com.bulletphysics.collision.narrowphase
Class GjkEpaSolver.EPA

java.lang.Object
  extended by com.bulletphysics.collision.narrowphase.GjkEpaSolver.EPA
Enclosing class:
GjkEpaSolver

protected static class GjkEpaSolver.EPA
extends java.lang.Object


Nested Class Summary
static class GjkEpaSolver.EPA.Face
           
 
Field Summary
 float depth
           
 boolean failed
           
 javax.vecmath.Vector3f[][] features
           
 GjkEpaSolver.GJK gjk
           
 int iterations
           
 javax.vecmath.Vector3f[] nearest
           
 int nfaces
           
 javax.vecmath.Vector3f normal
           
 GjkEpaSolver.EPA.Face root
           
 
Constructor Summary
GjkEpaSolver.EPA(GjkEpaSolver.GJK pgjk)
           
 
Method Summary
 int BuildHorizon(int markid, GjkEpaSolver.GJK.Mkv w, GjkEpaSolver.EPA.Face f, int e, GjkEpaSolver.EPA.Face[] cf, GjkEpaSolver.EPA.Face[] ff)
           
 void Detach(GjkEpaSolver.EPA.Face face)
           
 float EvaluatePD()
           
 float EvaluatePD(float accuracy)
           
 GjkEpaSolver.EPA.Face FindBest()
           
 javax.vecmath.Vector3f GetCoordinates(GjkEpaSolver.EPA.Face face, javax.vecmath.Vector3f out)
           
 void Link(GjkEpaSolver.EPA.Face f0, int e0, GjkEpaSolver.EPA.Face f1, int e1)
           
 GjkEpaSolver.EPA.Face NewFace(GjkEpaSolver.GJK.Mkv a, GjkEpaSolver.GJK.Mkv b, GjkEpaSolver.GJK.Mkv c)
           
 boolean Set(GjkEpaSolver.EPA.Face f, GjkEpaSolver.GJK.Mkv a, GjkEpaSolver.GJK.Mkv b, GjkEpaSolver.GJK.Mkv c)
           
 GjkEpaSolver.GJK.Mkv Support(javax.vecmath.Vector3f w)
           
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

gjk

public GjkEpaSolver.GJK gjk

root

public GjkEpaSolver.EPA.Face root

nfaces

public int nfaces

iterations

public int iterations

features

public final javax.vecmath.Vector3f[][] features

nearest

public final javax.vecmath.Vector3f[] nearest

normal

public final javax.vecmath.Vector3f normal

depth

public float depth

failed

public boolean failed
Constructor Detail

GjkEpaSolver.EPA

public GjkEpaSolver.EPA(GjkEpaSolver.GJK pgjk)
Method Detail

GetCoordinates

public javax.vecmath.Vector3f GetCoordinates(GjkEpaSolver.EPA.Face face,
                                             javax.vecmath.Vector3f out)

FindBest

public GjkEpaSolver.EPA.Face FindBest()

Set

public boolean Set(GjkEpaSolver.EPA.Face f,
                   GjkEpaSolver.GJK.Mkv a,
                   GjkEpaSolver.GJK.Mkv b,
                   GjkEpaSolver.GJK.Mkv c)

NewFace

public GjkEpaSolver.EPA.Face NewFace(GjkEpaSolver.GJK.Mkv a,
                                     GjkEpaSolver.GJK.Mkv b,
                                     GjkEpaSolver.GJK.Mkv c)

Detach

public void Detach(GjkEpaSolver.EPA.Face face)

Link

public void Link(GjkEpaSolver.EPA.Face f0,
                 int e0,
                 GjkEpaSolver.EPA.Face f1,
                 int e1)

Support

public GjkEpaSolver.GJK.Mkv Support(javax.vecmath.Vector3f w)

BuildHorizon

public int BuildHorizon(int markid,
                        GjkEpaSolver.GJK.Mkv w,
                        GjkEpaSolver.EPA.Face f,
                        int e,
                        GjkEpaSolver.EPA.Face[] cf,
                        GjkEpaSolver.EPA.Face[] ff)

EvaluatePD

public float EvaluatePD()

EvaluatePD

public float EvaluatePD(float accuracy)