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GjkCollisionState Struct Reference

#include <gjk.h>

Inheritance diagram for GjkCollisionState:

CollisionState

Public Member Functions

void compute_det ()
bool valid (int s)
void compute_vector (int bits, VectorF &v)
bool closest (VectorF &v)
bool degenerate (const VectorF &w)
void nextBit ()
void swap ()
void reset (const MatrixF &a2w, const MatrixF &b2w)
 GjkCollisionState ()
 ~GjkCollisionState ()
void set (Convex *a, Convex *b, const MatrixF &a2w, const MatrixF &b2w)
void getCollisionInfo (const MatrixF &mat, Collision *info)
void getClosestPoints (Point3F &p1, Point3F &p2)
bool intersect (const MatrixF &a2w, const MatrixF &b2w)
F32 distance (const MatrixF &a2w, const MatrixF &b2w, const F32 dontCareDist, const MatrixF *w2a=NULL, const MatrixF *_w2b=NULL)
void render ()

Data Fields

Temporary values
Point3F p [4]
 support points of object A in local coordinates
Point3F q [4]
 support points of object B in local coordinates
VectorF y [4]
 support points of A - B in world coordinates
S32 bits
 identifies current simplex
S32 all_bits
 all_bits = bits | last_bit
F32 det [16][4]
 cached sub-determinants
F32 dp [4][4]
 cached dot products
S32 last
 identifies last found support point
S32 last_bit
 last_bit = 1<<last

Constructor & Destructor Documentation

GjkCollisionState::GjkCollisionState (   ) 
 

GjkCollisionState::~GjkCollisionState (   ) 
 

Member Function Documentation

void GjkCollisionState::compute_det (   ) 
 

bool GjkCollisionState::valid (  int  s  ) 
 

void GjkCollisionState::compute_vector (  int  bits,
VectorF &  v
) 
 

bool GjkCollisionState::closest (  VectorF &  v  ) 
 

bool GjkCollisionState::degenerate (  const VectorF &  w  ) 
 

void GjkCollisionState::nextBit (   ) 
 

void GjkCollisionState::swap (   )  [virtual]
 

Reimplemented from CollisionState.

void GjkCollisionState::reset (  const MatrixF &  a2w,
const MatrixF &  b2w
) 
 

void GjkCollisionState::set (  Convex *  a,
Convex *  b,
const MatrixF &  a2w,
const MatrixF &  b2w
)  [virtual]
 

Reimplemented from CollisionState.

void GjkCollisionState::getCollisionInfo (  const MatrixF &  mat,
Collision *  info
) 
 

void GjkCollisionState::getClosestPoints (  Point3F &  p1,
Point3F &  p2
) 
 

bool GjkCollisionState::intersect (  const MatrixF &  a2w,
const MatrixF &  b2w
) 
 

F32 GjkCollisionState::distance (  const MatrixF &  a2w,
const MatrixF &  b2w,
const F32  dontCareDist,
const MatrixF *  w2a = NULL,
const MatrixF *  _w2b = NULL
)  [virtual]
 

Reimplemented from CollisionState.

void GjkCollisionState::render (   ) 
 

Reimplemented from CollisionState.

Field Documentation

Point3F GjkCollisionState::p[4]
 

support points of object A in local coordinates

Point3F GjkCollisionState::q[4]
 

support points of object B in local coordinates

VectorF GjkCollisionState::y[4]
 

support points of A - B in world coordinates

S32 GjkCollisionState::bits
 

identifies current simplex

S32 GjkCollisionState::all_bits
 

all_bits = bits | last_bit

F32 GjkCollisionState::det[16][4]
 

cached sub-determinants

F32 GjkCollisionState::dp[4][4]
 

cached dot products

S32 GjkCollisionState::last
 

identifies last found support point

S32 GjkCollisionState::last_bit
 

last_bit = 1<<last



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