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.

Nested Class Summary

Nested classes/interfaces inherited from class com.bulletphysics.collision.narrowphase.DiscreteCollisionDetectorInterface

DiscreteCollisionDetectorInterface.ClosestPointInput, DiscreteCollisionDetectorInterface.Result

Field Summary

int	catchDegeneracies
int	curIter
int	degenerateSimplex
int	lastUsedMethod

Constructor Summary

GjkPairDetector()

Method Summary

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.
void	init(ConvexShape objectA, ConvexShape objectB, SimplexSolverInterface simplexSolver, ConvexPenetrationDepthSolver penetrationDepthSolver)
void	setCachedSeperatingAxis(Vector3f seperatingAxis)
void	setIgnoreMargin(boolean ignoreMargin) Don't use setIgnoreMargin, it's for Bullet's internal use.
void	setMinkowskiA(ConvexShape minkA)
void	setMinkowskiB(ConvexShape minkB)
void	setPenetrationDepthSolver(ConvexPenetrationDepthSolver penetrationDepthSolver)

Methods inherited from class com.bulletphysics.collision.narrowphase.DiscreteCollisionDetectorInterface

getClosestPoints

Methods inherited from class java.lang.Object

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

Field Detail

lastUsedMethod

public int lastUsedMethod

curIter

public int curIter

degenerateSimplex

public int degenerateSimplex

catchDegeneracies

public int catchDegeneracies

Constructor Detail

GjkPairDetector

public GjkPairDetector()

Method Detail

init

public void init(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(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.