com.bulletphysics.collision.narrowphase
Class DiscreteCollisionDetectorInterface

java.lang.Object
  com.bulletphysics.collision.narrowphase.DiscreteCollisionDetectorInterface

Direct Known Subclasses:

GjkPairDetector

public abstract class DiscreteCollisionDetectorInterface
extends Object

This interface is made to be used by an iterative approach to do TimeOfImpact calculations.

This interface allows to query for closest points and penetration depth between two (convex) objects the closest point is on the second object (B), and the normal points from the surface on B towards A. distance is between closest points on B and closest point on A. So you can calculate closest point on A by taking closestPointInA = closestPointInB + distance * normalOnSurfaceB.

Nested Class Summary

static class	DiscreteCollisionDetectorInterface.ClosestPointInput
static class	DiscreteCollisionDetectorInterface.Result

Constructor Summary

DiscreteCollisionDetectorInterface()

Method Summary

void	getClosestPoints(DiscreteCollisionDetectorInterface.ClosestPointInput input, DiscreteCollisionDetectorInterface.Result output, IDebugDraw debugDraw) Give either closest points (distance > 0) or penetration (distance) the normal always points from B towards A.
abstract void	getClosestPoints(DiscreteCollisionDetectorInterface.ClosestPointInput input, DiscreteCollisionDetectorInterface.Result output, IDebugDraw debugDraw, boolean swapResults) Give either closest points (distance > 0) or penetration (distance) the normal always points from B towards A.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DiscreteCollisionDetectorInterface

public DiscreteCollisionDetectorInterface()

Method Detail

getClosestPoints

public final void getClosestPoints(DiscreteCollisionDetectorInterface.ClosestPointInput input,
                                   DiscreteCollisionDetectorInterface.Result output,
                                   IDebugDraw debugDraw)

Give either closest points (distance > 0) or penetration (distance) the normal always points from B towards A.

getClosestPoints

public abstract void getClosestPoints(DiscreteCollisionDetectorInterface.ClosestPointInput input,
                                      DiscreteCollisionDetectorInterface.Result output,
                                      IDebugDraw debugDraw,
                                      boolean swapResults)

Give either closest points (distance > 0) or penetration (distance) the normal always points from B towards A.