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btGjkPairDetector Class Reference

#include <btGjkPairDetector.h>

Inheritance diagram for btGjkPairDetector:

btDiscreteCollisionDetectorInterface

List of all members.


Detailed Description

btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface

Definition at line 30 of file btGjkPairDetector.h.


Public Member Functions

 btGjkPairDetector (const btConvexShape *objectA, const btConvexShape *objectB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
const btVector3 & getCachedSeparatingAxis () const
btScalar getCachedSeparatingDistance () const
virtual void getClosestPoints (const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false)
void setCachedSeperatingAxis (const btVector3 &seperatingAxis)
void setIgnoreMargin (bool ignoreMargin)
 don't use setIgnoreMargin, it's for Bullet's internal use
void setMinkowskiA (btConvexShape *minkA)
void setMinkowskiB (btConvexShape *minkB)
void setPenetrationDepthSolver (btConvexPenetrationDepthSolver *penetrationDepthSolver)

Public Attributes

int m_catchDegeneracies
int m_curIter
int m_degenerateSimplex
int m_lastUsedMethod

Private Attributes

btVector3 m_cachedSeparatingAxis
btScalar m_cachedSeparatingDistance
bool m_ignoreMargin
const btConvexShape * m_minkowskiA
const btConvexShape * m_minkowskiB
btConvexPenetrationDepthSolverm_penetrationDepthSolver
btSimplexSolverInterface * m_simplexSolver

The documentation for this class was generated from the following files:

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