Blender  V3.3
Functions
btComputeGjkEpaPenetration.h File Reference
#include "LinearMath/btTransform.h"
#include "btGjkEpa3.h"
#include "btGjkCollisionDescription.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.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.

References Freestyle::a, usdtokens::b(), BT_LARGE_FLOAT, btAssert, btGjkEpaCalcPenDepth(), btSqrt(), btTransform, btVector3, blender::math::distance(), distance2(), blender::math::length(), btGjkCollisionDescription::m_firstDir, btGjkCollisionDescription::m_gjkRelError2, btGjkCollisionDescription::m_maxGjkIterations, btGjkCollisionDescription::m_maximumDistanceSquared, SIMD_EPSILON, and w().

◆ btGjkEpaCalcPenDepth()

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