMprSupport_t::v2.

Referenced by btDiscoverPortal(), btFindPenetr(), btMprSupport(), and btRefinePortal().

◆ btMprSupportCopy()

void btMprSupportCopy ( btMprSupport_t * d,
const btMprSupport_t * s )
inline

Definition at line 114 of file btMprPenetration.h.

References btMprSupportCopy().

Referenced by btMprSimplexSet(), btMprSimplexSwap(), and btMprSupportCopy().

◆ btMprVec3Add()

void btMprVec3Add ( btVector3 * v,
const btVector3 * w )
inline

Definition at line 177 of file btMprPenetration.h.

References btMprVec3Add(), btVector3, v, and w().

Referenced by _btMprVec3PointSegmentDist2(), btDiscoverPortal(), btFindPenetrSegment(), btFindPenetrTouch(), btFindPos(), btMprVec3Add(), and btMprVec3PointTriDist2().

◆ btMprVec3Copy()

void btMprVec3Copy ( btVector3 * v,
const btVector3 * w )
inline

Definition at line 182 of file btMprPenetration.h.

References btMprVec3Copy(), btVector3, v, and w().

Referenced by _btMprVec3PointSegmentDist2(), btDiscoverPortal(), btFindPenetrSegment(), btFindPenetrTouch(), btFindPos(), btMprVec3Copy(), and btMprVec3PointTriDist2().

◆ btMprVec3Cross()

void btMprVec3Cross ( btVector3 * d,
const btVector3 * a,
const btVector3 * b )
inline

Definition at line 211 of file btMprPenetration.h.

References b, btCross(), btMprVec3Cross(), and btVector3.

Referenced by btDiscoverPortal(), btExpandPortal(), btFindPos(), btMprVec3Cross(), and btPortalDir().

◆ btMprVec3Dist2()

float btMprVec3Dist2 ( const btVector3 * a,
const btVector3 * b )
inline

Definition at line 570 of file btMprPenetration.h.

References b, btMprVec3Dist2(), btMprVec3Len2(), btMprVec3Sub2(), and btVector3.

Referenced by _btMprVec3PointSegmentDist2(), btMprVec3Dist2(), and btMprVec3PointTriDist2().

◆ btMprVec3Dot()

float btMprVec3Dot ( const btVector3 * a,
const btVector3 * b )
inline

Definition at line 192 of file btMprPenetration.h.

References b, btDot(), btMprVec3Dot(), btVector3, and dot().

Referenced by _btMprVec3PointSegmentDist2(), btDiscoverPortal(), btExpandPortal(), btFindPos(), btMprVec3Dot(), btMprVec3Len2(), btMprVec3PointTriDist2(), portalCanEncapsuleOrigin(), portalEncapsulesOrigin(), and portalReachTolerance().

◆ btMprVec3Eq()

int btMprVec3Eq ( const btVector3 * a,
const btVector3 * b )
inline

Definition at line 159 of file btMprPenetration.h.

References b, btMprEq(), btMprVec3Eq(), and btVector3.

Referenced by btDiscoverPortal(), and btMprVec3Eq().

◆ btMprVec3Len2()

float btMprVec3Len2 ( const btVector3 * v)
inline

Definition at line 200 of file btMprPenetration.h.

References btMprVec3Dot(), btMprVec3Len2(), btVector3, and v.

Referenced by _btMprVec3PointSegmentDist2(), btDiscoverPortal(), btFindPenetrSegment(), btMprVec3Dist2(), btMprVec3Len2(), and btMprVec3Normalize().

◆ btMprVec3Normalize()

void btMprVec3Normalize ( btVector3 * d)
inline

Definition at line 205 of file btMprPenetration.h.

References BT_MPR_SQRT, btMprVec3Len2(), btMprVec3Normalize(), btMprVec3Scale(), and btVector3.

Referenced by btDiscoverPortal(), btFindPenetr(), btFindPenetrSegment(), btMprVec3Normalize(), and btPortalDir().

◆ btMprVec3PointTriDist2()

float btMprVec3PointTriDist2 ( const btVector3 * P,
const btVector3 * x0,
const btVector3 * B,
const btVector3 * C,
btVector3 * witness )
inline

Definition at line 642 of file btMprPenetration.h.

References _btMprVec3PointSegmentDist2(), B, btMprEq(), btMprIsZero(), btMprVec3Add(), btMprVec3Copy(), btMprVec3Dist2(), btMprVec3Dot(), btMprVec3PointTriDist2(), btMprVec3Scale(), btMprVec3Sub2(), btVector3, C, P, v, and w().

Referenced by btFindPenetr(), and btMprVec3PointTriDist2().

◆ btMprVec3Scale()

void btMprVec3Scale ( btVector3 * d,
float k )
inline

Definition at line 187 of file btMprPenetration.h.

References btMprVec3Scale(), and btVector3.

Referenced by _btMprVec3PointSegmentDist2(), btDiscoverPortal(), btFindPenetrSegment(), btFindPenetrTouch(), btFindPos(), btMprVec3Normalize(), btMprVec3PointTriDist2(), and btMprVec3Scale().

◆ btMprVec3Set()

void btMprVec3Set ( btVector3 * v,
float x,
float y,
float z )
inline

Definition at line 172 of file btMprPenetration.h.

References btMprVec3Set(), btVector3, v, x, y, and z().

Referenced by btDiscoverPortal(), and btMprVec3Set().

◆ btMprVec3Sub2()

void btMprVec3Sub2 ( btVector3 * d,
const btVector3 * v,
const btVector3 * w )
inline

Definition at line 216 of file btMprPenetration.h.

References btMprVec3Sub2(), btVector3, v, and w().

Referenced by _btMprVec3PointSegmentDist2(), btDiscoverPortal(), btMprVec3Dist2(), btMprVec3PointTriDist2(), btMprVec3Sub2(), and btPortalDir().

◆ btPortalDir()

void btPortalDir ( const btMprSimplex_t * portal,
btVector3 * dir )
inline

Definition at line 221 of file btMprPenetration.h.

References btMprSimplexPoint(), btMprVec3Cross(), btMprVec3Normalize(), btMprVec3Sub2(), btPortalDir(), btVector3, and v.

Referenced by btFindPenetr(), btFindPos(), btPortalDir(), and btRefinePortal().

◆ btRefinePortal()

template<typename btConvexTemplate>
int btRefinePortal ( const btConvexTemplate & a,
const btConvexTemplate & b,
const btMprCollisionDescription & colDesc,
btMprSimplex_t * portal )
static

Definition at line 461 of file btMprPenetration.h.

References b, BT_MPR_MAX_ITERATIONS, btExpandPortal(), btMprSupport(), btPortalDir(), btRefinePortal(), btVector3, i, portalCanEncapsuleOrigin(), portalEncapsulesOrigin(), and portalReachTolerance().

Referenced by btMprPenetration(), and btRefinePortal().

◆ portalCanEncapsuleOrigin()

int portalCanEncapsuleOrigin ( const btMprSimplex_t * portal,
const btMprSupport_t * v4,
const btVector3 * dir )
inline

Definition at line 265 of file btMprPenetration.h.

References btMprIsZero(), btMprVec3Dot(), btVector3, dot(), portalCanEncapsuleOrigin(), and _btMprSupport_t::v.

Referenced by btRefinePortal(), and portalCanEncapsuleOrigin().

◆ portalEncapsulesOrigin()

int portalEncapsulesOrigin ( const btMprSimplex_t * portal,
const btVector3 * dir )
inline

Definition at line 233 of file btMprPenetration.h.

References btMprIsZero(), btMprSimplexPoint(), btMprVec3Dot(), btVector3, dot(), portalEncapsulesOrigin(), and v.

Referenced by btRefinePortal(), and portalEncapsulesOrigin().

◆ portalReachTolerance()

int portalReachTolerance ( const btMprSimplex_t * portal,
const btMprSupport_t * v4,
const btVector3 * dir )
inline

Definition at line 241 of file btMprPenetration.h.

References BT_MPR_FMIN, BT_MPR_TOLERANCE, btMprEq(), btMprSimplexPoint(), btMprVec3Dot(), btVector3, dot3(), portalReachTolerance(), _btMprSupport_t::v, and v.

Referenced by btFindPenetr(), btRefinePortal(), and portalReachTolerance().

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