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

Constructors

Constructor and Description
GjkEpaPenetrationDepthSolver()

Method Summary

Methods

Modifier and Type	Method and Description
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