com.bulletphysics.collision.narrowphase
Class GjkPairDetector
java.lang.Object
com.bulletphysics.collision.narrowphase.DiscreteCollisionDetectorInterface
com.bulletphysics.collision.narrowphase.GjkPairDetector
public class GjkPairDetector
- extends DiscreteCollisionDetectorInterface
GjkPairDetector uses GJK to implement the DiscreteCollisionDetectorInterface.
Methods inherited from class java.lang.Object |
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
lastUsedMethod
public int lastUsedMethod
curIter
public int curIter
degenerateSimplex
public int degenerateSimplex
catchDegeneracies
public int catchDegeneracies
GjkPairDetector
public GjkPairDetector(ConvexShape objectA,
ConvexShape objectB,
SimplexSolverInterface simplexSolver,
ConvexPenetrationDepthSolver penetrationDepthSolver)
getClosestPoints
public void getClosestPoints(DiscreteCollisionDetectorInterface.ClosestPointInput input,
DiscreteCollisionDetectorInterface.Result output,
IDebugDraw debugDraw,
boolean swapResults)
- Description copied from class:
DiscreteCollisionDetectorInterface
- Give either closest points (distance > 0) or penetration (distance)
the normal always points from B towards A.
- Specified by:
getClosestPoints
in class DiscreteCollisionDetectorInterface
setMinkowskiA
public void setMinkowskiA(ConvexShape minkA)
setMinkowskiB
public void setMinkowskiB(ConvexShape minkB)
setCachedSeperatingAxis
public void setCachedSeperatingAxis(javax.vecmath.Vector3f seperatingAxis)
setPenetrationDepthSolver
public void setPenetrationDepthSolver(ConvexPenetrationDepthSolver penetrationDepthSolver)
setIgnoreMargin
public void setIgnoreMargin(boolean ignoreMargin)
- Don't use setIgnoreMargin, it's for Bullet's internal use.