com.bulletphysics.collision.narrowphase
Class GjkEpaPenetrationDepthSolver

java.lang.Object
  com.bulletphysics.collision.narrowphase.ConvexPenetrationDepthSolver
      com.bulletphysics.collision.narrowphase.GjkEpaPenetrationDepthSolver

public class GjkEpaPenetrationDepthSolver
extends ConvexPenetrationDepthSolver

GjkEpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to calculate the penetration depth between two convex shapes.

Constructor Summary

GjkEpaPenetrationDepthSolver()

Method Summary

boolean

calcPenDepth(SimplexSolverInterface simplexSolver, ConvexShape pConvexA, ConvexShape pConvexB, Transform transformA, Transform transformB, Vector3f v, Vector3f wWitnessOnA, Vector3f wWitnessOnB, IDebugDraw debugDraw)

Methods inherited from class java.lang.Object

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

Constructor Detail

GjkEpaPenetrationDepthSolver

public GjkEpaPenetrationDepthSolver()

Method Detail

calcPenDepth

public boolean calcPenDepth(SimplexSolverInterface simplexSolver,
                            ConvexShape pConvexA,
                            ConvexShape pConvexB,
                            Transform transformA,
                            Transform transformB,
                            Vector3f v,
                            Vector3f wWitnessOnA,
                            Vector3f wWitnessOnB,
                            IDebugDraw debugDraw)

Specified by:

calcPenDepth in class ConvexPenetrationDepthSolver