com.bulletphysics.collision.narrowphase
Class GjkEpaSolver.GJK
java.lang.Object
com.bulletphysics.collision.narrowphase.GjkEpaSolver.GJK
- Enclosing class:
- GjkEpaSolver
protected static class GjkEpaSolver.GJK
- extends java.lang.Object
Constructor Summary |
GjkEpaSolver.GJK()
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GjkEpaSolver.GJK(javax.vecmath.Matrix3f wrot0,
javax.vecmath.Vector3f pos0,
ConvexShape shape0,
javax.vecmath.Matrix3f wrot1,
javax.vecmath.Vector3f pos1,
ConvexShape shape1)
|
GjkEpaSolver.GJK(javax.vecmath.Matrix3f wrot0,
javax.vecmath.Vector3f pos0,
ConvexShape shape0,
javax.vecmath.Matrix3f wrot1,
javax.vecmath.Vector3f pos1,
ConvexShape shape1,
float pmargin)
|
Method Summary |
void |
destroy()
|
boolean |
EncloseOrigin()
|
boolean |
FetchSupport()
|
static int |
Hash(javax.vecmath.Vector3f v)
|
void |
init(javax.vecmath.Matrix3f wrot0,
javax.vecmath.Vector3f pos0,
ConvexShape shape0,
javax.vecmath.Matrix3f wrot1,
javax.vecmath.Vector3f pos1,
ConvexShape shape1,
float pmargin)
|
javax.vecmath.Vector3f |
LocalSupport(javax.vecmath.Vector3f d,
int i,
javax.vecmath.Vector3f out)
|
boolean |
SearchOrigin()
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boolean |
SearchOrigin(javax.vecmath.Vector3f initray)
|
boolean |
SolveSimplex2(javax.vecmath.Vector3f ao,
javax.vecmath.Vector3f ab)
|
boolean |
SolveSimplex3(javax.vecmath.Vector3f ao,
javax.vecmath.Vector3f ab,
javax.vecmath.Vector3f ac)
|
boolean |
SolveSimplex3a(javax.vecmath.Vector3f ao,
javax.vecmath.Vector3f ab,
javax.vecmath.Vector3f ac,
javax.vecmath.Vector3f cabc)
|
boolean |
SolveSimplex4(javax.vecmath.Vector3f ao,
javax.vecmath.Vector3f ab,
javax.vecmath.Vector3f ac,
javax.vecmath.Vector3f ad)
|
void |
Support(javax.vecmath.Vector3f d,
GjkEpaSolver.GJK.Mkv v)
|
Methods inherited from class java.lang.Object |
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
table
public final GjkEpaSolver.GJK.He[] table
wrotations
public final javax.vecmath.Matrix3f[] wrotations
positions
public final javax.vecmath.Vector3f[] positions
shapes
public final ConvexShape[] shapes
simplex
public final GjkEpaSolver.GJK.Mkv[] simplex
ray
public final javax.vecmath.Vector3f ray
order
public int order
iterations
public int iterations
margin
public float margin
failed
public boolean failed
GjkEpaSolver.GJK
public GjkEpaSolver.GJK()
GjkEpaSolver.GJK
public GjkEpaSolver.GJK(javax.vecmath.Matrix3f wrot0,
javax.vecmath.Vector3f pos0,
ConvexShape shape0,
javax.vecmath.Matrix3f wrot1,
javax.vecmath.Vector3f pos1,
ConvexShape shape1)
GjkEpaSolver.GJK
public GjkEpaSolver.GJK(javax.vecmath.Matrix3f wrot0,
javax.vecmath.Vector3f pos0,
ConvexShape shape0,
javax.vecmath.Matrix3f wrot1,
javax.vecmath.Vector3f pos1,
ConvexShape shape1,
float pmargin)
init
public void init(javax.vecmath.Matrix3f wrot0,
javax.vecmath.Vector3f pos0,
ConvexShape shape0,
javax.vecmath.Matrix3f wrot1,
javax.vecmath.Vector3f pos1,
ConvexShape shape1,
float pmargin)
destroy
public void destroy()
Hash
public static int Hash(javax.vecmath.Vector3f v)
LocalSupport
public javax.vecmath.Vector3f LocalSupport(javax.vecmath.Vector3f d,
int i,
javax.vecmath.Vector3f out)
Support
public void Support(javax.vecmath.Vector3f d,
GjkEpaSolver.GJK.Mkv v)
FetchSupport
public boolean FetchSupport()
SolveSimplex2
public boolean SolveSimplex2(javax.vecmath.Vector3f ao,
javax.vecmath.Vector3f ab)
SolveSimplex3
public boolean SolveSimplex3(javax.vecmath.Vector3f ao,
javax.vecmath.Vector3f ab,
javax.vecmath.Vector3f ac)
SolveSimplex3a
public boolean SolveSimplex3a(javax.vecmath.Vector3f ao,
javax.vecmath.Vector3f ab,
javax.vecmath.Vector3f ac,
javax.vecmath.Vector3f cabc)
SolveSimplex4
public boolean SolveSimplex4(javax.vecmath.Vector3f ao,
javax.vecmath.Vector3f ab,
javax.vecmath.Vector3f ac,
javax.vecmath.Vector3f ad)
SearchOrigin
public boolean SearchOrigin()
SearchOrigin
public boolean SearchOrigin(javax.vecmath.Vector3f initray)
EncloseOrigin
public boolean EncloseOrigin()