MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation. More...
#include <SpuMinkowskiPenetrationDepthSolver.h>
Inheritance diagram for SpuMinkowskiPenetrationDepthSolver:
Collaboration diagram for SpuMinkowskiPenetrationDepthSolver:
Public Member Functions | |
| SpuMinkowskiPenetrationDepthSolver () | |
| virtual | ~SpuMinkowskiPenetrationDepthSolver () |
| virtual bool | calcPenDepth (btSimplexSolverInterface &simplexSolver, const btConvexShape *convexA, const btConvexShape *convexB, const btTransform &transA, const btTransform &transB, btVector3 &v, btVector3 &pa, btVector3 &pb, class btIDebugDraw *debugDraw) |
 Public Member Functions inherited from btConvexPenetrationDepthSolver | |
| virtual | ~btConvexPenetrationDepthSolver () |
Detailed Description
MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.
Definition at line 29 of file SpuMinkowskiPenetrationDepthSolver.h.
Constructor & Destructor Documentation
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inline |
Definition at line 32 of file SpuMinkowskiPenetrationDepthSolver.h.
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inlinevirtual |
Definition at line 33 of file SpuMinkowskiPenetrationDepthSolver.h.
Member Function Documentation
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virtual |
Implements btConvexPenetrationDepthSolver.
Definition at line 71 of file SpuMinkowskiPenetrationDepthSolver.cpp.
The documentation for this class was generated from the following files:
